阅读说明：本技术 一种电力电缆保护管的自动垂直存储方式 (Automatic vertical storage mode of power cable protection pipe ) 是由 张驰 沈祝园 周宇 王玮 张勇 丁辉 袁伟伟 姚曦娴 于 2021-07-28 设计创作，主要内容包括：本发明公开了一种电力电缆保护管的自动垂直存储方式,使用人工智能视觉识别技术、空中抓取技术以及多电机协同调度控制技术,实现电缆保护管的识别、搬运、堆叠工序的自动作业；视觉识别技术：通过视觉识别技术判别电缆保护管的长短,重心,从而计算抓取的位置,模组载具的放置位置；空中抓取技术：利用桁架式多抓夹结构,结合模组载具的组合情况,抓取不同长度的电缆保护管；多电机协同调度控制系统：由PLC运算后输出控制信号给空中搬运装置的电机,实现多电机协同作业。本发明实现电力电缆保护管的全自动识别、搬运、堆叠功能,降低人员劳动强度,提高工作效率,可精准控制电缆保护管的用量,减少浪费,并促进了仓储智能化的发展。(The invention discloses an automatic vertical storage mode of a power cable protection pipe, which uses an artificial intelligent visual identification technology, an aerial grabbing technology and a multi-motor cooperative scheduling control technology to realize automatic operation of identification, carrying and stacking processes of the cable protection pipe; visual identification technology: judging the length and the gravity center of the cable protection pipe through a visual identification technology, so as to calculate the grabbing position and the placing position of the module carrier; an aerial grabbing technology: grabbing cable protection pipes with different lengths by using a truss type multi-grabbing-clamping structure and combining the combination condition of the module carriers; the multi-motor cooperative scheduling control system comprises: after the PLC is operated, a control signal is output to the motor of the air handling device, and multi-motor cooperative operation is realized. The invention realizes the full-automatic identification, carrying and stacking functions of the power cable protection pipe, reduces the labor intensity of personnel, improves the working efficiency, can accurately control the using amount of the cable protection pipe, reduces the waste and promotes the development of storage intellectualization.)

1. The utility model provides an automatic perpendicular storage mode of power cable protection pipe which characterized in that: the automatic operation of the procedures of identification, carrying and stacking of the cable protection pipe is realized by using an artificial intelligent visual identification technology, an aerial grabbing technology and a multi-motor cooperative scheduling control technology;

wherein, the visual identification technology: judging the length and the gravity center of the cable protection pipe through a visual identification technology, so as to calculate the grabbing position and the placing position of the module carrier;

an aerial grabbing technology: grabbing cable protection pipes with different lengths by using a truss type multi-grabbing-clamping structure and combining the combination condition of the module carriers;

the multi-motor cooperative scheduling control system comprises: through setting performance parameters of the frequency converter and combining current feedback conditions, a control signal is output to a motor of the air handling device after PLC operation, and multi-motor cooperative operation is achieved.

2. The automatic vertical storage manner of a power cable protection tube according to claim 1, characterized by comprising the following steps:

1) transporting the cable protection pipe to an appointed position of an automatic vertical storage warehouse by a truck in a cable protection pipe placing yard;

2) judging the length and the gravity center by visual identification; converting the shot target into an image signal through a machine vision product, transmitting the image signal to a special image processing system to obtain form information of the shot target, and converting the form information into a digital signal according to pixel distribution, brightness and color information; the image system performs various calculations on these signals to extract the features of the target, and then controls the operation of the on-site equipment according to the result of the discrimination.

3) Calculating the grabbing position and the number of the distributed module carriers; the measured information is obtained through the distance sensor, and the obtained information is converted into an electric signal or other information in a required form according to a rule and is output, so that the requirements of information transmission, processing, storage, display, recording and control are met.

4) Carrying the carrier to a designated position in the air; the space carrying device adopts a truss structure, 2-3 clamping structures are arranged on the truss, an electric chuck plate and an electric lifting mode are adopted, an alternating current variable frequency motor is adopted to realize moment and speed actions through a speed reducer, the stress is small when a cable protection pipe is grabbed, and a speed control mode is adopted; the clamping structure is adopted, the standard module carrier is used for bearing a large force when being transported, and a torque control mode is adopted; the equipment wire arranging mechanism adopts an intermittent alternating current motor to drive the two-stage cycloid pin gear speed reducer to control wire arrangement; the two sides are protected by electric and mechanical limit positions and are provided with a walking guide rail and a centering guide roller.

3. The automatic vertical storage manner of a power cable protection tube according to claim 2, wherein: in step 2), the machine vision product is provided with image processing, mechanical engineering technology, control, electric light source illumination, optical imaging, sensors, analog and digital video technology and computer software and hardware technology.

4. The automatic vertical storage manner of a power cable protection tube according to claim 1, wherein: the visual identification technology comprises an image capturing module, a light source system, an image digitalization module, a digital image processing module, an intelligent judgment decision module and a mechanical control execution module;

the CCD camera is used to convert the detected target into image signal, which is transmitted to special image processing system and converted into digital signal based on the pixel distribution, brightness and color information.

Technical Field

The invention belongs to the field of intelligent storage of electric power materials, and particularly relates to an automatic vertical storage mode of a power cable protection pipe.

Background art:

at present, the carrying and storage of cable protection pipes at home and abroad still stay in a mode mainly based on manual work. Wherein, the storage end adopts a manual stacking mode, the safety guarantee is not high, and the automation degree is low; and a mode of multi-person operation is adopted at the control end, so that manpower and material resources are wasted.

In the 4.0 intelligent manufacturing era of industry, the tendency of replacing manpower by machines is great, and full-automatic unmanned operation is realized in each field of various industries in a large range.

Disclosure of Invention

The invention aims to provide an automatic vertical storage mode of a power cable protection pipe, which can realize the full-automatic identification, transportation and stacking functions of the power cable protection pipe, greatly reduce the labor intensity of personnel, improve the working efficiency, accurately control the using amount of the cable protection pipe, reduce the waste and promote the development of storage intellectualization.

The purpose of the invention is realized by the following technical scheme:

the utility model provides an automatic perpendicular storage mode of power cable protection pipe which characterized in that: the automatic operation of the procedures of identification, carrying and stacking of the cable protection pipe is realized by using an artificial intelligent visual identification technology, an aerial grabbing technology and a multi-motor cooperative scheduling control technology;

wherein, the visual identification technology: judging the length and the gravity center of the cable protection pipe through a visual identification technology, so as to calculate the grabbing position and the placing position of the module carrier;

an aerial grabbing technology: grabbing cable protection pipes with different lengths by using a truss type multi-grabbing-clamping structure and combining the combination condition of the module carriers;

the multi-motor cooperative scheduling control system comprises: through setting performance parameters of the frequency converter and combining current feedback conditions, a control signal is output to a motor of the air handling device after PLC operation, and multi-motor cooperative operation is achieved.

The specific implementation steps are as follows:

1) transporting the cable protection pipe to an appointed position of an automatic vertical storage warehouse by a truck in a cable protection pipe placing yard;

2) judging the length and the gravity center by visual identification; converting the shot target into an image signal through a machine vision product, transmitting the image signal to a special image processing system to obtain form information of the shot target, and converting the form information into a digital signal according to pixel distribution, brightness and color information; the image system performs various calculations on these signals to extract the features of the target, and then controls the operation of the on-site equipment according to the result of the discrimination.

3) Calculating the grabbing position and the number of the distributed module carriers; the measured information is obtained through the distance sensor, and the obtained information is converted into an electric signal or other information in a required form according to a rule and is output, so that the requirements of information transmission, processing, storage, display, recording and control are met.

4) Carrying the carrier to a designated position in the air; the space carrying device adopts a truss structure, 2-3 clamping structures are arranged on the truss, an electric chuck plate and an electric lifting mode are adopted, an alternating current variable frequency motor is adopted to realize moment and speed actions through a speed reducer, the stress is small when a cable protection pipe is grabbed, and a speed control mode is adopted; the clamping structure is adopted, the standard module carrier is used for bearing a large force when being transported, and a torque control mode is adopted; the equipment wire arranging mechanism adopts an intermittent alternating current motor to drive the two-stage cycloid pin gear speed reducer to control wire arrangement; the two sides are protected by electric and mechanical limit positions and are provided with a walking guide rail and a centering guide roller.

The invention has the following characteristics:

1. high-density storage, and vertical multi-layer arrangement;

2. the cable protection pipe carrier is suitable for cable protection pipes of various models, the bearing position of the cable protection pipe carrier can be freely adjusted, and the cable protection pipe carrier is suitable for cable protection pipes of different lengths and sizes;

3. the loading and unloading are automatic, manual operation and carrying are not needed, and the operation is efficient and safe;

4. the counting is easy, the vertical layer heights are stacked and placed, and the automatic counting can be realized by using a visual technology;

5. the cable protection pipe clamp is easy to detect, and a sensor or a clamp can be used for detecting the size diameter of the cable protection pipe in the carrying process of the carrying mechanism.

The invention can realize the full-automatic identification, carrying and stacking functions of the power cable protection pipe, not only can greatly reduce the labor intensity of personnel and improve the working efficiency, but also can accurately control the using amount of the cable protection pipe, reduce the waste and promote the development of storage intellectualization.

Detailed Description

An automatic vertical storage mode of a power cable protection pipe realizes automatic operation of procedures such as identification, carrying, stacking and the like of the cable protection pipe by using an artificial intelligent visual identification technology, an aerial grabbing technology and a multi-motor cooperative scheduling control technology.

Visual identification technology: judging the length and the gravity center of the cable protection pipe through a visual identification technology, so as to calculate the grabbing position, the placing position of the module carrier and the like;

an aerial grabbing technology: the truss type multi-gripping structure can be used for gripping cable protection pipes with different lengths in combination with the combination condition of the module carriers;

the multi-motor cooperative scheduling control system comprises: through setting performance parameters of the frequency converter and combining current feedback conditions, a control signal is output to a motor of the air handling device after PLC operation, and multi-motor cooperative operation is achieved.

Corresponding technologies such as a visual identification technology, an aerial grabbing technology, a multi-motor cooperative scheduling technology and the like are mature and applied, and can be widely applied to storage and transportation of cable protection pipes.

The method comprises the following specific implementation steps:

1) and the cable protection pipe is transported to the designated position of the automatic vertical storage warehouse by a truck in the cable protection pipe placing yard.

2) Judging the length and the gravity center by visual identification; converting a shot target into an image signal through a machine vision product (namely an image shooting device which is divided into a CMOS (complementary metal oxide semiconductor) product and a CCD (charge coupled device), transmitting the image signal to a special image processing system to obtain form information of the shot target, and converting the form information into a digital signal according to information such as pixel distribution, brightness, color and the like; the image system performs various calculations on these signals to extract the features of the target, and then controls the operation of the on-site equipment according to the result of the discrimination.

Machine vision is an integrated technology including image processing, mechanical engineering, control, electrical light source illumination, optical imaging, sensors, analog and digital video technology, computer hardware and software technology (image enhancement and analysis algorithms, image cards, I/O cards, etc.). A typical machine vision application system comprises an image capture module, a light source system, an image digitization module, a digital image processing module, an intelligent judgment decision module and a mechanical control execution module.

The working principle of the machine vision system is that a CCD camera is adopted to convert a detected target into an image signal, the image signal is transmitted to a special image processing system, the image signal is converted into a digital signal according to information such as pixel distribution, brightness and color, the image processing system performs various operations on the signal to extract characteristics of the target, such as area, quantity, position and length, and then the result is output according to preset allowance and other conditions, such as size, angle, number, qualification/disqualification, existence/non-existence and the like, so that the automatic identification function is realized.

An industrial machine vision system comprising: a light source, a lens (a fixed focus lens, a zoom lens, a telecentric lens, a microscope lens), a camera (including a CCD camera and a COMS camera), an image processing unit (or an image capturing card), image processing software, a monitor, a communication/input/output unit, and the like. Several of these typical structures are as follows:

light source

The light source is an important factor influencing the input of a machine vision system, and directly influences the quality and application effect of input data. The light source can be divided into visible light and invisible light, and the visible light has the disadvantage that the light energy cannot be kept stable. How to keep the light energy stable to a certain extent is a problem which needs to be solved urgently in the practical process. On the other hand, the ambient light may affect the image quality, so the shielding method can be used to reduce the effect of the ambient light.

Lens barrel

Fov (field of vision) required resolution sub-pixel camera size/PRTM (part measurement tolerance ratio)

Key elements of shot selection: focal length, target height, image height, magnification, image-to-target distance, center point/node, distortion.

Confusion between the working distance and the object-to-image distance is avoided when selecting a lens. The working distance is the distance from the front of the industrial lens to the object being viewed, and the object-to-image distance is the distance from the CCD sensor to the object. The working distance must be used when calculating the required focal length of the industrial lens.

3) Calculating the grabbing position and distributing the number of the module carriers. The sensor is a detection device which can sense the measured information and convert the sensed information into an electric signal or other information in a required form according to a certain rule to output so as to meet the requirements of information transmission, processing, storage, display, recording, control and the like. The distance sensor is one of the sensors, which is used for sensing the distance between the distance sensor and an object to perform a predetermined function, and is widely used. The main products include mobile phone distance sensor, remote measuring sensor, etc

The distance sensor has a multiple structure principle, and even if the distance sensor is used for the same purpose, the distance sensor has a plurality of different structures and principles. A commonly used measurement method is called time-of-flight method.

Time of flight (flying time) principle: the distance to the object is calculated by emitting and measuring the time from the emission of a specific energy beam to the emission of the object, and the time interval is used for calculating the distance to the object. This particular beam of energy may be ultrasound, laser, infrared, radar, etc. The sensor has high measurement precision and can accurately measure the distance.

4) And carrying the carrier to a designated position in the air. The space carrying device adopts a truss structure, 2-3 clamping structures are arranged on the truss, and an electric chuck and an electric lifting mode are adopted, so that the space carrying device has a limiting overtravel protection function. An alternating current variable frequency motor is adopted to realize moment + speed action through a speed reducer, the stress is small when a cable protection pipe is grabbed, and a speed control mode is adopted; the clamping structure is adopted, the standard module carrier is stressed greatly when being carried, and a torque control mode is adopted. The equipment wire arranging mechanism adopts an intermittent alternating current motor to drive the two-stage cycloid pin gear speed reducer to control wire arrangement. The two sides are protected by electric and mechanical limit positions and are provided with a walking guide rail and a centering guide roller.

The invention realizes high-density storage and vertical multi-layer arrangement; the cable protection pipe carrier is suitable for cable protection pipes of various models, the bearing position of the cable protection pipe carrier can be freely adjusted, and the cable protection pipe carrier is suitable for cable protection pipes of different lengths and sizes; the loading and unloading are automatic, manual operation and carrying are not needed, and the operation is efficient and safe; the counting is easy, the vertical layer heights are stacked and placed, and the automatic counting can be realized by using a visual technology; the cable protection pipe clamp is easy to detect, and a sensor or a clamp can be used for detecting the size diameter of the cable protection pipe in the carrying process of the carrying mechanism.