CN-117140529-B - Unmanned steel grabbing machine grabbing system and method for strip-shaped scrap steel

Abstract

The invention relates to a grabbing system and method of an unmanned steel grabbing machine for strip-shaped scrap steel, and belongs to the field of automation. The method comprises the steps of preprocessing strip-shaped waste steel before grabbing, selecting the strip-shaped waste steel with the length within a certain deviation range through a sensing system, calculating the gravity center point of the strip-shaped waste steel, closely arranging the strip-shaped waste steel in the same direction and enabling the gravity center point to be on a straight line, grabbing all the strip-shaped waste steel at the gravity center point through an end effector, lifting the working arm until all the strip-shaped waste steel is suspended, and finally shaking the working arm, wherein a ground sensing sensor detects whether the gravity center point is deviated out of a stable range. The invention enhances the stability of the unmanned steel grabbing machine for grabbing the strip-shaped scrap steel, increases the grabbing success rate of the unmanned steel grabbing machine and the safety in the operation process, improves the operation efficiency, and reduces the damage of the offset or sliding of the strip-shaped scrap steel to equipment and personnel when the operation arm moves.

Inventors

• ZHOU YUXING
• CHEN KAI
• LIN QIYONG
• ZHOU JIALUO
• SHI QINGQING
• HE LI

Assignees

• 中冶赛迪技术研究中心有限公司

Dates

Publication Date

20260505

Application Date

20230928

Claims (2)

1. 1. The system is characterized by comprising a sensor, a data acquisition module, a data processing module and a control unit which are connected in sequence in a signal mode; The data acquisition module acquires strip-shaped steel scrap data through a sensor and sends the strip-shaped steel scrap data to the data processing module; the data processing module comprises a gravity center calculating sub-module, a gravity center detecting sub-module and a flow control sub-module; the center of gravity calculating submodule receives the request of the flow control submodule and calculates the center of gravity of the strip-shaped scrap steel; ① Taking the center point of the scrap steel with the same section size as the center of gravity; ② The sections are different in size and shape and are tetrahedrons, and the algorithm for calculating the center of gravity is as follows; The section of the strip-shaped scrap steel is formed by each vertex The center of gravity of the polygon is defined as , wherein, A is the area of the polygon: tetrahedron in three-dimensional space, the center of gravity is four vertexes Is the arithmetic average of: The gravity center is ; ③ The section sizes are different and the shape is the strip steel scraps of polyhedron, and the gravity center algorithm is: The tetrahedron is split, then the gravity center coordinates of the tetrahedron are weighted and averaged according to the volume to obtain n tetrahedrons, and the gravity centers are represented by three-dimensional vectors respectively The volumes are respectively The center of gravity is: returning the final calculated center of gravity to the flow control sub-module; The center-of-gravity detection sub-module receives a request of the flow control sub-module after the grabbing is completed, and detects the three-dimensional coordinates of the center of gravity of the grabbed strip-shaped scrap steel Relative end effector coordinates The distance between two points is Receiving a request of a flow control sub-module after the end effector shakes, and detecting the barycenter three-dimensional coordinates of the strip-shaped scrap steel Three-dimensional coordinates of end effector The distance between two points is Calculating the offset And returns to the flow management and control sub-module; the flow management and control sub-module sends a request to the gravity center calculation sub-module and the gravity center detection sub-module, and formulates a control flow according to the returned calculation result and outputs the control flow to the control unit; The flow control sub-module takes the gravity center position returned by the gravity center calculating sub-module as a grabbing point, calculates a preprocessing placement point, arranges strip-shaped steel scraps according to the gravity center position until reaching a weight threshold, and controls the flow control sub-module according to the offset And comparing the offset with a threshold value, and making a control flow when the offset is When the gravity center position exceeds the threshold value, issuing a control flow to a control unit, enabling the steel grabbing machine to descend the working arm, releasing the grabbed strip-shaped steel scraps, repeatedly executing the steps of taking the gravity center position as a grabbing point, calculating a pretreatment placement point, and arranging the strip-shaped steel scraps according to the gravity center position; When the offset is And when the operation is within the threshold range, issuing a control flow to the control unit, so that the steel grabbing machine moves the operation arm to continue operation.
2. 2. The method for grabbing the strip-shaped scrap steel by the unmanned steel grabbing machine based on the system of claim 1 is characterized by comprising the following steps: S0, initiating a grabbing task; s1, a sensor scans a strip-shaped steel scrap pile; s2, a flow control sub-module requests a gravity center calculating sub-module by using scanned perception data, and the gravity center calculating sub-module calculates the gravity center of the strip-shaped scrap steel according to the perception data and returns to the flow control sub-module; s3, the flow control submodule takes the gravity center position as a grabbing point, calculates a pretreatment placement point, arranges strip-shaped scrap steel according to the gravity center position, formulates a control flow, and outputs the control flow to the control unit; S4, the end effector of the steel grabbing machine grabs a piece of strip-shaped scrap steel at the gravity center position and moves to a pretreatment placement point; S5, repeating S4, so that the strip-shaped waste steel is overlapped and the gravity center is on the same straight line until reaching a weight threshold value, and acquiring the grabbing weight by a weighing sensor of the end effector; s6, the end effector grabs all the pretreated strip-shaped waste steel, and the working arm is moved to enable the end effector to be lifted up in a straight line until all the strip-shaped waste steel is suspended and reaches a certain height; S7, shaking the end effector, acquiring current sensing data of the strip-shaped steel scraps through a sensor, requesting a gravity center detection sub-module by using the sensing data by a flow control sub-module, calculating an offset by the gravity center detection sub-module, and returning to the flow control sub-module; and S8, a flow control submodule formulates a control flow according to the comparison result of the offset and the threshold value, wherein the control flow exceeds the threshold value, the control flow is indicated to be unstable in grabbing, the steel grabbing machine descends the working arm and releases the grabbed strip steel scraps, S3 is executed, the control flow is indicated to be stable in grabbing within the threshold value range, and the control flow is indicated to the control unit, so that the steel grabbing machine moves the working arm to continue working.

Description

Unmanned steel grabbing machine grabbing system and method for strip-shaped scrap steel Technical Field The invention belongs to the field of automation, and relates to a grabbing system and method of an unmanned steel grabbing machine for strip-shaped waste steel. Background The length, thickness and shape of the strip-shaped scrap steel are all inconsistent, a driver is required to have very high proficiency when the steel grabbing machine of the existing scrap steel production line grabs the strip-shaped scrap steel, otherwise, the strip-shaped scrap steel is easy to slide down in the grabbing process to cause equipment or personnel injury, or the strip-shaped scrap steel is offset to cause the difficulty of being placed in production equipment to be increased. Unmanned steel grabbing machine is a difficult problem for ensuring the success rate and stability of grabbing strip-shaped scrap steel. Disclosure of Invention In view of the above, the present invention aims to provide a system and a method for grabbing steel bar by an unmanned steel grabbing machine. Preprocessing strip-shaped waste steel before grabbing, picking the strip-shaped waste steel with the length within a certain deviation range through a sensing system, calculating the gravity center point of the strip-shaped waste steel, closely arranging the strip-shaped waste steel in the same direction and enabling the gravity center point to be on a straight line, grabbing all the strip-shaped waste steel at the gravity center point by an end effector, lifting the working arm until all the strip-shaped waste steel is suspended, shaking the working arm, detecting whether the gravity center point is deviated to the outside of a stable range by a ground sensing sensor, if so, descending the working arm, releasing the end effector, and repeating grabbing, shaking and detecting of the strip-shaped waste steel, and if not, normally operating the movable working arm. In order to achieve the above purpose, the present invention provides the following technical solutions: the system comprises a sensor, a data acquisition module, a data processing module and a control unit which are sequentially connected in a signal manner; The data acquisition module acquires strip-shaped steel scrap data through a sensor and sends the strip-shaped steel scrap data to the data processing module; the data processing module comprises a gravity center calculating sub-module, a gravity center detecting sub-module and a flow control sub-module; the center of gravity calculating submodule receives the request of the flow control submodule and calculates the center of gravity of the strip-shaped scrap steel; ① Taking the center point of the scrap steel with the same section size as the center of gravity; ② The sections are different in size and shape and are tetrahedrons, and the algorithm for calculating the center of gravity is as follows; The center of gravity of the polygon defined by the respective vertices (x 0,y0),(x1,y1)...(xn-1,yn-1) on the section of the strip-shaped scrap is (C x,Cy), wherein, A is the area of the polygon: Tetrahedron in three-dimensional space, the center of gravity is the arithmetic average of four vertices (x i,yi,zi): the gravity center is (C x,Cy,Cz); ③ The section sizes are different and the shape is the strip steel scraps of polyhedron, and the gravity center algorithm is: The tetrahedron is split, then the gravity center coordinates of the tetrahedron are weighted and averaged according to the volume to obtain n tetrahedrons, and the gravity centers are represented by three-dimensional vectors respectively The volumes are V 1...Vn respectively, and the gravity center is: returning the final calculated center of gravity to the flow control sub-module; the center of gravity detection sub-module receives the request of the flow control sub-module after the grabbing is completed, detects the three-dimensional coordinate P 1(x1,y1,z1 of the center of gravity of the strip-shaped steel scraps after grabbing), and the relative coordinate P 0(x0,y0,z0 of the end effector, wherein the distance between the two points is Receiving a request of a flow control sub-module after the end effector shakes, detecting a three-dimensional coordinate P 2(x2,y2,z2 of the center of gravity of the strip-shaped scrap steel), and detecting a three-dimensional coordinate P 4(x4,y4,z4 of the end effector), wherein the distance between two points isCalculating an offset Δd=d 2-d1 and returning to the flow control sub-module; The flow management and control sub-module sends a request to the gravity center calculation sub-module and the gravity center detection sub-module, and formulates a control flow according to the returned calculation result and outputs the control flow to the control unit. The unmanned steel grabbing machine grabbing method for the strip-shaped steel scraps based on the system comprises the following steps of: S0, initiating a grabbing task; s1, a se