Unmanned steel grabbing equipment

Abstract

The utility model discloses unmanned steel grabbing equipment which comprises visual sensor working equipment A, visual sensor working equipment B and unmanned steel grabbing equipment, and the visual sensor working equipment A and the visual sensor working equipment B are both composed of visual sensor working equipment supports and visual sensors in a combined mode. According to the control method of the unmanned steel grabbing equipment, path planning is carried out on the unmanned steel grabbing equipment through the task instruction, then the unmanned steel grabbing equipment is controlled to run to a positioning area and carry out operation, coordinated division of labor and running path optimization of different steel grabbing machines are achieved, the working efficiency is improved, and the labor intensity of workers is lowered. And the automation degree is high.

Description

Technical Field

[0001] The utility model relates to the field of unmanned steel grabbing technology and detection control, in particular to a control system for unmanned steel grabbing equipment. Background Art

[0002] At present, the steel grabbing equipment in the steel manufacturing industry and the steel recycling industry needs to be staffed with workers to operate the steel grabbing equipment. There are many workers and a heavy workload. In addition, the steel is hard and has sharp edges, which poses a great safety hazard. Manual handling is not convenient for accurately assessing the actual shape and volume of the steel pile.

[0003] At present, different operating equipment, such as different steel grabbing equipment or between steel grabbing equipment and loading and unloading vehicles, cannot work in coordination with each other. Due to the special working environment of the steel grabbing equipment, the movement route of the steel grabbing equipment cannot be set in advance. The manual method is not convenient for coordinated division of labor and path planning of different steel grabbing equipment, the work efficiency is low, and it causes certain safety hazards.

[0004] For example, the public document with the publication number CN117428779A, the publication date 2024-01-23, and the patent name "A robot grasping control method, device, equipment and storage medium" discloses a robot grasping control method, device, equipment and storage medium. It includes: obtaining a global image of the robot's working scene; determining the best viewing angle corresponding to the global image through a pre-built perspective selection model; determining the grasping target according to the best viewing angle, and controlling the robot to grasp based on the grasping target. The global image of the robot's working scene is obtained by moving the robot to a preset global photo taking point, and the best viewing angle corresponding to the global image can be determined by inputting the global image into the perspective selection model after processing, and then the robot is controlled to move to the best viewing angle to determine the grasping target. Finally, the robot is controlled to grasp based on the grasping target until the working scene is cleared. The perspective selection model shortens the perspective selection time, and the grasping target can be further selected from the cluttered stacked objects at the best viewing angle.

[0005] Similar grasping robot equipment is difficult to adapt to the existing grasping needs of the steel industry, so it is necessary to design a grasping robot that can be used in the steel field. Utility Model Content

[0006] The technical problem to be solved by the utility model is to realize an unmanned steel grabbing device and method, which can complete the steel grabbing unmanned according to the sensor parameter information, effectively improve the work efficiency, have a high degree of automation, and reduce safety hazards.

[0007] In order to achieve the above-mentioned purpose, the technical solution adopted by the utility model is: an unmanned steel grabbing equipment, the equipment is fixed with a visual sensor working equipment through a visual sensor working equipment bracket above the steel pile area, the visual sensor working equipment collects image information of the steel pile downward, the visual sensor is connected and outputs a sensing signal to a data set control center, the unmanned steel grabbing equipment is provided with an unmanned steel grabbing mobile device, the end of the mechanical arm on the unmanned steel grabbing mobile device is provided with a steel grabbing claw, the unmanned steel grabbing mobile device is provided with a camera for collecting image information of the surrounding environment, and the data set control center communicates with the unmanned steel grabbing equipment.

[0008] The visual sensor working devices are provided with two, which are respectively fixed above the steel pile area by two visual sensor working device brackets. The top of the visual sensor working device bracket is provided with a laterally extending visual sensor combination, and the lower surface of the end of the visual sensor combination is fixed with a visual sensor bracket for fixing the visual sensor.

[0009] The unmanned steel grabbing and moving equipment is composed of a moving track and a 4-axis robotic arm fixed on the moving track. The camera is fixed at the front end of the 1st axis of the 4-axis robotic arm and is used to observe whether there are obstacles in front of the unmanned steel grabbing equipment when it is moving.

[0010] The utility model discloses an unmanned steel grabbing device which detects the target position, plans a path according to the position information detection result, and issues a motion instruction according to the path planning result; during the driving process of the unmanned steel grabbing device, a camera observes in real time whether there is an obstacle in front of the unmanned steel grabbing device; according to the motion instruction, the unmanned steel grabbing device is controlled to run to the target position; according to the visual sensor, the steel pile is visually segmented and serial numbers are marked in sequence, and the operation is performed at the same time; after all the grabbing tasks are completed, the task completion information is fed back; and the coordinated operation of different unmanned steel grabbing devices can be realized, so as to improve the work efficiency and have a high degree of automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The following is a brief description of the contents expressed in each figure in the utility model specification and the marks in the figure:

[0012] Figure 1 This is the overall three-dimensional diagram of the unmanned steel grabbing equipment;

[0013] Figure 2 3D diagram of the working equipment for the vision sensor;

[0014] Figure 3 A three-dimensional diagram of unmanned steel grabbing equipment;

[0015] Figure 4 This is a diagram of the control method for unmanned steel grabbing equipment;

[0016] Figure 5 This is the operation flow chart of unmanned steel grabbing equipment;

[0017] Figure 6 This is a control system diagram for unmanned steel grabbing equipment;

[0018] Figure 7 This is the control schematic diagram of the hydraulic cylinder of the unmanned steel grabbing equipment;

[0019] Figure 8 This is the working principle diagram of the hydraulic cylinder of the unmanned steel grabbing equipment;

[0020] The marks in the above figures are: 1. Visual sensor working equipment A; 2. Visual sensor working equipment B; 3. Steel pile; 4. Steel unmanned grabbing equipment; 5. Visual sensor working equipment bracket; 6. Visual sensor combination; 6a. Visual sensor bracket; 6b. Visual sensor; 7. Steel grabbing claw; 8. Steel unmanned grabbing equipment equipment; 9. Camera; 10a. Grabbing equipment hydraulic pump; 10b. Safety overflow valve; 10c. Equipment one-way valve; 10d. Scrap grabbing equipment electromagnetic proportional valve; 10e. Grabbing equipment hydraulic cylinder; 10f. Oil tank. DETAILED DESCRIPTION

[0021] The following is a description of the embodiments with reference to the accompanying drawings, and further detailed descriptions are given of the specific implementation methods of the present invention, such as the shapes and structures of the components involved, the relative positions and connection relationships between the components, the functions and working principles of the components, the manufacturing process and the operation and use methods, so as to help those skilled in the art to have a more complete, accurate and in-depth understanding of the utility model concept and technical solution of the present invention.

[0022] The unmanned steel grabbing equipment and method locate the steel position, perform path planning according to the positioning information detection result, and issue a first control instruction according to the path planning result; according to the first control instruction, control the steel grabbing equipment to run to the target position and perform the operation, and observe in real time whether there are obstacles blocking the movement of the unmanned steel grabbing equipment during the route, visually segment the steel pile 3 through the visual sensor 6b, and the unmanned steel grabbing equipment performs the grabbing operation according to the visual segmentation. After the operation is completed, the task completion information is fed back; tasks are collaboratively allocated to different unmanned steel grabbing equipment, and path planning is performed according to the task instructions to optimize the operation paths of different steel grabbing equipment. The unmanned degree is high, work efficiency is effectively improved, the degree of automation is high, and safety hazards are reduced.

[0023] like Figure 1As shown, the unmanned steel grabbing equipment 4 includes: visual sensor working equipment A1, visual sensor working equipment B2, and unmanned steel grabbing equipment 4, wherein the visual sensor working equipment A1 and the visual sensor working equipment B2 are both composed of a visual sensor working equipment bracket 5 and a visual sensor combination 6, wherein the visual sensor combination 6 is composed of a visual sensor bracket 6a and a visual sensor 6b, and the unmanned steel grabbing equipment 4 is composed of a steel grabbing claw 7, an unmanned steel grabbing mobile device 8 and a camera 9.

[0024] The visual sensor working equipment A1 is located on one side of the visual sensor working equipment B2, and the two visual sensor 6b working equipment are placed at 90°, which can observe all the information of the steel area in a relatively comprehensive manner. The unmanned steel grasping equipment 4 is located in the opposite area of ​​the visual sensor working equipment A1 and the visual sensor working equipment B2, and can complete visual positioning from the side and top at the same time, thereby improving the reliability of the grasping work.

[0025] The system uses two visual sensors 6b to locate the position of the steel pile 3 and detect the positioning information, and transmits the position positioning information detection results to the data set control center; the visual sensor 6b takes a comprehensive picture of the steel pile 3 as a whole, and visually segments it, and marks the segmented areas with serial numbers to provide grasping information for the unmanned steel grasping equipment 4. The unmanned steel grasping equipment 4 is used to move according to the path planned by the data set control center and drive to the working area. A 4-axis robotic arm is provided on the unmanned steel grasping equipment 4 to meet the spatial working requirements. A camera 9 is provided at the front end of the first-axis robotic arm to observe whether there are obstacles at the end of the unmanned steel grasping equipment 4 when it is moving, so as to ensure the safety of the on-site working environment.

[0026] The unmanned steel grabbing device 4 is composed of a steel grabbing claw 7, an unmanned steel grabbing mobile device 8 and a camera 9. The steel grabbing claw 7 serves as the execution end of the unmanned steel grabbing device 4 and is used to grab steel. Its grabbing force and carrying capacity can meet the working requirements. The unmanned steel grabbing mobile device 8 is composed of a 4-axis robotic arm and a mobile track. The 4-axis robotic arm can meet the motion space requirements. The camera 9 is fixed to the front end of the first axis of the 4-axis robotic arm and is used to observe whether there are obstacles in front of the unmanned steel grabbing device 4 when it is moving. If there are obstacles, the motion control command is suspended and an alarm is issued. After the staff has cleared the obstacles, the motion command is continued.

[0027] The visual sensor 6b module is used to locate and detect the target position according to the task instructions and obtain the positioning results; the data collection and control module is used to collect data, collect data, and analyze the data; collect images, collect images, and segment the images; after segmenting and analyzing the results, a control instruction is issued; the path planning module is used to plan the path according to the detection results, and issue a motion instruction according to the path planning results; the visual module is used to observe the situation in front of the unmanned steel grabbing equipment 4 to prevent the obstacles from causing damage to the unmanned steel grabbing equipment 4 when encountering obstacles; the control module controls the steel grabber to run to the target position and perform operations according to the motion instructions; the communication module feeds back the task completion information to complete the control of the unmanned steel grabbing equipment 4.

[0028] The visual sensor 6b module is composed of two visual sensors 6b. According to the task instructions, the target position is detected and the positioning result is obtained. The data collection and control module is used to collect data, collect data, and analyze the data; collect images, collect images, and segment the images; after segmenting and analyzing the results, a control instruction is issued. The path planning module is used to plan the path according to the detection results, and issue a motion instruction according to the path planning results.

[0029] The visual module is used to observe the situation in front of the steel unmanned grasping device 4 to prevent the obstacles from causing damage to the steel unmanned grasping device 4 when encountering obstacles. The control module controls the steel grasping machine to run to the target position and perform operations according to the motion instructions. The communication module is used to feedback the task completion information to complete the control of the steel unmanned grasping device 4.

[0030] like Figure 4 As shown, the working method includes: locating the target position according to the task assigned by the system and obtaining the position information detection result; feeding back the target position information result to the data control center, performing path planning according to the target position information detection result, and issuing a motion instruction according to the path planning result; according to the motion instruction, controlling the unmanned steel grasping equipment 4 to run to the corresponding area to perform operation; performing visual block processing on the target area according to the visual sensor 6b, and obtaining the target area block detection result; issuing a control instruction according to the target area block detection result; controlling the unmanned steel grasping equipment 4 to grasp the target area block detection result in blocks according to the control instruction; after the operation is completed, feeding back the task completion information to complete the control of the unmanned steel grasping equipment 4.

[0031] According to the mission signal, the target position is located and detected, and the steps of obtaining the detection result include:

[0032] Obtain a task signal, detect the location of the target position in the field according to the task signal, mark the corresponding coordinates of the target position, and then obtain the detection result, and transmit the coordinate data to the data set control center. Then, the data set control center performs path planning according to the detection result.

[0033] The step of detecting whether there are obstacles in the preset working area of ​​the unmanned steel grabbing device 4 includes:

[0034] According to the path planning results analyzed by the data set control center, the unmanned steel grabbing equipment 4 starts to move, and at the same time, the camera 9 located on the unmanned steel grabbing equipment 4 starts to work to detect whether there are obstacles on the route of the unmanned steel grabbing equipment 4. If there are obstacles, the unmanned steel grabbing equipment 4 immediately stops moving, feedbacks the related information of the obstacles, and issues an alarm; if there are no obstacles, the unmanned steel grabbing equipment 4 is controlled to continue moving until it reaches the designated working area, completing the movement control of the unmanned steel grabbing equipment 4.

[0035] The step of performing path planning according to the detection result comprises:

[0036] Detect the location information of each area in the operating environment, and build a basic map based on the location information of each area; build a target map based on the basic map, the target location in the task signal and the current location of the unmanned grasping device; obtain the driving path based on the basic map and the target map, and then obtain the path planning result.

[0037] According to the path planning results, the steps of issuing motion instructions include:

[0038] According to the path planning result, a motion instruction for controlling the unmanned steel grabbing device 4 to run along the path is obtained.

[0039] According to the motion instruction, the step of controlling the unmanned steel grabbing device 4 to move to the corresponding working area includes:

[0040] According to the motion instruction, the unmanned steel grabbing device 4 is controlled to move to the working area along the planned path.

[0041] According to the motion instruction, the step of controlling the unmanned steel grabbing device 4 to move to the target position along the planned path includes:

[0042] During the operation of the unmanned steel grabbing equipment 4, the camera 9 located on the unmanned steel grabbing equipment 4 works at the same time to detect the position information of obstacles in front of the unmanned steel grabbing equipment 4 during movement. If an obstacle is detected, the unmanned steel grabbing equipment 4 immediately stops moving and issues an alarm. If no obstacle is detected, the unmanned steel grabbing equipment 4 continues to move until it reaches the corresponding working area.

[0043] The visual sensor 6b performs visual block processing on the target area, and the steps of obtaining the target area block detection result include:

[0044] The entire target area is photographed according to the visual sensor working device A1 and the visual sensor working device B2, and the photographed pictures are integrated to integrate a complete target picture without missing any blind spots, and the target picture is segmented to proportionally segment the area that matches the amount that the steel grabbing clamp 7 can grasp at one time, mark the corresponding serial numbers to obtain the target area block detection results, and issue control instructions.

[0045] According to the control instruction, the step of controlling the unmanned steel grabbing device 4 to grab the target area block detection result in blocks includes:

[0046] According to the control instructions, the unmanned steel grasping equipment 4 starts the 4-axis robotic arm, grasps one by one according to the marked area block numbers, and detects whether the grasping target area has been grasped through the visual sensor 6b working device. If it is detected that there is still steel in the block area, the unmanned steel grasping equipment 4 continues to grasp the steel in the area; if it is detected that there is no steel in the grasping area, it continues to grasp the next number area.

[0047] The specific control method includes the following steps:

[0048] S01: According to the task instruction, the position of the steel pile 3 is located and the position information is obtained; at this time, the steel grabbing device receives the task instruction, and the task instruction is issued by the data control module. The data control module is connected with the signal of the steel grabbing device that is not in the working state. The data control module issues task instructions to the steel grabbing device according to the initial position information and orientation posture of the steel grabbing device to avoid the phenomenon of issuing repeated tasks to the unmanned steel grabbing device 4 in the working state, and builds a master-slave control system. The related tasks of different steel grabbing devices are split, merged, or modified through the data control module to realize the unmanned control of the unmanned steel grabbing device 4, enhance the working efficiency of the unmanned steel grabbing device 4, and ensure the unmanned steel grabbing device 4 closest to the position where the steel pile 3 needs to be grabbed by locating the current position of the unmanned steel grabbing device 4 and the position of the steel pile 3, so as to realize the unmanned and efficient control of the steel grabbing device.

[0049] S02: Perform path planning according to the acquired position information of the steel pile 3 area, and issue motion instructions according to the path planning result; locate the position of the steel pile 3 to obtain the position information detection result, and according to the steel pile 3 position information detection result, it is possible to judge the distance between the current position of the unmanned steel grabbing device 4 that is not in a working state and the position of the steel pile 3, and compare which unmanned steel grabbing device 4 is closest, and then determine whether to perform path planning for the unmanned steel grabbing device 4; for example: perform distance detection on the current position of the unmanned steel grabbing device 4 that is not in a working state and the position of the steel pile 3, and if the detection result is When the unmanned steel grabbing device 4 which is not in working state and has the shortest distance from the position of the steel pile 3 is measured, the unmanned steel grabbing device 4 is started, and the working area can be set according to the actual situation. It is assumed that the unmanned steel grabbing device 4 is taken as the coordinate origin, and the area less than or equal to two meters away from the coordinate origin is set as the working area, etc., and then the path planning is carried out for the unmanned steel grabbing device 4 to obtain a better moving path as the path planning result. According to the path planning result, a motion instruction for controlling the operation of the steel grabbing device is issued, thereby realizing the motion control of the unmanned steel grabbing device 4, and the unmanned degree is relatively high.

[0050] S03: According to the issued motion instruction, the unmanned steel grabbing device 4 is controlled to run to the working position of the steel pile 3 to be grabbed; according to the motion instruction, the unmanned steel grabbing device 4 is controlled to move to the corresponding working position along the planned running path. Among them, a camera 9 is provided in front of the unmanned steel grabbing device 4, and the camera 9 is used to detect whether there are obstacles on the route and working area of ​​the unmanned steel grabbing device 4. If there are no obstacles, the unmanned steel grabbing device 4 is controlled to continue to move or work. If there are obstacles on the route or working area, the unmanned steel grabbing device 4 stops moving and feeds back the related information of the obstacles, and sends out an alarm signal to remind the on-site duty personnel to clear the obstacles. After the duty personnel have finished clearing, the duty personnel continue to start the unmanned steel grabbing device 4 to move or work through the control screen, so as to realize the safe operation and safe movement of the unmanned steel grabbing device 4 and reduce safety hazards.

[0051] S04: Perform visual segmentation processing on the steel pile 3 area according to the visual sensor 6b on the visual sensor 6b working device, and obtain the segmentation detection result of the steel pile 3 area; perform full coverage scanning on the steel pile 3 area through the visual sensor 6bA and the visual sensor 6bB, and process the scanned image at the data set control center. The purpose of using the two sets of visual sensors 6b to scan the steel area is to prevent the loss of data of the plane model of the steel pile 3 due to the failure to scan and process some areas, and avoid the problems such as low work efficiency caused by the working errors of the unmanned steel grabbing equipment 4. For example: segment the image captured by the image segmentation GrowCut algorithm, divide the steel pile 3 area into multiple areas according to the proportion, and mark each segmented area with a serial number.

[0052] S05: Based on the block detection results of the steel area, a control instruction is issued; the steel unmanned grasping device 4 adjusts its moving working area according to the image segmentation results issued by the data set control center, and when moving, it follows the principle of trajectory planning first and then obstacle clearing, so as to achieve a grasping order from near to far and from top to bottom, thereby improving work efficiency and ensuring that the steel unmanned grasping device 4 can perform efficient movement and grasping work, and then feed back the re-planned route data to the data set control center, and then issue the next control instruction.

[0053] S06: According to the control instruction, the unmanned steel grabbing equipment 4 is controlled to grab the steel pile 3 area block detection results in blocks, and the unmanned steel grabbing equipment 4 is controlled through the re-planned route. When the unmanned steel grabbing equipment 4 reaches the designated working position, it stops moving, and the working arm of the unmanned steel grabbing equipment 4 is started. Through the electronically controlled hydraulic device, the hydraulic cylinders at the joints on the working arm are controlled, thereby controlling the movement of the arm of the unmanned steel grabbing equipment 4 and the opening and closing of the steel grabbing jaws 7.

[0054] S07: Feedback task completion information to complete the control of the unmanned steel grabbing equipment. When all steel grabbing is completed, the unmanned steel grabbing equipment 4 feeds back task completion information through the communication module to update the information of the control module with high real-time performance, thus realizing real-time monitoring of the status of the unmanned steel grabbing equipment 4.

[0055] For the steel pile 3 area, a task instruction is sent to the steel grabbing equipment through the data control module, and the task instruction includes: target positioning position, receiving the task instruction, and according to the task instruction, performing distance detection and distance comparison between the current position of the unmanned steel grabbing equipment 4 that is not in working state and the position of the steel pile 3, obtaining the minimum distance detection result, and then determining whether to perform path planning for the unmanned steel grabbing equipment 4.

[0056] The distance between the current position of the unmanned steel grabbing equipment 4 that is not in working state and the position of the steel pile 3 is detected. If the unmanned steel grabbing equipment 4 that is not in working state and has the smallest distance to the position of the steel pile 3 is detected, the unmanned steel grabbing equipment 4 is started, and then the path planning is performed on the unmanned steel grabbing equipment 4 to obtain a better moving path as the path planning result. According to the path planning result, a motion instruction for controlling the operation of the unmanned steel grabbing equipment 4 is issued. According to the motion instruction, the unmanned steel grabbing equipment 4 is controlled to run to the target position along the better running path.

[0057] A camera 9 is provided at the front end of the unmanned steel grabbing device 4 for detecting whether there are obstacles on the moving route and the working area. If there are no obstacles, the steel grabbing device is controlled to continue moving or working. If there are obstacles, the movement is stopped, an alarm is issued and the information of the obstacle is fed back until the on-duty personnel clear the obstacles and then the unmanned steel grabbing device 4 is started again.

[0058] The visual sensor 6b on the visual sensor working device performs visual block processing on the steel pile 3 area, obtains the block detection result of the steel pile 3 area, and processes the scanned image at the data set control center. The two sets of visual sensors 6b are used to scan the steel area to prevent the data loss of the plane model of the steel pile 3 caused by not scanning some areas. After the block processing, each block is marked with a serial number.

[0059] According to the block area information marked with serial numbers, plan the optimal grasping operation position and moving path of the unmanned steel grasping equipment 4, follow the grasping order from near to far and from top to bottom, improve work efficiency, and ensure that the unmanned steel grasping equipment 4 can perform efficient movement and grasping work, so as to ensure the implementation of the next step of work and the release of tasks.

[0060] When the steel grabbing is completed, the unmanned steel grabbing equipment 4 feeds back the task completion information to the data control module through the communication module, and updates the status of the steel grabbing equipment in the control module; when there are multiple unmanned steel grabbing equipment 4 working together, the control module splits the collaborative tasks of the unmanned steel grabbing equipment 4 that need to work according to the status of the steel grabbing equipment and the on-site environment, divides it into multiple trajectory planning and operating actions that meet the needs of the site, and sends task instructions to the unmanned steel grabbing equipment 4 according to the trajectory planning and operating actions, so as to realize efficient control of the unmanned steel grabbing equipment 4, achieve a high degree of unmanned operation, reduce labor costs, and facilitate implementation.

[0061] Specific optimization model for calculating hydraulic spring stiffness during grasping.

[0062] Let the stiffness of the hydraulic spring be K, the average area of ​​the piston of one hydraulic cylinder be A, the average area of ​​the piston of the other hydraulic cylinder be A', the moving distance of one piston rod be L, the moving distance of the other piston rod be L', the volume of the single-side cavity of one hydraulic cylinder be V, the volume of the single-side cavity of the other hydraulic cylinder be V', and the stiffness of the hydraulic spring is calculated using the following formula:

[0063]

[0064] The above formula is used to calculate the hydraulic spring stiffness because the volume of the single-side chamber of the hydraulic cylinder is constantly changing during the actual operation, and the hydraulic spring stiffness will also change continuously. In order to simplify the calculation steps, optimize the calculation process, and provide calculation parameters for hydraulic system analysis, the above formula is used for calculation.

[0065] like Figure 6 As shown, this embodiment also provides a control system for unmanned steel grabbing equipment 4, including: a visual sensor 6b module, used to locate and detect the target position according to the task instruction and obtain the positioning result; a data collection and control module: used to collect data, collect data, and analyze the data; collect images, collect images, and segment the images; after segmenting and analyzing the results, issue a control instruction; a path planning module: used to plan the path according to the detection result, and issue a motion instruction according to the path planning result; a visual module: used to observe the situation in front of the unmanned steel grabbing equipment 4 to prevent the obstacles from causing damage to the unmanned steel grabbing equipment 4 when encountering obstacles; a control module: according to the motion instruction, control the steel grabber to run to the target position and perform the operation; a communication module: feedback the task completion information to complete the control of the unmanned steel grabbing equipment 4. The visual sensor 6b module, the path planning module, the visual module, the control module and the communication module are connected in sequence; by locating the target position, the path planning is performed according to the positioning information, and a motion instruction is issued according to the path planning result; according to the motion instruction, the steel grabber is controlled to run to the target position and perform the operation, and the task completion information is fed back; the operation paths of different steel grabbers are optimized, the work efficiency is improved, and the degree of automation is high.

[0066] like Figure 7As shown, this embodiment also provides a hydraulic control principle for unmanned steel grabbing equipment. The operator remotely controls the equipment through the electrical signal of the remote control and sends control instructions to the control system. The electromagnetic proportional valve of the grabbing equipment receives the signal, controls the power-on signal of the electromagnet, moves the valve core, adjusts the flow of hydraulic oil, controls the movement speed and strength of the hydraulic cylinder, and completes the scrap steel grabbing action. Furthermore, the equipment engineering machine completes the data collection of the working status, and feeds back the signal through the sensor, monitors the position of the hydraulic cylinder and the working status of the system in real time, thereby adjusting the control signal of the electromagnetic proportional valve to ensure the accuracy and stability of the scrap steel grabbing action.

[0067] like Figure 8 As shown, this embodiment also provides a working principle of the hydraulic cylinder of an unmanned steel grabbing device, including: a grabbing device hydraulic pump 10a, a safety relief valve 10b, a device one-way valve 10c, a scrap steel grabbing device electromagnetic proportional valve 10d, a grabbing device hydraulic cylinder 10e, and an oil tank 10f. The hydraulic pump 10a delivers hydraulic oil into the system, the scrap steel grabbing device electromagnetic proportional valve 10d adjusts the movement of the hydraulic cylinder 10e by controlling the power-on signal of the electromagnet, the device one-way valve 10c ensures that the hydraulic oil can only flow in the specified direction, the safety relief valve 10b protects the safety of the entire grabbing device system, and the grabbing device hydraulic cylinder 10e completes the grabbing action. In this way, the unmanned steel grabbing device can achieve a precisely controlled grabbing action through the hydraulic system.

[0068] The utility model is described above by way of example in conjunction with the accompanying drawings. It is obvious that the specific implementation of the utility model is not limited to the above-mentioned method. As long as various non-substantial improvements are made using the method concept and technical solution of the utility model, or the concept and technical solution of the utility model are directly applied to other occasions without improvement, they are all within the protection scope of the utility model.

Claims

1. An unmanned steel grabbing device, characterized in that: The device is equipped with a visual sensor working device fixed above the steel pile area through a visual sensor working device bracket. The visual sensor working device collects image information of the steel pile downwards. The visual sensor is connected and outputs a sensing signal to a data set control center. The unmanned steel grabbing device is equipped with an unmanned steel grabbing mobile device. The end of the mechanical arm of the unmanned steel grabbing mobile device is equipped with a steel grabbing claw. The unmanned steel grabbing mobile device is equipped with a camera for collecting image information of the surrounding environment. The data set control center communicates with the unmanned steel grabbing device.

2. The unmanned steel grabbing equipment according to claim 1 is characterized in that: The visual sensor working devices are provided with two.

3. The unmanned steel grabbing equipment according to claim 2 is characterized in that: The two visual sensors are respectively fixed above the steel pile area through two visual sensor working equipment brackets.

4. The unmanned steel grabbing device according to claim 1, 2 or 3, characterized in that: A laterally extending visual sensor assembly is provided on the top of the visual sensor working equipment bracket, and a visual sensor bracket for fixing the visual sensor is fixed on the lower surface of the end of the visual sensor assembly.

5. The unmanned steel grabbing equipment according to claim 4 is characterized in that: The steel unmanned grabbing and moving equipment is composed of a moving track and a 4-axis mechanical arm fixed on the moving track.

6. The unmanned steel grabbing equipment according to claim 3 is characterized in that: The camera is fixed to the front end of the first axis of the 4-axis robotic arm.

7. The unmanned steel grabbing device according to claim 6 is characterized in that: The camera is used to observe whether there are obstacles in front of the unmanned steel grabbing equipment when it is moving.

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