CN116553194A - A laser radar-based single-block reclaiming steel plate stacker and its application method - Google Patents

Abstract

The invention relates to the technical field of intelligent handling equipment, and provides a laser radar-based single-block reclaiming steel plate stacker and a use method thereof. Wherein, the laser radar-based single-block reclaiming steel plate stacker includes a frame, a magnetic adsorption unit and a hydraulic pump; the magnetic adsorption unit is arranged on the frame to realize energy saving; the hydraulic pump is used for magnetic adsorption unit provides power. The invention utilizes the principle of magnetic adsorption to carry out unmanned retrieving operations on a single steel plate, which solves the problem of inconvenient retrieving of a single steel plate, uses magnetic adsorption to reclaim materials to facilitate adjustment of power supply to save energy, and combines laser measurement technology to calculate a single steel plate The size is calculated to obtain the required magnetic force. By adjusting the magnetic force in the process of collecting the single steel plate to be picked up by magnetic adsorption, the power supply is adjusted in sections to achieve intelligent energy saving.

Description

A laser radar-based single-block reclaiming steel plate stacker and its application method

technical field

The invention relates to the technical field of intelligent handling equipment, in particular to a lidar-based single-block reclaiming steel plate stacker and its use method.

Background technique

Stacker is an important handling equipment in the three-dimensional warehouse logistics system of modern manufacturing enterprises. It is mainly used to transport various materials and provides guarantee for the flexible, integrated and efficient operation of the system.

At present, in the strip steel production line in the metallurgical industry, it is necessary to perform operations such as taking, moving and discharging the steel plate. In the production workshop, there are many scenarios where a single steel plate needs to be reclaimed. The existing steel stacker can take out the stack of steel plates from the designated position through the lifting translation device and move it to the designated position, but it is very difficult. It is difficult to take out a single steel plate from the steel plate pile, which must be combined with manual operation, and the energy consumption such as electricity is relatively large. Obviously, there are problems of low operating efficiency and high energy consumption costs.

In view of this, it is an urgent problem to be solved in this technical field to overcome the defects in the prior art.

Contents of the invention

The technical problem to be solved by the embodiments of the present invention is how to save energy consumption in the scenario of unmanned reclaiming operation for a single steel plate, and provide a laser radar-based single reclaiming steel plate stacker and its use method.

The further technical problem to be solved by the embodiments of the present invention is to provide an improved laser radar-based stacker for single reclaiming steel plates and a method for using the same.

The embodiment of the present invention adopts following technical scheme:

In the first aspect, the present invention provides a laser radar-based single-block reclaiming steel plate stacker, including: a frame 1, a magnetic adsorption unit 2 and a hydraulic pump 3;

The magnetic adsorption unit 2 is arranged on the frame 1, and the magnetic adsorption unit 2 moves to the position of a single steel plate to be taken to complete intelligent segmentation for electromagnetic adsorption to collect a single steel plate;

Among them, the intelligent segmentation for electromagnetic adsorption includes the first stage of absorbing a single steel plate from the steel plate pile for electromagnetic adsorption, and the second stage of switching the steel plate from the adsorption to the starting moving state for electromagnetic adsorption and moving state. The third section is for electromagnetic adsorption, and the fourth section for converting the steel plate from the moving state to the placing state is for electromagnetic adsorption;

Wherein, the magnetic adsorption unit 2 completes the size acquisition of a single steel plate through its own laser radar 27, thereby calculating the weight of the corresponding single steel plate, as the basis for the electromagnetic adsorption of the intelligent segmentation;

The hydraulic pump 3 is used to provide power for the magnetic adsorption unit 2 .

Preferably, the magnetic adsorption unit 2 includes a frame body 21, a loading platform 22, a magnetic adsorption plate 23, a magnetic adsorption head 24, a tripod bracket 25, a positioning laser 26, a laser radar 27, and a dual camera 28, wherein:

The cargo platform 22 is arranged on the frame body 21, and the cargo platform 22 and the frame body 21 are connected to form an integral structure for supporting the magnetic adsorption unit 2;

The magnetic adsorption plate 23 is arranged on the cargo platform 22, and the magnetic adsorption plate 23 is loosely connected with the cargo platform 22; the magnetic adsorption plate 23 is provided with four identical magnetic adsorption heads 24 for Realize magnetic adsorption to collect a single steel plate to be taken;

The tripod bracket 25 is arranged on the loading platform 22, and the bottom end of the tripod bracket 25 is connected with the loading platform 22, so as to realize the lifting of the supporting magnetic adsorption plate 23;

The positioning laser 26 is arranged on the tripod support 25, and is used to realize the positioning of a single steel plate to be taken;

Described lidar 27 is arranged on the tripod support 25, is used for realizing measuring the thickness of single steel plate to be taken;

Described double camera 28 is arranged on the tripod support 25, is respectively positioned at the two sides of positioning laser 26 and lidar 27, is used for determining the positioning state of positioning laser 26, and obtains the length and the width of single steel plate to be taken by calculating through the stereo vision algorithm .

Preferably, the hydraulic pump 3 is arranged on the loading platform 22, one end of the hydraulic pump 3 is axially connected to the magnetic adsorption plate 23, and the other end of the hydraulic pump 3 is axially connected to the upper end of the tripod bracket 25; the hydraulic pump 3 Drive the magnetic adsorption plate 23 to move so that the magnetic adsorption plate 23 can move toward the preset position, and is used to provide the power for the magnetic adsorption plate 23 to complete the rotation around the shaft connection portion of the magnetic adsorption plate 23 and the loading platform 22 .

Preferably, it also includes:

The double camera 28 cooperates with the positioning laser 26 to scan and locate the position of the steel plate pile and the position information of the single steel plate to be taken in the uppermost layer of the steel plate pile by adjusting the light angle, and the double camera 28 calculates the single steel plate to be taken by a stereo vision algorithm length and width, the steel plate stacker moves to the position of the single steel plate to be taken;

Adjust the height of the loading platform 22 until the double camera 28 captures the light exit point of the positioning laser 26 and hits the cross-section of the single steel plate to be taken towards the positioning laser 26, so as to ensure that the single steel plate to be taken enters the laser beam. The effective working range of radar 27; Scan and collect the upper surface point and the lower surface point on the cross section of the single steel plate to be taken by laser radar 27, calculate the thickness of the single steel plate to be taken;

Calculate the volume of the single steel plate to be taken by the length, width and thickness of the single steel plate to be taken;

According to the volume of the single steel plate to be taken and the known density of the single steel plate to be taken, the weight of the single steel plate to be taken is calculated to obtain the segmental electromagnetic adsorption force.

Preferably, the laser radar 27 scans along the horizontal direction from the cross section of the single steel plate to be taken towards the positioning laser 26, and the scanning range is a fan-shaped area formed by adjusting the light angle, which is obtained by calculating the time difference between light emission and reception The distance d from the light-emitting point to the single steel plate to be taken, collect the upper surface point and the lower surface point on the cross-section of the single steel plate to be taken, and calculate the thickness of the single steel plate to be taken, specifically including:

When the return laser light received by the laser radar 27 was strong, the light emitting point of the laser radar 27 hit the inside of the single steel plate to be taken, and the light emitting point of the laser radar 27 and the light emitting point of the positioning laser 26 were within the same distance. The cross section of the single steel plate to be taken towards the positioning laser 26 overlaps, and the shortest distance from the light exit point to the single steel plate to be taken is d _min ;

When the laser radar 27 scans upwards in the horizontal direction and the received return laser light is weak, the light exit point of the laser radar 27 hits the upper surface point on the cross section of the single steel plate to be taken, and the light exit point reaches the The distance of a single steel plate to be taken is d ₀ ;

When the laser radar 27 scans downwards in the horizontal direction and the received return laser light is weak, the light exit point of the laser radar 27 hits the lower surface point on the cross section of the single steel plate to be taken, and the light exit point reaches The distance of the single steel plate to be taken is d _n ;

According to the _distance d={d ₀ , d ₁ , .

Preferably, specifically include:

The first section is for electromagnetic adsorption as the magnetic adsorption plate 23 magnetically adsorbs the single steel plate to be taken, and before the single steel plate to be taken is separated from the steel plate stack, the preset magnetic force of the magnetic adsorption head 24 is set to pass through the single steel plate to be taken 1.5±0.2 times the required magnetic force calculated by weight;

The second section is for electromagnetic adsorption, when the magnetic adsorption plate 23 pulls up the single steel plate to be taken away from the steel plate pile, and when it is in the flipping process, the preset magnetic force of the magnetic adsorption head 24 is set to be calculated by the weight of the single steel plate to be taken. 1.2±0.1 times the required magnetic force;

The third section is for electromagnetic adsorption. When the magnetic adsorption plate 23 pulls up the single steel plate to be taken and adjusts it to an inclined state and places it on the loading platform 22, the preset magnetic force of the magnetic suction head 24 is set to pass the weight of the single steel plate to be taken. 0.6±0.2 times the calculated required magnetic force;

The fourth section is for electromagnetic adsorption when the magnetic adsorption plate 23 switches the steel plate from the moving state to the placed state, the preset magnetic force of the magnetic adsorption head 24 is set to 1.2 ± the required magnetic force calculated by the weight of the single steel plate to be taken 0.1 times.

Preferably, the magnetic adsorption unit 2 further includes an L-shaped support frame 61;

The lower end of the L-shaped support frame 61 is arranged below the cargo platform 22, and the upper end of the L-shaped support frame 61 exceeds the plane of the cargo platform 22 and is perpendicular to the cargo platform 22;

A square groove is arranged on the magnetic adsorption plate 23, and the upper end of the L-shaped support frame 61 passes through the magnetic adsorption plate 23 when the magnetic adsorption plate 23 is put down and pulled up;

The magnetic adsorption unit 2 is provided with an L-shaped support frame 61 and the position where the magnetic adsorption plate 23 is connected to the cargo platform 22 has a certain distance from the edge of the cargo platform 22. When the magnetic adsorption plate 23 is pulled up to adjust the single steel plate to be taken When placed on the loading platform 22 in an inclined state, the L-shaped support frame 61 is used to protect and support the single steel plate to be picked up by the magnetic adsorption plate 23 .

Preferably, when the magnetic adsorption plate 23 pulls up the single steel plate to be taken and adjusts it to be placed on the loading platform 22 in an inclined state, the preset magnetic force of the magnetic suction head 24 is set to be calculated by the weight of the single steel plate to be taken. 0.3±0.1 times the required magnetic force.

Preferably, the hydraulic pump 3 is arranged on the loading platform 22, one end of the hydraulic pump 3 is axially connected to the magnetic adsorption plate 23, and the other end of the hydraulic pump 3 is axially connected to the upper end of the tripod bracket 25; the hydraulic pump 3 Drive the magnetic adsorption plate 23 to move so that the magnetic adsorption plate 23 can move towards the preset position, which is used to provide the power for the magnetic adsorption plate 23 to complete the rotation around the shaft connection with the loading platform 22

In the second aspect, the embodiment of the present invention further provides a method of using the laser radar-based single-piece reclaiming steel plate stacker based on the first aspect of the lidar-based single-piece reclaiming steel plate stacker, include:

The dual cameras cooperate with the positioning laser to scan and locate the position of the steel plate stack and the position information of the single steel plate to be taken in the uppermost layer of the steel plate stack by adjusting the light angle. The dual cameras calculate the length and width, the steel plate stacker moves to the position of the single steel plate to be taken;

Adjust the height of the loading platform until the double camera captures the light exit point of the positioning laser and hits the cross-section of the single steel plate to be taken towards the positioning laser, so as to ensure that the single steel plate to be taken enters the effective working range of the laser radar;

Laser radar scans and collects the upper surface point and the lower surface point on the cross section of the single steel plate to be taken, and calculates the thickness of the single steel plate to be taken;

Calculate the volume of the single steel plate to be taken by the length, width and thickness of the single steel plate to be taken;

Through the volume of the single steel plate to be taken and the known density of the single steel plate to be taken, the weight of the single steel plate to be taken is calculated, thereby calculating the required magnetic force;

The hydraulic pump drives the magnetic adsorption plate down to the level of the loading platform;

The magnetic adsorption unit moves to the position of the single steel plate to be taken to complete the intelligent segmentation for electromagnetic adsorption to collect the single steel plate;

Among them, it includes the first section of absorbing the single steel plate to be taken from the steel plate pile for electromagnetic adsorption, the second section of switching the steel plate from the adsorption to the starting moving state for electromagnetic adsorption, and the third section in the moving state for electromagnetic adsorption. Adsorption, the fourth electromagnetic adsorption for converting the steel plate from the moving state to the placing state.

Preferably, specifically include:

The first section is for electromagnetic adsorption. The magnetic adsorption plate magnetically adsorbs the single steel plate to be taken, and before the single steel plate to be taken out of the steel plate stack, the preset magnetic force of the magnetic adsorption head is set to be calculated by the weight of the single steel plate to be taken 1.5±0.2 times the required magnetic force;

The second stage is for electromagnetic adsorption. When the magnetic adsorption plate pulls up the single steel plate to be taken out of the steel plate pile and is in the flipping process, the preset magnetic force of the magnetic adsorption head is set to the required value calculated by the weight of the single steel plate to be taken. 1.2±0.1 times of magnetic force;

The third stage is for electromagnetic adsorption. When the magnetic adsorption plate pulls up the single steel plate to be picked up and adjusts it to an inclined state and places it on the loading platform, the preset magnetic force of the magnetic adsorption head is set to be calculated by the weight of the single steel plate to be picked up. 0.6±0.2 times the required magnetic force;

The fourth section is for electromagnetic adsorption when the steel plate is converted from the moving state to the placed state by the magnetic adsorption plate, the preset magnetic force of the magnetic adsorption head is set to 1.2±0.1 times the required magnetic force calculated by the weight of the single steel plate to be taken .

Compared with the prior art, the beneficial effect of the embodiment of the present invention is that: the present invention uses the principle of magnetic adsorption to carry out unmanned retrieving operations on a single steel plate, which solves the problem of inconvenient retrieving of a single steel plate. It is convenient to adjust the power supply to save energy; the laser measurement technology is combined with the stacker control technology, so that the stacker can accurately and intelligently obtain the position and size information of the target single steel plate, so as to calculate the volume, weight, and magnetic adsorption requirements of the steel plate The released magnetic force improves the working efficiency; the magnetic force is adjusted during the process of collecting the single steel plate to be picked up by magnetic adsorption, that is, the power supply is adjusted in sections, and the time-consuming task of placing the single steel plate to be picked up on the loading platform is relatively short. In the process, high energy consumption is used to ensure the completion of the retrieving task, and after the single steel plate to be taken is placed on the loading platform, the state of the steel plate is maintained with low energy consumption, so as to save the energy consumption of collecting a single steel plate; in the actual production workshop, the present invention In the application scenario of the stacker, the operation speed of the production equipment storing the steel plate piles such as the conveyor belt is relatively slow. Remarkable effect: Compared with the traditional stacker, the present invention can realize the unmanned collection of a single steel plate, and can greatly reduce energy consumption at the same time, and has the effect of reducing costs.

In the preferred solution of the present invention, the L-shaped support frame structure is used to share the force of the loading platform and the magnetic adsorption plate to hold up the single steel plate to be taken, so that the magnetic force consumed after the single steel plate to be taken is placed on the loading platform is further reduced, reducing power supply to further save energy.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is a schematic structural view of a laser radar-based single-block reclaiming steel plate stacker provided by an embodiment of the present invention;

Fig. 2 is a top view of a laser radar-based single-block reclaiming steel plate stacker provided by an embodiment of the present invention;

Fig. 3 is a schematic diagram of the positional relationship between the loading platform 22, the hydraulic pump 3 and the magnetic adsorption plate 23 of a laser radar-based single-piece reclaiming steel plate stacker provided by an embodiment of the present invention;

Fig. 4 is a schematic diagram of another positional relationship of a cargo platform 22, a hydraulic pump 3 and a magnetic adsorption plate 23 of a lidar-based single-piece reclaiming steel plate stacker provided by an embodiment of the present invention;

Fig. 5 is an overall flow chart of collecting a single steel plate by a lidar-based single-piece reclaiming steel plate stacker provided by an embodiment of the present invention;

Fig. 6 is a flow chart of a method for using a lidar-based single-block reclaiming steel plate stacker provided by an embodiment of the present invention;

7 is a schematic diagram of information between the positioning laser 26, the dual camera 28 and the laser radar 27 in a laser radar-based single-piece reclaiming steel plate stacker provided by an embodiment of the present invention;

Fig. 8 is a schematic diagram of a laser radar-based single-piece reclaiming steel plate stacker provided by an embodiment of the present invention, where the laser radar 27 horizontally starts the light output area error diagram;

Fig. 9 is a scanning flow chart of laser radar 27 in a laser radar-based single-block reclaiming steel plate stacker provided by an embodiment of the present invention;

Fig. 10 is a scanning schematic diagram of a laser radar 27 of a laser radar-based single reclaim steel plate stacker provided by an embodiment of the present invention;

Fig. 11 is a flow chart of segmented adjustment magnetic force of a lidar-based single-block reclaiming steel plate stacker provided by an embodiment of the present invention;

Fig. 12 is a schematic diagram of a laser-based single-piece reclaiming steel plate stacker provided by an embodiment of the present invention;

Fig. 13 is another schematic drawing of a laser-based single-piece reclaiming steel plate stacker provided by an embodiment of the present invention;

Fig. 14 is a front view of a magnetic adsorption plate 23 of a lidar-based single reclaim steel plate stacker provided by an embodiment of the present invention;

Fig. 15 is a front view of a L-shaped support frame 61 of a lidar-based single-piece reclaiming steel plate stacker to protect the position of a single steel plate to be taken according to an embodiment of the present invention;

Fig. 16 is a right side view of a L-shaped support frame 61 protecting the position of a single steel plate to be picked up in a lidar-based single steel plate stacker provided by an embodiment of the present invention.

Detailed ways

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

In the description of the present invention, the orientation or positional relationship indicated by the terms "inner", "outer", "longitudinal", "transverse", "upper", "lower", "top", "bottom" etc. are based on the drawings The orientations or positional relationships shown are only for the convenience of describing the invention and do not require the invention to be constructed and operated in a specific orientation, and thus should not be construed as limiting the invention.

The terms "first", "second" and so on in the present invention are only used for descriptive purposes, and should not be understood as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as "first", "second", etc. may expressly or implicitly include one or more of that feature.

In this application, unless otherwise specified and limited, the term "connection" should be understood in a broad sense, for example, "connection" can be a fixed connection, a detachable connection, or an integral body; it can be a direct connection, or It can be connected indirectly through an intermediary. In addition, the term "coupled" may be an electrical connection for signal transmission.

In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

Example 1:

The embodiment of the present invention provides a laser radar-based single-block reclaiming steel plate stacker, including: a frame 1, a magnetic adsorption unit 2, and a hydraulic pump 3; the structural diagram of the embodiment of the present invention is shown in Figure 1, specifically as follows:

The magnetic adsorption unit 2 is arranged on the frame 1, and the magnetic adsorption unit 2 moves to the position of a single steel plate to be picked up to complete intelligent segmentation for electromagnetic adsorption to collect a single steel plate.

Among them, the intelligent segmentation for electromagnetic adsorption includes the first stage of absorbing a single steel plate from the steel plate pile for electromagnetic adsorption, and the second stage of switching the steel plate from the adsorption to the starting moving state for electromagnetic adsorption and moving state. The third section is for electromagnetic adsorption, and the fourth section for converting the steel plate from the moving state to the placing state is for electromagnetic adsorption.

Among them, the magnetic adsorption unit 2 completes the size acquisition of a single steel plate through its own laser radar 27, thereby calculating the weight of the corresponding single steel plate, as the basis for the intelligent segmentation for electromagnetic adsorption.

The hydraulic pump 3 is used to provide power for the magnetic adsorption unit 2 .

Wherein, the mechanical structure frame 1 of the embodiment of the present invention includes a base and a column, and the driving wheel set vertically embedded on the base and the base form a whole of a four-wheel-drive vehicle chassis. After the motor provides power for the driving wheel set, the driving wheel set All the rollers located at both ends of the base start to rotate. At this time, the driving wheel set drives the moving wheel set below the two ends of the base to rotate, so that the lidar-based single-piece reclaiming steel plate stacker in the embodiment of the present invention advances and retreats along the predetermined track. The column is vertically arranged on the base, and the motor provided on the column provides power for the steel cables arranged on both sides of the column, and the steel cable generates pulling force on the magnetic adsorption unit 2 through the rotating shaft, so that the steel cable drives the magnetic adsorption unit 2 along the vertical direction to move up and down. After the magnetic adsorption unit 2 locates and moves to the position of the uppermost single steel plate in the steel plate stack, the magnetic adsorption unit 2 scans and collects and calculates the thickness of the single steel plate to be taken, and calculates the volume of the single steel plate to be taken, so as to calculate the required Magnetic force; the magnetic adsorption unit 2 uses magnetic adsorption to supply power in sections to collect a single steel plate. The embodiment of the present invention utilizes a laser radar-based single-piece reclaiming steel plate stacker to realize unmanned collection of a single steel plate, adjust the energy supply for the operation in sections, reduce the energy consumption of the operation, improve the operation efficiency, and greatly reduce the The cost of moving a single steel plate.

In order to better explain the principle of the present invention to collect a single steel plate to be taken, the laser radar-based single steel plate stacker for the embodiment of the present invention is further refined, and the corresponding magnetic adsorption unit 2 includes Frame body 21, loading platform 22, magnetic adsorption plate 23, magnetic adsorption head 24, tripod bracket 25, positioning laser 26, laser radar 27, dual camera 28, of which:

The cargo platform 22 is arranged on the frame body 21, and the cargo platform 22 and the frame body 21 are connected to form an integral structure for supporting the magnetic adsorption unit 2;

The magnetic adsorption plate 23 is arranged on the cargo platform 22, and the magnetic adsorption plate 23 is loosely connected with the cargo platform 22; the magnetic adsorption plate 23 is provided with four identical magnetic adsorption heads 24 for Realize magnetic adsorption to collect a single steel plate to be taken;

The tripod bracket 25 is arranged on the loading platform 22, and the bottom end of the tripod bracket 25 is connected with the loading platform 22, so as to realize the lifting of the supporting magnetic adsorption plate 23;

The positioning laser 26 is arranged on the tripod support 25, and is used to realize the positioning of a single steel plate to be taken;

Described lidar 27 is arranged on the tripod support 25, is used for realizing measuring the thickness of single steel plate to be taken;

Described double camera 28 is arranged on the tripod support 25, is respectively positioned at the two sides of positioning laser 26 and lidar 27, is used for determining the positioning state of positioning laser 26, and obtains the length and the width of single steel plate to be taken by calculating through the stereo vision algorithm . Wherein, the corresponding stereo vision algorithm is the prior art, which is directly used in the present invention, and will not be repeated here.

In order to better present the details of the magnetic adsorption unit 2 , the top view of the lidar-based single steel plate stacker in the embodiment of the present invention when picking up a single steel plate is shown in FIG. 2 . Among them, the positioning laser 26 is used in conjunction with the dual camera 28. During the movement of the laser radar-based single-piece reclaiming steel plate stacker in the embodiment of the present invention, the positioning laser 26 projects the laser beam onto the production line, and the scanning and positioning preset For the position of the steel plate pile on the route, the double camera 28 cooperates to record the intersection position of the laser beam and the steel plate, so as to realize the scanning and positioning of the uppermost single steel plate to be taken in the steel plate pile; at the same time, the double camera 28 calculates the length and wide data. The laser radar 27 is based on laser ranging technology. After the laser beam emitted by the laser radar 27 is reflected or scattered on the surface of a single steel plate to be taken, the receiver of the laser radar 27 receives and records the reflection or scattering time of the laser beam. The product of the beam reflection or scattering time and the laser beam speed can obtain the time difference of the laser beam from sending to receiving, thereby calculating the distance from the magnetic adsorption unit 2 to the single steel plate to be taken, by capturing the laser projected on the cross-section of the single steel plate to be taken Line information, measure the position and angle of the reflected or scattered laser beam, calculate the three-dimensional coordinate information of the surface of the single steel plate to be taken, and accurately determine the thickness of the steel plate.

Further, the hydraulic pump 3 in the embodiment of the present invention is arranged on the loading platform 22, one end of the hydraulic pump 3 is axially connected to the magnetic adsorption plate 23, and the other end of the hydraulic pump 3 is axially connected to the upper end of the tripod support 25; The hydraulic pump 3 drives the magnetic adsorption plate 23 to move so that the magnetic adsorption plate 23 can move toward the preset position, which is used to provide the magnetic adsorption plate 23 with the ability to complete the rotation around the shaft connection part of the loading platform 22 power.

The hydraulic pump 3 provides power for the magnetic adsorption plate 23 of the magnetic adsorption unit 2. Before the magnetic adsorption plate 23 collects the single steel plate to be taken, the schematic diagram of the positional relationship between the loading platform 22, the hydraulic pump 3 and the magnetic adsorption plate 23 is shown in Figure 3 Show. When preparing for magnetic adsorption to collect a single steel plate to be taken, the hydraulic pump 3 makes the connecting end of the hydraulic pump 3 and the magnetic adsorption plate 23 lower the component magnetic adsorption plate 23 in FIG. Horizontal, at this moment another kind of schematic diagram of the positional relation of loading platform 22, hydraulic pump 3 and magnetic adsorption plate 23 is as shown in Figure 4; After the adsorption head 24 pulls up the single steel plate to be taken to make it break away from the steel plate pile, the magnetic adsorption plate 23, the magnetic adsorption head 24 and the single steel plate to be taken are integrated, and the connecting end of the hydraulic pump 3 and the magnetic adsorption plate 23 connects the whole. Pull it up to an inclined state and place it on the cargo platform 22 so that the whole is perpendicular to the cargo platform 22. The magnetic adsorption head 24 continuously releases the magnetic force from the beginning to the end of collecting the single steel plate to be taken by magnetic adsorption for connecting and fixing the single steel plate to be taken.

In the present invention, through the setting of the magnetic adsorption unit 2, the hydraulic pump 3 is used to drive the magnetic adsorption plate 23 to be lowered and pulled up, and the magnetic adsorption principle is used to complete the unmanned collection of the single steel plate to be picked up, so as to solve the problem of single steel plate in actual production The problem of high manpower and time cost for taking materials; through the frame 1 to drive each mechanical structure, the entire steel stacker can be operated, which is easy to implement, high in reliability, and improves the efficiency of on-site operations.

Example 2:

The embodiment of the present invention provides a method of using a lidar-based single-piece reclaiming steel plate stacker. Based on the lidar-based single-piece reclaiming steel plate stacker in Embodiment 1, the entire The flow chart is shown in Figure 5. By adjusting the magnetic force during the process of picking up the single steel plate to be picked up by magnetic adsorption, and adjusting the power supply in sections, the present invention saves energy consumption on the premise of completing the picking operation of the single steel plate. Purpose, Figure 6 is a flow chart of the method of using the lidar-based single-piece reclaiming steel plate stacker according to the embodiment of the present invention, specifically:

Step 201: The double camera 28 cooperates with the positioning laser 26 to scan and locate the position of the steel plate stack and the position information of the single steel plate to be picked up in the uppermost layer of the steel plate stack by adjusting the light output angle. The length and width of a single steel plate, the steel plate stacker moves to the position of the single steel plate to be taken.

When the steel plate stacker of the present invention needs to move horizontally along a preset route with steel plate piles, such as a production line or a conveyor belt, the controller sends an instruction to the motor, the motor starts and drives the driving wheel group to move forward and backward horizontally, and the driving wheel group starts and drives The moving wheel set rotates, and then drives the frame 1 to move forward and backward horizontally. At this time, the laser radar-based single-piece reclaiming steel plate stacker of the embodiment of the present invention moves forward and backward horizontally as a whole, and the positioning laser 26 projects the laser beam onto the production line. The position of the steel plate stack on the preset route is determined by adjusting the light angle scanning and positioning, the laser beam projected by the positioning laser 26 hits the uppermost single steel plate A in the steel plate stack, and the laser beam projected by the positioning laser 26 hits on The point on the steel plate A is used to record the position where the laser beam intersects with the edge of the steel plate to determine the position information of the steel plate stack and the steel plate A. After the controller of the steel plate stacker received the horizontal position information of the steel plate pile collected by the positioning laser 26 and the double camera 28, the whole steel plate stacker moved forward and backward horizontally to the position of the steel plate pile and stopped moving; when the control of the steel plate stacker After receiving the position information of the steel plate A collected by the positioning laser 26 and the dual camera 28, the detector sends instructions to the motor, and the motor drives the magnetic adsorption unit 2 to move vertically up and down to the position of the steel plate A and then stops moving. At the same time, the dual cameras 28 use algorithms to process the collected stereo vision images, and calculate and restore the length and width data of the steel plate A.

Step 202: Adjust the height of the loading platform 22 until the dual camera 28 captures the light exit point of the positioning laser 26 and hits the cross-section of the single steel plate to be taken towards the positioning laser 26, so as to ensure that the single steel plate to be taken The steel plate enters the effective working range of the laser radar 27.

The positioning laser 26 projects the laser beam onto the uppermost steel plate A of the steel plate stack, and the dual camera 28 collects the point where the laser beam projected by the positioning laser 26 hits the point on the steel plate A, and the positioning laser 26 determines the center point on the cross-section of the steel plate A, The double camera 28 cooperates with the positioning laser 26 to adjust the error, and collects the position information where the laser beam intersects with the steel plate A, allowing the positioning laser 26 to have a certain small range of error, and making sure that the light exit point of the positioning laser 26 hits the cross-section of the steel plate A, so as to ensure that the steel plate A A enters the fan-shaped laser beam area emitted by the laser radar 27, that is, the effective working range, to avoid causing huge errors and affecting the retrieving operation of the steel plate. The information schematic diagram between the positioning laser 26, the dual camera 28 and the laser radar 27 is shown in Figure 7 As shown, if the light emitting point of the positioning laser 26 is on the lower edge of the steel plate A, then the horizontal starting position of the laser radar 27 is the lower edge of the steel plate A, as shown in Figure 8, the scanning range of the laser radar 27 is formed by adjusting the light emitting angle As shown in the shaded area in the figure, the scanning range includes the top two steel plates, so that the subsequent calculated steel plate thickness is the thickness of the top two steel plates.

Step 203: The lidar 27 scans and collects the upper surface point and the lower surface point on the cross section of the single steel plate to be taken, and calculates the thickness of the single steel plate to be taken.

After the controller of the steel plate stacker of the present invention receives the position information of the steel plate A collected by the positioning laser 26 and the double camera 28, the laser radar 27 is started, and the flow chart of the laser radar 27 scanning is as shown in Figure 9;

The laser radar 27 scans horizontally from the cross-section of the single steel plate to be taken towards the positioning laser 26, and the laser beam output point projected by the positioning laser 26 hits the cross-section of the steel plate A, and the laser radar 27 and The laser beam projected by the positioning laser 26 coincides with the light spot on the steel plate A, and the laser radar 27 defaults to horizontally emit the laser beam scanning from the position of the coincident light spot, and the scanning range is a fan-shaped area formed by adjusting the light angle. After the laser beam is reflected or scattered on the cross-section of the steel plate A, the receiver of the laser radar 27 receives and records the reflection or scattering time of the laser beam, and calculates the time difference between the light emitting and receiving to obtain the light point to the order to be taken. The distance d of a steel plate, by capturing the laser line information projected on the cross-section of the steel plate A, measuring the position and angle of the reflected or scattered laser beam, calculating the three-dimensional coordinate information of the surface of the steel plate A, reconstructing the surface profile of the steel plate A, according to the profile Calculate the volume of the steel plate A, determine the edge of the cross-section through the strength of the returned laser light received by the laser radar 27, collect the upper surface point and the lower surface point on the cross-section surface of the single steel plate to be taken, and calculate the The thickness of a single steel plate, the schematic diagram of the upper surface point and the lower surface point on the cross section of the steel plate A collected by the laser radar 27 is shown in Figure 10, specifically including:

When the return laser light received by the laser radar 27 was strong, the light emitting point of the laser radar 27 hit the inside of the single steel plate to be taken, and the light emitting point of the laser radar 27 and the light emitting point of the positioning laser 26 were within the same distance. The cross section of the single steel plate to be taken towards the positioning laser 26 overlaps, the shortest distance from the light emitting point to the single steel plate to be taken is _dmin , and in step 202, the light emitting point of the positioning laser 26 is allowed to hit the transverse direction of the steel plate There is a certain small-range error in the center point of the cut surface, which causes a certain small-range error in the position where the light emitting point of the laser radar 27 hits the cross-section of the steel plate;

When the laser radar 27 scans upwards in the horizontal direction and the received return laser light is weak, the light exit point of the laser radar 27 hits the upper surface point on the cross section of the single steel plate to be taken, and the light exit point reaches the The distance of a single steel plate to be taken is d ₀ ;

When the laser radar 27 scans downwards in the horizontal direction and the received return laser light is weak, the light exit point of the laser radar 27 hits the lower surface point on the cross section of the single steel plate to be taken, and the light exit point reaches The distance of the single steel plate to be taken is d _n ;

Wherein, the distance d from the light exit point to the upper surface point on the cross section of _the steel plate A and the distance d _n from the light exit point to the lower surface point on the cross section of the steel plate A are located at the center of the cross section of the steel plate A by the positioning laser 26 Points are not equal when there is an error, and the distance d={d ₀ , d ₁ ,...,d _n } from the light emitting point of the laser radar 27 to the single steel plate to be taken is calculated to calculate the single piece to be taken The thickness of the steel plate is

Through the cooperation of the positioning laser 26 and the dual camera 28, the horizontal default starting position of the laser radar 27 is determined, which ensures the correctness of the working range of the laser radar 27, enables the laser radar 27 to accurately scan the uppermost single steel plate to be taken, and calculates and determines the steel plate The upper surface point and the lower surface point on the cross section of A are used to calculate the thickness, which avoids the error in thickness calculation caused by the difference in the distance from the light emitting point to the upper surface point and the lower surface point on the cross section of steel plate A, and is accurate for subsequent steps. The steel plate provides support for the required magnetic force.

Step 204: Calculate the volume of the single steel plate to be taken according to the length, width and thickness of the single steel plate to be taken.

Step 205: According to the volume of the single steel plate to be taken and the known density of the single steel plate to be taken, calculate the weight of the single steel plate to be taken, so as to calculate the required magnetic force.

When the controller of the steel plate stacker of the present invention receives the laser radar 27 to calculate the volume of the steel plate A, it combines the known density parameters of the steel plate A to calculate the weight of the steel plate A and the electromagnetic adsorption force of the corresponding segment.

Step 206 : The hydraulic pump 3 drives the magnetic adsorption plate 23 down to be level with the loading platform 22 .

The controller of the steel plate stacker of the present invention sends instructions to the motor to drive the hydraulic pump 3 to drive the tripod bracket 25, so that the connecting end of the tripod bracket 25 and the magnetic adsorption plate 23 moves toward the direction of the preset position, that is, the direction of the steel plate A, to realize magnetic adsorption. Plate 23 is lowered.

Step 207: Four identical magnetic adsorption heads 24 on the magnetic adsorption plate 23 release the preset magnetic force, and magnetically collect the single steel plate to be picked up.

After the controller of the steel plate stacker of the present invention calculates the required magnetic force of the steel plate A, an instruction is sent to the motor to drive the hydraulic pump 3 to start supplying power to four identical magnetic adsorption heads 24 on the magnetic adsorption plate 23 to release the preset magnetic force.

During the process of magnetic adsorption of the magnetic adsorption unit 2 to collect a single steel plate to be taken, by adjusting the preset magnetic force, the power supply is adjusted in sections to realize energy saving. The flow chart of adjusting the magnetic force in sections is shown in Figure 11, wherein:

The first section is for electromagnetic adsorption. The magnetic adsorption plate 23 magnetically adsorbs the single steel plate to be taken, and before the single steel plate to be taken is separated from the steel plate stack, the initial magnetic force overcomes the pressure between the steel plates in the steel plate stack and other forces. As shown in Figure 12, the magnetic adsorption plate 23 is lowered to the level of the loading platform 22 and the magnetic adsorption column is waiting to pick up a single steel plate. When the magnetic adsorption picks up the steel plate A, the preset pulling force is set to the required magnetic force calculated by the weight of the steel plate A. 1.5±0.2 times, then the preset magnetic force of the magnetic adsorption head 24 is set to be 1.5±0.2 times the required magnetic force calculated by the weight of the single steel plate to be taken;

The second stage is for electromagnetic adsorption. The magnetic adsorption plate 23 pulls up the single steel plate to be taken out of the steel plate pile, and when it is in the turning process, external complex factors such as dust and wind resistance must be overcome to ensure that the steel plate A is stably turned over to the loading platform during the picking process. 22, the preset pulling force is set to be 1.2 ± 0.1 times the required magnetic force calculated by the weight of the steel plate A, then the preset magnetic force of the magnetic adsorption head 24 is set to the required value calculated by the weight of the single steel plate to be taken. 1.2±0.1 times the magnetic force.

Step 208: The hydraulic pump 3 drives the magnetic adsorption plate 23 to be pulled up to be perpendicular to the loading platform 22, and the single steel plate to be picked is completed.

The controller of the steel plate stacker of the present invention sends instructions to the motor to drive the hydraulic pump 3 to drive the tripod bracket 25, and the connection end of the tripod bracket 25 and the magnetic adsorption plate 23 pulls up the magnetic adsorption plate 23 so that the steel plate A is turned over to the loading platform 22 Form an included angle, as shown in Figure 13, the magnetic adsorption plate 23 and the steel plate A are in an inclined state, and the magnetic adsorption plate 23 is pulled up, and the third section is used for electromagnetic adsorption. The magnetic adsorption plate 23 is pulled up and adjusted to be inclined When the state is placed on the loading platform 22, only the gravity to overcome the self weight of the steel plate A is used, and the loading platform 22 can support the steel plate A as a plane, the preset pulling force of the magnetic adsorption head 24 is appropriately reduced, and the preset pulling force of the magnetic adsorption head 24 If the pulling force is set to 0.6 ± 0.2 times the required magnetic force calculated by the weight of the steel plate A, then the preset magnetic force of the magnetic adsorption head 24 is set to 0.6 ± 0.2 times the required magnetic force calculated by the weight of the single steel plate to be taken. times; the magnetic adsorption is completed and the steel plate A is collected.

In the specific implementation process, the control of the corresponding segmental magnetic adsorption will be different due to the size of the single steel plate to be taken and the corresponding tilt state; for example, when the length of the single steel plate to be taken is longer than the magnetic adsorption plate The length of 23 causes the four magnetic adsorption heads 24 on the corresponding magnetic adsorption plate 23 to be unable to be relatively evenly distributed near the center of gravity of the single steel plate to be taken. The magnetic attraction force of the two magnetic adsorption heads 24 on the rotation axis side of the plate 23 will be smaller than the magnetic attraction force of the two magnetic adsorption heads 24 on the rotation axis side of the magnetic adsorption plate 23. The preset magnetic force of the head 24 is set to be 1.5 ± 0.2 times the required magnetic force calculated by the weight of the single steel plate to be taken." More refers to the two magnetic adsorption heads 24 near the rotating shaft side of the magnetic adsorption plate 23 The magnetic attraction force, and the corresponding magnetic attraction force of the two magnetic adsorption heads 24 far away from the rotating shaft side of the magnetic adsorption plate 23 even needs to be weighted to reach even 1.8 times on the basis of 1.5 times of the above-mentioned required magnetic force (the specific parameter value is based on The distance of the four magnetic adsorption heads 24 brought by the size of the single steel plate to be taken deviates from the center of gravity of the single steel plate to be taken is set, and the actual operation can also be obtained according to multiple trial and test experiments, and will not be described in detail here). Another example, when the length of the single steel plate to be taken is greater than the length of the magnetic adsorption plate 23, causing the four magnetic adsorption heads 24 on the corresponding magnetic adsorption plate 23 to be relatively evenly distributed near the center of gravity of the single steel plate to be taken Correspondingly, in the third paragraph for electromagnetic adsorption, "the preset magnetic force of the magnetic adsorption head 24 is set to be 0.6 times the required magnetic force calculated by the weight of the single steel plate to be taken" more refers to being away from the magnetic The magnetic attraction force of the two magnetic adsorption heads 24 on the rotation axis side of the adsorption plate 23, and the corresponding magnetic attraction force of the two magnetic adsorption heads 24 on the rotation axis side of the magnetic adsorption plate 23 even need to be 0.6 times the above-mentioned required magnetic force. Then the weighting can reach even 0.8 times, so as to make up for the uneven force caused by the deviation from the center of gravity.

In the specific implementation process, the weighting coefficient of the corresponding magnetic adsorption will also be affected by factors such as the material density of the steel plate and the offset distance between the center of gravity shown by the shape of the steel plate and the four magnetic adsorption points. The adjustment of the value can be revised according to the actual situation, and there are not too many restrictions here. It should be understood that the weighted parameter values given in the embodiments are only reference values for demonstrating achievability, and should not be taken as a basis for limiting the effective protection scope of the present invention.

The present invention uses stereo vision to monitor the operation of the stacker through the setting of the double camera 28. The double camera 28 cooperates with the positioning laser 26 and the laser radar 27 to realize accurate calculation of the size parameters of the steel plate to be taken. Combined with the lowering and pulling up of the magnetic adsorption plate 23, the magnetic adsorption head 24 is used to release the magnetic force to realize unmanned and accurate collection of a single steel plate, which improves the efficiency of retrieving materials. By adjusting the magnetic force, the energy consumption of the operation can be adjusted in sections. The scheme of segmental power supply is designed to avoid the waste of energy costs.

Embodiment 3:

The single-block retrieving steel plate stacker based on laser radar in embodiment 3 of the present invention is basically the same as the single-block retrieving steel plate stacker based on laser radar in embodiment 1, except that a fixed The L-shaped support frame 61 and the magnetic adsorption plate 23 are provided with a square groove for the L-shaped support frame 61 to pass through, specifically:

The magnetic adsorption unit 2 also includes an L-shaped support frame 61;

The lower end of the L-shaped support frame 61 is arranged below the cargo platform 22, and the upper end of the L-shaped support frame 61 exceeds the plane of the cargo platform 22 and is perpendicular to the cargo platform 22;

A square groove is arranged on the magnetic adsorption plate 23, and the upper end of the L-shaped support frame 61 passes through the magnetic adsorption plate 23 when the magnetic adsorption plate 23 is put down and pulled up;

The magnetic adsorption unit 2 is provided with an L-shaped support frame 61 and the position where the magnetic adsorption plate 23 is connected to the cargo platform 22 has a certain distance from the edge of the cargo platform 22. When the magnetic adsorption plate 23 is pulled up to adjust the single steel plate to be taken When placed on the loading platform 22 in an inclined state, the L-shaped support frame 61 is used to protect and support the single steel plate to be picked up by the magnetic adsorption plate 23 .

In the process of collecting the steel plate A by magnetic adsorption, and when the position where the magnetic adsorption plate 23 is connected to the loading platform 22 has a certain distance from the edge of the loading platform 22, two L-shaped support frames 61 are set for the magnetic adsorption plate 23 Pull up the steel plate A and adjust it to support the steel plate A when it is placed on the loading platform 22 in an inclined state. As shown in FIG. 14 , a square groove is provided on the magnetic adsorption plate 23 for supporting the steel plate A at the lower end of the L-shaped support frame 61 when the magnetic adsorption plate 23 is put down and pulled up. A square hole is set on the loading platform 22 so that the L-shaped support frame 61 can pass through. When the magnetic adsorption plate 23 is put down, the L-shaped support frame 61 is located under the loading platform 22, and when the magnetic adsorption plate 23 magnetically adsorbs the steel plate A, the steel plate A is located on the square groove, and the steel plate A has no contact with the L-shaped support frame 61. As shown in Figure 15, when the steel plate A is picked up by the magnetic adsorption plate 23 and turned over to adjust to an inclined state, the base of the L-shaped support frame 61 rises from the bottom of the cargo platform 22, and the L-shaped support frame 61 protects the position of the steel plate A at this time. The right view of the structural diagram is shown in Figure 16. The lower end of the L-shaped support frame 61 is raised to be close to the lower end of the steel plate A. At this time, the lower end of the steel plate A is protected and supported by the L-shaped support frame 61. The steel plate A can be placed stably, and the magnetic adsorption plate The four magnetic adsorption heads 24 on the 23 release the magnetic force to form a pulling force on the steel plate A. The magnetic adsorption heads 24 do not need to bear the gravity of the steel plate independently, and the L-shaped support frame 61 and the magnetic adsorption plate 23 share most of the gravity of the steel plate. At this time, the magnetic adsorption It is only used to prevent the steel plate from flipping and falling.

Embodiment 4:

Embodiment 4 of the present invention is based on a method of using a lidar-based single-piece reclaiming steel plate stacker in embodiment 2, and provides a single-piece reclaiming steel plate stacker based on lidar and its use method. The process steps of Embodiment 4 of the present invention are basically the same as Embodiment 2, except that when the magnetic adsorption plate 23 pulls up the single steel plate to be picked up and adjusts it to be placed on the loading platform 22 in an inclined state, the process is reduced. Power supply for energy savings, specifically:

When the L-shaped support frame 61 is set on the cargo platform 22 and the position where the magnetic adsorption plate 23 is connected to the cargo platform 22 has a certain distance from the edge of the cargo platform 22, when the magnetic adsorption plate 23 is pulled up When a single steel plate is adjusted to an inclined state and placed on the loading platform 22, the pulling force on the collected steel plate A does not need to independently bear the gravity of the steel plate A due to the release of the magnetic force by the four magnetic adsorption heads 24 on the magnetic adsorption plate 23. The support frame 61 and the magnetic adsorption plate 23 share most of the gravity of the steel plate A, the preset pulling force of the magnetic adsorption head 24 is appropriately reduced, and the preset pulling force is set to 0.3 times the required magnetic force calculated by the weight of the steel plate A, then the magnetic adsorption The preset magnetic force of the head 24 is set to 0.3 times of the required magnetic force calculated by the weight of the single steel plate to be taken, which saves the power energy for the magnetic adsorption head 24 to release the magnetic force. The single steel plate A is collected by magnetic adsorption.

In the embodiment of the present invention, through the setting of the L-shaped support frame 61, the L-shaped support frame 61 is used to provide partial support for the steel plate, which reduces the time required for the magnetic adsorption head 24 to be released when the single steel plate to be taken is placed on the loading platform 22. Magnetic force, thereby reducing the power consumption of retrieving materials; the single steel plate to be taken is placed on the loading platform 22 to the subsequent discharge operation process is the longest stage in actual production, reducing the power consumption of this process, making this The effect of the invention to save energy has been greatly improved.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the protection of the present invention. within range.

Claims (10)

1. A single-block reclaiming steel plate stacker based on laser radar, characterized in that, comprising: frame (1), magnetic adsorption unit (2) and hydraulic pump (3); The magnetic adsorption unit (2) is arranged on the frame (1), and the magnetic adsorption unit (2) moves to the position of a single steel plate to be picked up to complete intelligent segmentation for electromagnetic adsorption to collect a single steel plate; Among them, the intelligent segmentation for electromagnetic adsorption includes the first stage of absorbing a single steel plate from the steel plate pile for electromagnetic adsorption, and the second stage of switching the steel plate from the adsorption to the starting moving state for electromagnetic adsorption and moving state. The third section is for electromagnetic adsorption, and the fourth section for converting the steel plate from the moving state to the placing state is for electromagnetic adsorption; Wherein, the magnetic adsorption unit (2) completes the size acquisition of a single steel plate through its own laser radar (27), thereby calculating the weight of the corresponding single steel plate, as the basis for the electromagnetic adsorption of the intelligent segmentation; The hydraulic pump (3) is used to provide power for the magnetic adsorption unit (2). 2. The single-block reclaiming steel plate stacker based on laser radar according to claim 1, wherein the magnetic adsorption unit (2) includes a frame body (21), a loading platform (22), a magnetic adsorption Board (23), magnetic adsorption head (24), tripod support (25), positioning laser (26), laser radar (27), dual camera (28), wherein: The loading platform (22) is arranged on the frame body (21), and the loading platform (22) is connected with the frame body (21) to form an integrated structure for supporting the magnetic adsorption unit (2); The magnetic adsorption plate (23) is arranged on the cargo platform (22), and the magnetic adsorption plate (23) is loosely connected with the cargo platform (22); the magnetic adsorption plate (23) is provided with four A same magnetic adsorption head (24), is used to realize magnetic adsorption to collect the single steel plate to be taken; The tripod support (25) is arranged on the loading platform (22), and the bottom end of the tripod support (25) is connected with the loading platform (22) for realizing the lifting and pulling of the supporting magnetic adsorption plate (23). rise; The positioning laser (26) is arranged on the tripod support (25), and is used to realize the positioning of a single steel plate to be taken; Described lidar (27) is arranged on the tripod support (25), is used for realizing measuring the thickness of single steel plate to be taken; Described double camera (28) is arranged on the tripod support (25), is respectively positioned at positioning laser (26) and laser radar (27) both sides, is used for determining the positioning state of positioning laser (26), and calculates by stereo vision algorithm Obtain the length and width of the single steel plate to be taken. 3. The single-block reclaiming steel plate stacker based on laser radar according to claim 2, is characterized in that, also comprises: The double camera (28) cooperates with the positioning laser (26) to scan and locate the position of the steel plate pile and the position information of the single steel plate to be taken from the uppermost layer of the steel plate pile by adjusting the light output angle. State the length and width of the single steel plate to be taken, and the steel plate stacker moves to the position of the single steel plate to be taken; Adjust the height of the loading platform (22) until the light exit point of the positioning laser (26) is captured by the dual cameras (28) and hits the cross-section of the single steel plate to be taken towards the positioning laser (26), ensuring that all The single steel plate to be taken enters the effective working range of the laser radar (27); the upper surface point and the lower surface point on the cross section of the single steel plate to be taken are scanned and collected by the laser radar (27), and the described to be taken is calculated. Take the thickness of a single steel plate; Calculate the volume of the single steel plate to be taken by the length, width and thickness of the single steel plate to be taken; According to the volume of the single steel plate to be taken and the known density of the single steel plate to be taken, the weight of the single steel plate to be taken is calculated to obtain the segmental electromagnetic adsorption force. 4. The single-block retrieving steel plate stacker based on laser radar according to claim 3 is characterized in that, the laser radar (27) is from the direction of the positioning laser (26) of the single steel plate to be taken along the horizontal direction Start scanning on the cross-section, the scanning range is a fan-shaped area formed by adjusting the light emitting angle, calculate the distance d from the light emitting point to the single steel plate to be taken by calculating the time difference between light emission and reception, and collect the distance d of the single steel plate to be taken The upper surface point and the lower surface point on the cross section calculate the thickness of the single steel plate to be taken, specifically including: When the return laser light received by the laser radar (27) was strong, the light emitting point of the laser radar (27) hit the inside of the single steel plate to be taken, and the light emitting point of the laser radar (27) was in line with the positioning The light emitting point of the laser (26) overlaps on the cross section of the single steel plate to be taken towards the positioning laser (26), and the shortest distance from the light emitting point to the single steel plate to be taken is d _min ; When the laser radar (27) scans upwards in the horizontal direction and receives weak return laser light, the light exit point of the laser radar (27) hits the upper surface point on the cross-section of the single steel plate to be taken, The distance from the light exit point to the single steel plate to be taken is d ₀ ; When the laser radar (27) scans downwards in the horizontal direction and receives weak return laser light, the light exit point of the laser radar (27) hits the lower surface point on the cross-section of the single steel plate to be taken. , the distance from the light exit point to the single steel plate to be taken is d _n ; Through the distance d={d ₀ , d ₁ ,...,d _n } from the light exit point of the laser radar (27) to the single steel plate to be taken, the thickness of the single steel plate to be taken is calculated as 5. The single-block reclaiming steel plate stacker based on laser radar according to claim 4, is characterized in that, specifically comprises: The first section is for electromagnetic adsorption as the magnetic adsorption plate (23) magnetically adsorbs the single steel plate to be taken, and before the single steel plate to be taken is separated from the steel plate pile, the preset magnetic force of the magnetic adsorption head (24) is set to pass through the single steel plate to be taken 1.5±0.2 times the required magnetic force calculated by taking the weight of a single steel plate; The second section is for electromagnetic adsorption. The magnetic adsorption plate (23) pulls up the single steel plate to be taken out of the steel plate pile, and when it is in the flipping process, the preset magnetic force of the magnetic adsorption head (24) is set to pass through the single steel plate to be taken. 1.2±0.1 times the required magnetic force calculated by weight; The third section is for electromagnetic adsorption when the magnetic adsorption plate (23) pulls up the single steel plate to be taken and adjusts it to an inclined state and places it on the loading platform (22), the preset magnetic force of the magnetic adsorption head (24) is set to pass through the 0.6±0.2 times the required magnetic force calculated by the weight of a single steel plate to be taken; The fourth section is for electromagnetic adsorption when the magnetic adsorption plate (23) switches the steel plate from the moving state to the placed state, the preset magnetic force of the magnetic adsorption head (24) is set to the required value calculated by the weight of the single steel plate to be taken. 1.2±0.1 times of magnetic force. 6. The single-block reclaiming steel plate stacker based on laser radar according to claim 5, characterized in that, the magnetic adsorption unit (2) also includes an L-shaped support frame (61); The lower end of the L-shaped support frame (61) is arranged below the cargo platform (22), and the upper end of the L-shaped support frame (61) exceeds the plane of the cargo platform (22) and the loading platform (22). Platform (22) is vertical; A square groove is arranged on the magnetic adsorption plate (23), and the upper end of the L-shaped support frame (61) passes through the magnetic adsorption plate (23) when the magnetic adsorption plate (23) is put down and pulled up; The magnetic adsorption unit (2) is provided with an L-shaped support frame (61) and the position where the magnetic adsorption plate (23) is connected to the loading platform (22) has a certain distance from the edge of the loading platform (22). When the plate (23) is pulled up and the single steel plate to be taken is adjusted to an inclined state and placed on the cargo platform (22), the L-shaped support frame (61) is used to protect and support the magnetic adsorption plate (23) to be collected. Take a single steel plate. 7. The single-block retrieving steel plate stacker based on laser radar according to claim 6 is characterized in that, when the magnetic adsorption plate (23) pulls up the single steel plate to be taken, it is adjusted to an inclined state and placed on the loading platform ( 22) When it is on, the preset magnetic force of the magnetic adsorption head (24) is set to be 0.3±0.1 times of the required magnetic force calculated by the weight of the single steel plate to be taken. 8. The laser radar-based single-block reclaiming steel plate stacker according to any one of claims 1-7, wherein the hydraulic pump (3) is arranged on the loading platform (22), and the hydraulic pump (3) One end of the pump (3) is axially connected to the magnetic adsorption plate (23), and the other end of the hydraulic pump (3) is axially connected to the upper end of the tripod support (25); the hydraulic pump (3) drives the magnetic adsorption plate (23) The movement enables the magnetic adsorption plate (23) to move toward the preset position, and is used to provide the power for the magnetic adsorption plate (23) to complete the rotation around the shaft connection portion of the magnetic adsorption plate (23) with the loading platform (22). 9. A method for using a single-block reclaiming steel plate stacker based on laser radar, characterized in that the method of use is realized based on the single-block reclaiming steel plate stacker based on laser radar according to any one of claims 1-8 , methods include: The dual cameras cooperate with the positioning laser to scan and locate the position of the steel plate stack and the position information of the single steel plate to be taken in the uppermost layer of the steel plate stack by adjusting the light angle. The dual cameras calculate the length and width, the steel plate stacker moves to the position of the single steel plate to be taken; Adjust the height of the loading platform until the double camera captures the light exit point of the positioning laser and hits the cross-section of the single steel plate to be taken towards the positioning laser, so as to ensure that the single steel plate to be taken enters the effective working range of the laser radar; Laser radar scans and collects the upper surface point and the lower surface point on the cross section of the single steel plate to be taken, and calculates the thickness of the single steel plate to be taken; Calculate the volume of the single steel plate to be taken by the length, width and thickness of the single steel plate to be taken; Through the volume of the single steel plate to be taken and the known density of the single steel plate to be taken, the weight of the single steel plate to be taken is calculated, thereby calculating the required magnetic force; The hydraulic pump drives the magnetic adsorption plate down to the level of the loading platform; The magnetic adsorption unit moves to the position of the single steel plate to be taken to complete the intelligent segmentation for electromagnetic adsorption to collect the single steel plate; Among them, the intelligent segmentation for electromagnetic adsorption includes the first stage of absorbing a single steel plate from the steel plate pile for electromagnetic adsorption, and the second stage of switching the steel plate from the adsorption to the starting moving state for electromagnetic adsorption and moving state. The third section is for electromagnetic adsorption, and the fourth section for converting the steel plate from the moving state to the placing state is for electromagnetic adsorption. 10. The method for using the laser radar-based single-block reclaiming steel plate stacker according to claim 9, characterized in that it specifically comprises: The first section is for electromagnetic adsorption. The magnetic adsorption plate magnetically adsorbs the single steel plate to be taken, and before the single steel plate to be taken out of the steel plate stack, the preset magnetic force of the magnetic adsorption head is set to be calculated by the weight of the single steel plate to be taken 1.5±0.2 times the required magnetic force; The second stage is for electromagnetic adsorption. When the magnetic adsorption plate pulls up the single steel plate to be taken out of the steel plate pile and is in the flipping process, the preset magnetic force of the magnetic adsorption head is set to the required value calculated by the weight of the single steel plate to be taken. 1.2±0.1 times of magnetic force; The third stage is for electromagnetic adsorption. When the magnetic adsorption plate pulls up the single steel plate to be picked up and adjusts it to an inclined state and places it on the loading platform, the preset magnetic force of the magnetic adsorption head is set to be calculated by the weight of the single steel plate to be picked up. 0.6±0.2 times the required magnetic force; The fourth section is for electromagnetic adsorption when the steel plate is converted from the moving state to the placed state by the magnetic adsorption plate, the preset magnetic force of the magnetic adsorption head is set to 1.2±0.1 times the required magnetic force calculated by the weight of the single steel plate to be taken .