Plate transfer control method and system

Abstract

The invention relates to the technical field of plate transfer, in particular to a plate transfer control method and system. The method comprises the steps of determining a transfer risk coefficient based on a plate type and transfer demand information; the adsorption capacity of a suction cup lifting appliance of the transfer device is obtained, and the minimum number of suction cups used for transferring the plates is determined based on the adsorption capacity, the weight information and the transfer risk coefficient; sliding rail path information of a suction cup sliding rail area of the suction cup lifting appliance is obtained, transfer suction cups and arrangement information of the transfer suction cups are determined from all the suction cups of the suction cup lifting appliance based on the sliding rail path information and the shape information, and the number of the transfer suction cups is not smaller than the minimum suction cup number; the transfer suction cup is controlled to move to the position represented by the arrangement information on the suction cup sliding rail area along the sliding rail path, and the transfer suction cup is controlled to be fixed after moving is completed; and controlling the transfer device to transfer plates based on the starting position and the final position. The number and arrangement design of the suction cups can be optimized, and the safety of plate transferring and the adaptability of the suction cups are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of plate transfer, in particular to a plate transfer control method and system. BACKGROUND

[0002] In industrial production, plate transfer is a common process. With the development of automation technology, the use of plate transfer devices based on suction cup hangers to realize the mechanized transfer of plates has become an important way to improve efficiency and reduce labor costs. It is suitable for places that need to frequently transfer workpieces, such as laser cutting and sheet metal processing. It is easy to operate and can adapt to workpieces of different sizes and materials, effectively preventing deformation of thin plates during transfer. Compressed air is used as the power source, which is safe and convenient.

[0003] In related technologies, the control of the transfer device relies on manual experience or fixed procedures. The number of suction cups and their arrangement positions are usually preset according to the approximate type of the plate, and the operation is performed according to a fixed path during the transfer process. However, this approach has obvious shortcomings, as it does not fully combine the specific attributes of the plate with the actual transfer requirements for dynamic adjustment, resulting in a lack of scientific calculation and dynamic optimization of the number of suction cups and their arrangement, which can lead to unstable plate adhesion, a risk of sliding during transfer, or increased energy consumption and reduced efficiency due to excessive use of suction cups. It is difficult to balance the safety and economy of the transfer. SUMMARY

[0004] To solve the problem that the number of suction cups and their arrangement design cannot be optimized in the prior art, thereby affecting the safety and economy of the transfer, the present application provides a plate transfer control method and system.

[0005] In a first aspect, the present application provides a plate transfer control method, which adopts the following technical solution: A plate transfer control method, comprising: Obtaining attribute information and transfer requirement information of a plate, the attribute information including weight information, plate type, and shape information, and the transfer requirement information including a starting position, an ending position, and a maximum inclination angle; Determining a transfer risk coefficient based on the plate type and the transfer requirement information; Obtaining the suction capacity of a suction cup hanger of a transfer device, and determining the minimum number of suction cups required for transferring the plate based on the suction capacity, the weight information, and the transfer risk coefficient; Obtaining slide rail path information of a suction cup slide rail area of the suction cup hanger, and determining a transfer suction cup and arrangement information of the transfer suction cup from all suction cups of the suction cup hanger based on the slide rail path information and the shape information, the number of the transfer suction cup being not less than the minimum number of suction cups; controlling the transfer chuck to move along the sliding rail path to a position represented by the arrangement information, and controlling the transfer chuck to be fixed after the movement is completed; controlling the transfer device to transfer the board based on the start position and the end position.

[0006] By adopting the above technical solutions, the board attribute and the transfer demand are obtained, the minimum number of chucks is determined in combination with the risk coefficient, the chuck arrangement is optimized, and the transfer is controlled, so that the whole-process dynamic adaptation from information collection to execution is realized. The inherent characteristics of the board weight, type, shape, etc. are considered, and the demand parameters such as the transfer path and the inclination angle are combined, the limitations of the traditional fixed program are avoided, the safety of the board transfer is improved through risk assessment and reasonable chuck configuration, the chuck adaptability is improved through dynamic adjustment of the number and position of the chucks, and the optimal design of the number and arrangement of the chucks is realized.

[0007] In a preferred example, the application can be further configured to: the determination of the transfer risk coefficient based on the board type and the transfer demand information comprises: determining the friction coefficient and the air permeation correction coefficient corresponding to the board type; calculating a slip risk coefficient based on the friction coefficient and the maximum inclination angle; planning a transfer path based on the start position and the end position, determining an acceleration impact coefficient and a deceleration impact coefficient from the transfer path, and determining a larger value as a dynamic load impact coefficient from the acceleration impact coefficient and the deceleration impact coefficient; calculating the product of the air permeation correction coefficient, the slip risk coefficient, and the dynamic load impact coefficient as the transfer risk coefficient.

[0008] By adopting the above technical solutions, the influence of the board type on the adsorption stability (friction, air permeation) and the dynamic impact (acceleration, deceleration) in the transfer process are quantitatively integrated, the calculation of the risk coefficient is more accurate, a scientific basis is provided for the subsequent determination of the number of chucks, and the problem of board slipping or adsorption failure caused by insufficient risk assessment is effectively reduced.

[0009] In a preferred example, the application can be further configured to: the determination of the transfer chuck and the arrangement information of the transfer chuck from all chucks of the chuck spreader based on the sliding rail path information and the shape information comprises: constructing a board plane model based on the shape information, and constructing a chuck spreader model corresponding to the chuck spreader; determining the geometric center of the board plane model and the center position of the chuck sliding rail area of the chuck spreader, and mapping the board plane model to the chuck sliding rail area based on the center position and the geometric center; determine the minimum number of the suction cups from all the suction cups of the suction cup spreader as the transfer suction cups, and determine arrangement information of the transfer suction cups in a mapping region formed by mapping the plate plane model to the suction cup slide rail area.

[0010] By adopting the technical solution, the suction cup arrangement range is matched with the plate shape through model mapping, and suction instability caused by the suction cup exceeding the plate range is avoided; meanwhile, the suction cup is selected based on the minimum number of suction cups, resource waste is reduced on the premise of meeting safety requirements, and the rationality of suction cup configuration and the balance of suction force distribution are improved.

[0011] In a preferred example, the application can be further configured to: the determination of the arrangement information of the transfer suction cups in the mapping region formed by mapping the plate plane model to the suction cup slide rail area comprises: define a constraint condition, the constraint condition comprising: the distance between the position of each transfer suction cup and the boundary of the mapping region is not less than a first safety distance threshold, and the distance between any two transfer suction cups is not less than a second safety distance threshold, the first safety distance threshold and the second safety distance threshold are determined based on the suction cup size information; define a target function, the optimization indicators of the target function comprising suction cup space uniformity and center of force offset degree; based on the constraint condition and the target function, perform iterative optimization using a genetic algorithm until the optimization indicators meet the optimization target; obtain the optimal solution after iteration, and use the optimal solution as the arrangement information, the optimal solution comprising position information of each transfer suction cup in the mapping region.

[0012] By adopting the technical solution, the safety distance constraint and the optimization target (uniformity, offset degree) are defined, and the genetic algorithm is used to iteratively optimize the suction cup arrangement, the constraint condition ensures the safety distance between the suction cup and the boundary and between the suction cups, avoiding interference or edge suction risk; the combination of the target function and the genetic algorithm realizes the uniform distribution of the suction cup and the alignment of the force center, significantly improving the stability of the suction and reducing the deformation or falling of the plate caused by uneven force.

[0013] In a preferred example, the application can be further configured to: based on the constraint condition and the target function, perform iterative optimization using a genetic algorithm until the optimization indicators meet the optimization target, comprising: in the current round of iteration, randomly generate a set of position coordinates based on the constraint condition, each position coordinate in the set of position coordinates corresponding to a transfer suction cup; calculate the nearest neighbor distance variance of all position coordinates in the set of position coordinates as the suction cup space uniformity; Calculating the weighted centroid of the position coordinate group, and calculating the distance between the weighted centroid and the center position of the suction cup slide rail area as the offset of the resultant force application point; Based on the spatial uniformity of the suction cup and the offset of the resultant force application point, it is determined whether the optimization index in the current iteration meets the optimization target. If not, the next iteration process is executed until the optimization index meets the optimization target.

[0014] By adopting the above technical solution and utilizing the random generation, index calculation and iterative optimization of the genetic algorithm, the suction cup arrangement is ensured to meet the optimization objectives. The randomly generated coordinate group expands the optimization range. The quantitative calculation of the nearest neighbor distance variance and the weighted centroid offset makes the optimization index more intuitive. The iterative process continuously approaches the optimal solution. The final arrangement scheme can maximize the uniformity of suction cup distribution and force balance while satisfying the constraints, further improving the reliability of transfer.

[0015] In a preferred example, the present application may be further configured as follows: determining the minimum number of suction cups for transporting the plate based on the adsorption capacity, the weight information, and the transport risk factor includes: calculating the product of the weight information and the transport risk coefficient as the maximum adsorption capacity; The minimum number of suction cups whose sum of corresponding adsorption capacities is not less than the maximum adsorption capacity is calculated as the minimum number of suction cups used to transport the plate.

[0016] By adopting the above technical solution, the maximum adsorption capacity and the minimum number of suction cups are calculated, the lower limit of the suction cups required for safe transfer is clarified, and the maximum adsorption capacity is obtained by combining the weight and the risk factor, fully considering the dead weight of the plate and the risk load; by rounding up to determine the minimum number of suction cups, it is ensured that the total adsorption force is sufficient to meet the maximum demand, while avoiding the increase in energy consumption and decrease in efficiency caused by too many suction cups, thus achieving a balance between safety and economy.

[0017] In a second aspect, the present application provides a plate transport control system, which adopts the following technical solutions: Plate transfer control system, including: transfer device and electronic equipment; The transfer device is used to receive the control signal of the electronic device and execute the corresponding transfer instruction; The electronic device is used to execute the plate transfer control method according to any one of claims 1 to 6.

[0018] In a preferred example, the present application may be further configured as follows: the transfer device includes a suction cup sling; The suction cup sling comprises a slide rail and a plurality of suction cups moving on the slide rail, and the slide rail and the plurality of suction cups constitute a suction cup slide rail area.

[0019] The application can be further configured in a preferred example as follows: the electronic device comprises: at least one processor; a memory; at least one application program, wherein the at least one application program is stored in the memory and is configured to be executed by the at least one processor, and the at least one application program is configured to execute the plate transfer control method according to any one of the first aspect.

[0020] In a third aspect, the application provides a computer-readable storage medium, which adopts the following technical solution: A computer-readable storage medium, which stores a computer program, and when the computer program is executed in a computer, the computer is caused to execute the plate transfer control method according to any one of the first aspect.

[0021] In a fourth aspect, the application provides a computer program product, which adopts the following technical solution: A computer program product, comprising a computer program, and when the computer program is executed by a processor, the plate transfer control method according to any one of the first aspect is realized.

[0022] In summary, the application has the following beneficial technical effects: The application determines the minimum number of suction cups by acquiring the plate attributes and the transfer demand and combining the risk coefficient, optimizes the suction cup arrangement and controls the transfer, realizes the whole-process dynamic adaptation from information collection to execution, considers the inherent characteristics such as the weight, type and shape of the plate, combines the demand parameters such as the transfer path and inclination angle, avoids the limitations of the traditional fixed program, improves the safety of plate transfer through risk assessment and reasonable suction cup configuration, improves the suction cup adaptability through dynamic adjustment of the number and position of the suction cups, and realizes the optimal design of the number and arrangement of the suction cups. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 is a structural schematic diagram of a plate transfer control system provided by an embodiment of the application; Figure 2 is a flowchart of a plate transfer control method provided by an embodiment of the application; Figure 3 is a structural schematic diagram of a transfer device based on a crown block provided by an embodiment of the application; Figure 4 is a top view structural diagram of a suction cup lifting appliance provided by an embodiment of the application; Figure 5 is a side view structural diagram of a suction cup lifting appliance provided by an embodiment of the application; Figure 6Fig. 1 is a structural schematic diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0024] The following will be described in detail in combination with the accompanying drawings. Figure 1 to the accompanying drawings Figure 6 The present application will be further described in detail.

[0025] The specific embodiments are merely explanatory of the present application, and are not intended to limit the present application. Those skilled in the art can make modifications to the embodiments according to the needs without creative contribution, and the modifications are protected by the patent law as long as they are within the scope of the claims of the present application.

[0026] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the accompanying drawings. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative contribution are within the scope of protection of the present application.

[0027] In addition, the term "and / or" in the present application is merely to describe the association relationship of the associated objects, and can represent three relationships, for example, A and / or B can represent three cases of existence of A alone, existence of A and B simultaneously, and existence of B alone. In addition, the character " / " in the present application generally represents an "or" relationship between the front and rear associated objects, unless otherwise specified.

[0028] It should be noted that in the optional embodiments of the present application, the object information and other related data involved in the embodiments of the present application need to be obtained with the permission or consent of the object when the embodiments of the present application are applied to specific products or technologies, and the collection, use and processing of the related data need to comply with the relevant laws, regulations and standards of the country and region. That is, if the embodiments of the present application involve data related to the object, the data needs to be obtained with the authorization and consent of the object, the authorization and consent of the relevant department, and in compliance with the relevant laws, regulations and standards of the country and region. If the embodiments involve personal information, the consent of the individual needs to be obtained for the acquisition of all personal information, and the separate consent of the information subject needs to be obtained for the sensitive information, and the embodiments also need to be implemented with the authorization and consent of the object.

[0029] The embodiments of the present application provide a plate transfer control system, as shown in Fig. 1, which comprises a transfer device and an electronic device. The transfer device comprises a suction cup lifting tool, the suction cup lifting tool comprises a sliding rail and a plurality of suction cups moving on the sliding rail, the sliding rail and the plurality of suction cups constitute a suction cup sliding rail area, and the suction cups can be fixed after moving to a certain set position under the control of the electronic device. Figure 1 The transfer device comprises a suction cup lifting tool, the suction cup lifting tool comprises a sliding rail and a plurality of suction cups moving on the sliding rail, the sliding rail and the plurality of suction cups constitute a suction cup sliding rail area, and the suction cups can be fixed after moving to a certain set position under the control of the electronic device.

[0030] The embodiment of the present application provides a plate transfer control method, as shown in the figure Figure 2 The method provided in the embodiment of the present application is executed by an electronic device, which can be a server or a terminal device. The server can be a physical server, a server cluster composed of multiple physical servers, a distributed system, or a cloud server providing cloud computing services. The terminal device can be a smart phone, a tablet computer, a notebook computer, a desktop computer, etc., but is not limited to this. The terminal device and the server can be directly or indirectly connected through wired or wireless communication, and the present application is not limited in this regard. The method comprises steps S201-S206, wherein: S201, attribute information and transfer demand information of the plate are acquired, the attribute information comprises weight information, plate type and shape information, and the transfer demand information comprises a starting point position, an end point position and a maximum inclination.

[0031] Specifically, the attribute information of the plate represents a parameter set describing the physical characteristics of the plate. The weight information directly affects the required adsorption force of the suction cup; the plate type represents the material of the plate (such as glass, metal, wood board, plastic board, etc.), and the surface friction and air permeability of different materials differ greatly; the shape information represents the geometric shape (such as rectangle, circle, special shape) and size (length, width, thickness) of the plate, which determines the arrangement range and mode of the suction cup.

[0032] The starting point position in the transfer demand information represents the three-dimensional coordinates of the initial placement of the plate; the end point position represents the three-dimensional coordinates of the target position of the plate transfer; and the maximum inclination represents the maximum angle allowed for the plate to deviate from the horizontal direction during the transfer process, which can be determined by a technician according to process requirements or space limitations and input into the electronic device.

[0033] S202, a transfer risk coefficient is determined based on the plate type and the maximum inclination.

[0034] Specifically, the transfer risk coefficient is used to quantify the parameter of the risk of the plate slipping and shaking during the transfer process, and the larger the parameter is, the higher the risk is. The transfer risk coefficient is calculated from the air permeation correction coefficient, the slipping risk coefficient and the dynamic load impact coefficient. The air permeation correction coefficient represents the influence of the plate surface on the negative pressure holding capacity of the suction cup; the slipping risk coefficient reflects the risk of the plate slipping due to the gravitational component under the maximum inclination, which can be calculated from the plate type and the maximum inclination; and the dynamic load impact coefficient reflects the load fluctuation caused by acceleration and deceleration during the transfer process.

[0035] S203, the adsorption capacity of the suction cup hanger of the transfer device is acquired, and the minimum number of suction cups used for transferring the plate is determined based on the adsorption capacity, the weight information and the transfer risk coefficient.

[0036] Specifically, the adsorption capacity represents the maximum adsorption force of a single suction cup. The minimum number of suction cups is the minimum number of suction cups required to ensure safe transportation, and the total adsorption force of the minimum number of suction cups must be greater than the plate weight after considering the risk.

[0037] S204, obtain the slide rail path information of the suction cup slide rail area of the suction cup lifting appliance, determine the transportation suction cups from all the suction cups of the suction cup lifting appliance based on the slide rail path information and the shape information, and determine the arrangement information of the transportation suction cups. The number of transportation suction cups is not less than the minimum number of suction cups.

[0038] Specifically, the suction cup slide rail area is a slide rail area on the suction cup lifting appliance for mounting the suction cups, which can be rectangular, and the suction cups can be moved along the slide rail to adjust the position. The slide rail path information represents the geometric parameters of the slide rail and the initial position coordinates of each suction cup. The transportation suction cups represent the suction cups selected from all the suction cups for this transportation. The arrangement information is the specific position coordinates of the transportation suction cups in the slide rail area, which needs to meet the requirements of uniform distribution, alignment of the center of gravity with the centroid of the plate, etc.

[0039] The transportation device can be supported by a crown block, and can also move the suction cup lifting appliance by a mechanical arm to complete the transportation. Taking the crown block structure as an example, referring to Figure 3 , which shows a structure schematic diagram of a transportation device based on a crown block provided by the embodiment. The transportation device has a suction cup lifting appliance, and a vacuum pump provides negative pressure.

[0040] When the plate needs to be transferred, the crown block lifts the transportation device, and the control handle or electronic equipment is automatically executed to make the suction cups above the workpiece. By operating the control box, the suction cups are sucked tightly to the plate. After the crown block lifts the transportation device, the uniformly arranged suction cups ensure that the plate does not deform. After reaching the appropriate position, the control box is operated to release the suction cups, achieving the purpose of transporting the plate.

[0041] Referring to Figure 4 , which shows a top view structure diagram of the suction cup lifting appliance. The suction cups are 8 rows, each row has 2 suction cups, and the total number is 16. Each suction cup can move on the slide rail of the suction cup slide rail area. Referring to Figure 5 , which shows a side view structure diagram of the suction cup lifting appliance.

[0042] S205, control the transportation suction cups to move along the slide rail path to the position represented by the arrangement information in the suction cup slide rail area, and control the transportation suction cups to be fixed after moving to the target position.

[0043] Specifically, each suction cup is driven by an independent servo motor (along the X and Y axes of the slide rail), and the motor is equipped with an encoder to real-time feedback the current position. The electronic equipment sends a target position instruction (based on the coordinates of the arrangement information) to the servo driver. After the transportation suction cups move to the target position, they are rigidly connected to the slide rail through a mechanical locking mechanism (such as an electromagnetic lock) to avoid position deviation during transportation.

[0044] S206: Control the transfer device to transfer the plate based on the starting position and the end position.

[0045] Specifically, the optimal transfer path (avoiding obstacles and shortening distances) is planned based on the coordinates of the starting and end points, and the motion parameters are adjusted in combination with real-time monitoring to ensure that the plates are transferred smoothly and accurately from the starting point to the end point to avoid collisions or slipping.

[0046] This embodiment obtains the properties of the plate and the transportation requirements, determines the minimum number of suction cups in combination with the risk factor, and then optimizes the suction cup arrangement and controls the transportation, thereby achieving dynamic adaptation of the entire process from information collection to execution. It takes into account the inherent characteristics of the plate such as weight, type, and shape, and combines the required parameters such as the transportation path and inclination angle, avoiding the limitations of traditional fixed procedures, improving the safety of plate transportation through risk assessment and reasonable suction cup configuration, and improving the adaptability of the suction cups by dynamically adjusting the number and position of the suction cups, achieving the optimal design of the number and arrangement of suction cups.

[0047] A possible implementation of the embodiment of the present application is to determine the transshipment risk coefficient based on the plate type and transshipment demand information, including: Determine the friction coefficient and air permeability correction factor corresponding to the plate type; Calculate the slip risk factor based on the friction coefficient and the maximum inclination angle; Planning a transfer path based on a starting position and an end position, determining an acceleration impact coefficient and a deceleration impact coefficient from the transfer path, and determining a larger value of the acceleration impact coefficient and the deceleration impact coefficient as the dynamic load impact coefficient; The product of the air permeability correction factor, the slippage risk factor and the dynamic load impact factor is calculated as the transport risk factor.

[0048] In this embodiment, the friction coefficient represents the static friction coefficient between the plate surface and the suction cup rubber pad, reflecting the anti-slip performance of the two during contact. The air permeability correction factor represents the effect of air permeability on the suction cup's negative pressure maintenance. For sealed surfaces such as metal, the air permeability correction factor can be set to 1, while for porous or rough surfaces, the air permeability correction factor can be set to greater than 1. The friction coefficient and air permeability correction factor corresponding to each plate type can be pre-determined through experimentation, creating a table that maps plate type to friction coefficient and air permeability correction factor. The air permeability correction factor should be no less than 1.

[0049] The maximum inclination angle can be manually set according to actual transportation requirements and input into the electronic device. The maximum inclination angle is expressed as θ, the friction coefficient is expressed as µ, and the slip risk coefficient = sinθ / µ.

[0050] The dynamic load coefficient is used to correct the impact of dynamic movements such as acceleration, deceleration, starting and stopping on the suction cup load during the transfer process. The more intense the movement, the larger the value. Before transfer, the path planning algorithm is used to plan the transfer path based on the starting and ending positions. The path includes an acceleration section, a constant speed section, and a deceleration section. The maximum acceleration and maximum deceleration are determined from the transfer path. The acceleration impact coefficient = 1 + maximum acceleration / g, and the deceleration impact coefficient = 1 + maximum deceleration / g, where g = 9.8m / s 2 .

[0051] This embodiment quantitatively integrates the impact of sheet material type on adsorption stability (friction, air permeability) and the dynamic impact of the transfer process (acceleration, deceleration), making the calculation of the risk factor more accurate. This provides a scientific basis for the subsequent determination of the number of suction cups and effectively reduces the problem of sheet material slippage or adsorption failure caused by insufficient risk assessment.

[0052] A possible implementation of the embodiment of the present application is to determine the minimum number of suction cups for transferring plates based on adsorption capacity, weight information, and transfer risk factor, including: The product of weight information and transport risk factor was calculated as the maximum adsorption capacity; The minimum number of suction cups whose sum of adsorption capacities is not less than the maximum adsorption capacity is calculated as the minimum number of suction cups used for transferring plates.

[0053] In this embodiment, the weight information of the plate is converted into the plate gravity. The suction cups in the transfer device have the same specifications and the same adsorption capacity. The adsorption capacity of each suction cup can be obtained by retrieving the attribute information of the transfer device or by inputting it into an electronic device by a technician, and this embodiment is not limited to this.

[0054] The ratio of the maximum adsorption capacity to the adsorption capacity of a single suction cup is the theoretical minimum number of suction cups. If the number of suction cups is not an integer, the minimum number of suction cups is rounded up.

[0055] This embodiment clarifies the lower limit of suction cups required for safe transportation by calculating the maximum adsorption capacity and the minimum number of suction cups. The maximum adsorption capacity obtained by combining the weight and the risk factor fully considers the dead weight of the plate and the risk load. The minimum number of suction cups is determined by rounding up, which ensures that the total adsorption force is sufficient to meet the maximum demand while avoiding the increase in energy consumption and decrease in efficiency caused by too many suction cups, thus achieving a balance between safety and economy.

[0056] A possible implementation of the embodiment of the present application is to determine the transfer suction cups and the arrangement information of the transfer suction cups from all the suction cups of the suction cup spreader based on the slide rail path information and shape information, including: Build a plate plane model based on the shape information, and build a suction cup spreader model corresponding to the suction cup spreader; Determine the geometric centroid of the plate plane model and the center position of the suction cup slide rail area of ​​the suction cup spreader, and map the plate plane model to the suction cup slide rail area based on the center position and the geometric centroid; The suction cups with the minimum number of suction cups among all the suction cup hangers are determined as transfer suction cups, and the arrangement information of the transfer suction cups in the mapping area formed by mapping the plate plane model to the suction cup slide area is determined.

[0057] In this embodiment, a virtual model of the plate's shape and size, presented in two-dimensional coordinate form, is used to simulate the plate's coverage on the suction cup spreader. The suction cup spreader model includes the boundaries of the suction cup rail area, the rail path, and the initial position coordinates of all suction cups.

[0058] The geometric centroid represents the coordinates of the center of gravity of the plate's plane model and is the equivalent point of action of the plate's gravity. For regular shapes, the center of mass of a rectangle is the intersection of its diagonals, and the center of mass of a circle is the coordinates of the circle's center. For irregularly shaped plates, the center of mass is calculated using the area-weighted method by discretizing the edge point coordinates. The center position of the suction cup rail area represents the geometric center coordinates and is the reference point for the suction cup arrangement. The rail area is typically rectangular, and its geometric center is calculated as the center position of the suction cup rail area. Mapping is completed by aligning the geometric center of mass of the plate's plane model with the center position of the suction cup rail area through translation.

[0059] Furthermore, the number of transfer suction cups can be equal to the minimum number of suction cups, and 1-2 more can be added to the minimum number of suction cups to avoid the risk of insufficient total adsorption force due to failure of a single suction cup, which is not limited in this embodiment. If the plate plane model exceeds the boundary of the suction cup slide area after being mapped to the suction cup slide area, the boundary of the suction cup slide area will be used as the mapping area; if the plate plane model falls within the boundary of the suction cup slide area after being mapped to the suction cup slide area, the boundary of the plate plane model will be used as the boundary of the mapping area.

[0060] This embodiment uses model mapping to ensure that the arrangement range of the suction cups matches the shape of the plate, avoiding unstable adsorption caused by the suction cups exceeding the range of the plate; at the same time, the suction cups are selected based on the minimum number of suction cups, reducing resource waste while meeting safety requirements, and improving the rationality of the suction cup configuration and the balance of the adsorption force distribution.

[0061] A possible implementation of the embodiment of the present application is to determine the arrangement information of the transfer suction cups within the mapping area formed by mapping the plate plane model to the suction cup slide area, including: Define constraints, including: the distance between each transfer sucker and the mapping area boundary must be no less than a first safety distance threshold, and the distance between any two transfer suckers must be no less than a second safety distance threshold. Both the first and second safety distance thresholds are determined based on the sucker size information. The target function is defined, and optimization indexes of the target function include a chuck space uniformity and a resultant force action point deviation degree; Based on the constraint condition and the target function, the genetic algorithm is used to perform iterative optimization until the optimization indexes meet the optimization target. The optimal solution after iteration is obtained, and the optimal solution is taken as the arrangement information, and the optimal solution includes position information of each transfer chuck in the mapping area.

[0062] In the embodiment, the position of each transfer chuck represents a coordinate of a center point of the chuck, and the diameter and the radius of the chuck are determined based on chuck size information. The first safety distance threshold represents a minimum distance between the transfer chuck and the boundary of the mapping area, to prevent the chuck from being close to the edge to cause unstable adsorption, and the first safety threshold is greater than the chuck radius. The second safety distance threshold represents a minimum distance between any two transfer chucks, to avoid mutual interference or adsorption force superposition of the chucks to cause excessive local stress, and the second safety distance threshold is greater than the chuck diameter. The specific values of the first safety distance threshold and the second safety distance threshold can be set by the technician in advance according to the constraint condition, or generated automatically by the electronic device: the first safety distance threshold = chuck radius + fixed distance, and the second safety distance threshold = chuck diameter + fixed distance, and the fixed distance is pre-set and stored in the electronic device.

[0063] The chuck space uniformity reflects the uniformity of the distribution of the transfer chucks in the mapping area, and is quantified by a nearest neighbor distance variance, and the smaller the variance, the more uniform the distribution. The calculation process is as follows: all the position coordinates of the determined transfer chucks are taken as a position coordinate group, the nearest neighbor distance of each transfer chuck is determined, and the distance is recorded as the nearest neighbor distance. The average value of all the nearest neighbor distances in the position coordinate group is calculated, and then the nearest neighbor distance variance is calculated, and the smaller the variance, the closer the nearest neighbor distance, and the more uniform the distribution.

[0064] The resultant force action point deviation degree reflects the deviation of the resultant force action point of all the transfer chucks from the center of the chuck slide area, and is quantified by a straight line distance between two points, and the smaller the distance, the more balanced the stress. The calculation process is as follows: the weighted centroid of all the transfer chucks, i.e. the resultant force action point, is calculated. Since the adsorption capacity of each chuck in the embodiment is the same, the adsorption force acting on the plate is also the same, the horizontal coordinate of the weighted centroid is the average value of the horizontal coordinates of all the points in the position coordinate group, and the vertical coordinate of the weighted centroid is the average value of the vertical coordinates of all the points in the position coordinate group.

[0065] In the embodiment, the safety distance constraint and the optimization target (uniformity and deviation degree) are defined, and the genetic algorithm is used to iteratively optimize the chuck arrangement. The constraint condition ensures the safety distance between the chucks and the boundary and between the chucks, to avoid interference or edge adsorption risk. The combination of the target function and the genetic algorithm realizes uniform distribution of the chucks and alignment of the stress center, significantly improves the stability of adsorption, and reduces deformation or falling of the plate caused by uneven stress.

[0066] In a possible implementation of the embodiment, based on the constraint condition and the target function, the genetic algorithm is used to perform iterative optimization until the optimization indicators all meet the optimization target, including: In the current round of iteration, a set of position coordinates is randomly generated based on the constraint condition, and each position coordinate in the set of position coordinates corresponds to a transfer chuck; The nearest neighbor distance variance of all position coordinates in the set of position coordinates is calculated as the chuck space uniformity; The weighted centroid of the set of position coordinates is calculated, and the distance between the weighted centroid and the center position of the chuck slide area is calculated as the force action point offset degree; Based on the chuck space uniformity and the force action point offset degree, it is determined whether the optimization indicators in the current round of iteration meet the optimization target, and if not, the next round of iteration is performed until the optimization indicators meet the optimization target.

[0067] In the embodiment, the target function can be the weighted sum of the chuck space uniformity and the force action point offset degree, and the smaller the function value of the target function is, the better. The corresponding optimization targets are set for the chuck space uniformity and the force action point offset degree in advance. When the chuck space uniformity and the force action point offset degree both meet the corresponding optimization targets in a round of iteration, it indicates that the current round of iteration meets the optimization target.

[0068] The iterative process is performed, and the parameters are initialized: the population size, the maximum number of iterations, the crossover probability, the mutation probability, and the optimization target such as the chuck space uniformity ≤ 300 mm² and the force action point offset degree ≤ 30 mm. An initial population (a set of position coordinates) is generated: n (n = the number of transfer chucks) coordinate points are randomly generated in the mapping area to form a set of position coordinates; it is checked whether the coordinate set meets the constraint condition (each point is greater than D1 from the boundary, and the distance between any two points is greater than D2), and if not, it is regenerated; the above process is repeated to generate 30 sets of position coordinates that meet the constraint condition to form the initial population. The optimization indicators of the current round of iteration are calculated: for each set of position coordinates in the population, the chuck space uniformity (σ²) and the force action point offset degree (D) are calculated. Genetic operations (selection, crossover, and mutation) are performed: based on the target function value f (the smaller f is, the better), “roulette selection” or “elite selection” is adopted, and the top 50% of high-quality individuals (such as 15 individuals) in the population are retained to complete the selection; random pairing (such as 7 pairs) is performed on the selected individuals, and the coordinate sets of each pair of parents are crossed (such as exchanging part of the coordinates of the chucks) to generate offspring individuals (such as 14 individuals), and it is ensured that the offspring meet the constraint condition; part of the coordinate points in the offspring individuals are randomly fine-tuned (such as randomly changing the x or y value by an amplitude of ≤ 50 mm) to generate mutated individuals (such as 1 individual), and it is ensured that the mutation meets the constraint condition; the high-quality parents, offspring, and mutated individuals are combined to form a new population (30 sets).

[0069] The optimization indicators of each position coordinate group in the new population are calculated, and it is checked whether there is at least one coordinate group satisfying that both optimization indicators satisfy the corresponding optimization target; if yes, the iteration is stopped; if not, the next iteration is entered; until the maximum number of iterations is reached or the position coordinate group satisfying the optimization target is obtained.

[0070] After the iteration is stopped, the position coordinate group with the minimum objective function value is selected from the current population as the optimal solution. Each coordinate point (x, y) in the optimal solution is converted into the actual physical position of the suction pad sliding rail area (such as the X-axis and Y-axis scales corresponding to the sliding rail) to form the final arrangement information for controlling the movement of the suction pad.

[0071] The random generation, indicator calculation and iterative optimization of the genetic algorithm in this embodiment ensure that the suction pad arrangement meets the optimization target. The random generation of coordinate groups expands the optimization range, the quantitative calculation of the nearest neighbor distance variance and the weighted centroid offset degree makes the optimization indicators more intuitive, the iterative process constantly approaches the optimal solution, and the final arrangement scheme can maximize the uniformity of the suction pad distribution and the force balance while meeting the constraint conditions, thereby further improving the reliability of the transfer.

[0072] An electronic device is provided in an embodiment of the present application, as shown in Figure 6 , as shown in Figure 6 The electronic device 600 shown in the figure includes a processor 601 and a memory 603. The processor 601 and the memory 603 are connected, such as through a bus 602. Optionally, the electronic device 600 can also include a transceiver 604. It should be noted that in actual applications, the transceiver 604 is not limited to one, and the structure of the electronic device 600 does not constitute a limitation on the embodiments of the present application.

[0073] The processor 601 can be a CPU (Central Processing Unit, central processor), a general-purpose processor, a DSP (Digital Signal Processor, data signal processor), an ASIC (Application Specific Integrated Circuit, application specific integrated circuit), an FPGA (Field Programmable Gate Array, field programmable gate array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It can implement or execute various exemplary logical blocks, modules and circuits described in combination with the disclosure content of the present application. The processor 601 can also be a combination of computing functions, such as a combination of one or more microprocessors, a combination of DSP and microprocessor, etc.

[0074] The bus 602 can include a path that transmits information between the above-mentioned components. The bus 602 can be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus 602 can be divided into an address bus, a data bus, a control bus, etc. For convenience of representation, Figure 6 Only one thick line is used to represent the bus in the middle, but it does not mean that there is only one bus or one type of bus.

[0075] The memory 603 can be a ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, a RAM (Random Access Memory) or other type of dynamic storage device that can store information and instructions, an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to this.

[0076] The memory 603 is used to store application program code for implementing the scheme of the present application, and is controlled by the processor 601 to execute. The processor 601 is used to execute the application program code stored in the memory 603 to realize the content shown in the foregoing plate transfer control method embodiment.

[0077] Figure 6 The electronic device shown is only an example, and should not bring any limitation to the function and use range of the embodiments of the present application.

[0078] The embodiments of the present application provide a computer readable storage medium, and the computer readable storage medium stores a computer program. When the computer program runs on a computer, the computer can execute the content shown in the foregoing plate transfer control method embodiment.

[0079] It should be understood that although each step in the flowchart of the accompanying drawings is shown in sequence according to the indication of the arrow, these steps are not necessarily executed in sequence according to the indication of the arrow. Unless explicitly stated herein, the execution of these steps is not strictly limited in sequence, and they can be executed in other sequences. Moreover, at least part of the steps in the flowchart of the accompanying drawings can include multiple sub-steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence is not necessarily sequential, but can be alternately or alternately executed with at least part of other steps or sub-steps or stages of other steps.

[0080] The embodiment of the present application provides a computer program product, comprising a computer program, when the computer program is executed by a processor, the content shown in the foregoing plate transfer control method embodiment is realized.

[0081] The above is only some embodiments of the present application, and it should be pointed out that for those skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, which should be considered as the protection scope of the present application.

Claims

1. A plate transfer control method, characterized in that: include: Acquire attribute information and transfer requirement information of the plate, wherein the attribute information includes weight information, plate type and shape information, and the transfer requirement information includes: starting position, end position and maximum inclination angle; Determining a transshipment risk coefficient based on the plate type and the transshipment demand information; Obtaining the adsorption capacity of the suction cup hanger of the transfer device, and determining the minimum number of suction cups used for transferring the plate based on the adsorption capacity, the weight information, and the transfer risk factor; Obtaining rail path information of a suction cup rail area of ​​the suction cup lifter, and determining transfer suckers and arrangement information of the transfer suckers from all the suckers of the suction cup lifter based on the rail path information and the shape information, wherein the number of the transfer suckers is not less than the minimum number of suckers; Controlling the transfer suction cup to move along the slide path on the suction cup slide area to the position represented by the arrangement information, and controlling the transfer suction cup to be fixed after the movement is completed; The transfer device is controlled to transfer the plate based on the starting position and the end position.

2. The plate transfer control method according to claim 1, characterized in that: The determining of the transshipment risk coefficient based on the plate type and the transshipment demand information includes: Determine the friction coefficient and air permeability correction factor corresponding to the plate type; calculating a slip risk coefficient based on the friction coefficient and the maximum inclination angle; Planning a transfer path based on the starting position and the end position, determining an acceleration impact coefficient and a deceleration impact coefficient from the transfer path, and determining a larger value from the acceleration impact coefficient and the deceleration impact coefficient as a dynamic load impact coefficient; The product of the air permeability correction coefficient, the slippage risk coefficient and the dynamic load impact coefficient is calculated as the transport risk coefficient.

3. The plate transfer control method according to claim 1, characterized in that: The determining of the transfer suction cup and the arrangement information of the transfer suction cup from all the suction cups of the suction cup hanger based on the slide rail path information and the shape information includes: Constructing a plate plane model based on the shape information, and constructing a suction cup spreader model corresponding to the suction cup spreader; Determining the geometric centroid of the plate plane model and the center position of the suction cup slide rail area of ​​the suction cup spreader, and mapping the plate plane model to the suction cup slide rail area based on the center position and the geometric centroid; The suction cups with the minimum number of suction cups are determined from all the suction cups of the suction cup hanger as the transfer suction cups, and the arrangement information of the transfer suction cups in the mapping area formed by mapping the plate plane model to the suction cup slide rail area is determined.

4. The plate transfer control method according to claim 3, characterized in that: The determining of arrangement information of the transfer suction cup within a mapping area formed by mapping the plate plane model to the suction cup slide area includes: Define constraints, including: a distance between each transport sucker and the boundary of the mapping area is not less than a first safety distance threshold, and a distance between any two transport suckers is not less than a second safety distance threshold, where both the first safety distance threshold and the second safety distance threshold are determined based on sucker size information; defining an objective function, wherein the optimization indicators of the objective function include the spatial uniformity of the suction cup and the offset of the resultant force application point; Based on the constraint conditions and the objective function, performing iterative optimization using a genetic algorithm until the optimization index meets the optimization goal; The optimal solution after the iteration is completed is obtained, and the optimal solution is used as the arrangement information. The optimal solution includes the position information of each transfer suction cup in the mapping area.

5. The plate transfer control method according to claim 4, characterized in that: The iterative optimization is performed using a genetic algorithm based on the constraint conditions and the objective function until all the optimization indicators meet the optimization goal, including: During the current round of iteration, a position coordinate group is randomly generated based on the constraint conditions, and each position coordinate in the position coordinate group corresponds to a transfer sucker; Calculating the nearest neighbor distance variance of all position coordinates in the position coordinate group as the suction cup spatial uniformity; Calculating the weighted centroid of the position coordinate group, and calculating the distance between the weighted centroid and the center position of the suction cup slide rail area as the offset of the resultant force application point; Based on the spatial uniformity of the suction cup and the offset of the resultant force application point, it is determined whether the optimization index in the current iteration meets the optimization target. If not, the next iteration process is executed until the optimization index meets the optimization target.

6. The plate transfer control method according to claim 1, characterized in that: The determining of the minimum number of suction cups for transporting the plate based on the adsorption capacity, the weight information, and the transport risk factor includes: calculating the product of the weight information and the transport risk coefficient as the maximum adsorption capacity; The minimum number of suction cups whose sum of corresponding adsorption capacities is not less than the maximum adsorption capacity is calculated as the minimum number of suction cups used to transport the plate.

7. A plate transport control system, characterized in that: include: transfer devices and electronic equipment; The transfer device is used to receive the control signal of the electronic device and execute the corresponding transfer instruction; The electronic device is used to execute the plate transfer control method according to any one of claims 1 to 6.

8. The plate transport control system according to claim 7, characterized in that: The transfer device includes a suction cup sling; The suction cup sling comprises a slide rail and a plurality of suction cups moving on the slide rail, and the slide rail and the plurality of suction cups constitute a suction cup slide rail area.

9. The plate transport control system according to claim 7, characterized in that: The electronic device comprises: at least one processor; Memory; At least one application, wherein the at least one application is stored in a memory and configured to be executed by at least one processor, and the at least one application is configured to: execute the plate transport control method according to any one of claims 1-6.

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