CN116553194B - Single-block material taking steel plate stacker based on laser radar and using method thereof - Google Patents

Abstract

The invention relates to the technical field of intelligent handling equipment, and provides a single-piece steel plate stacker based on laser radar and a method of using the same. Among them, the single-piece steel plate stacker based on laser radar includes a frame, a magnetic adsorption unit and a hydraulic pump; the magnetic adsorption unit is set on the frame to achieve energy saving; the hydraulic pump is used to provide magnetic adsorption unit provides power. The present invention uses the principle of magnetic adsorption to perform unmanned retrieval operation on a single steel plate, solving the problem of inconvenient retrieval of a single steel plate. Using magnetic adsorption to retrieve materials facilitates adjustment of power supply to save energy, and combines laser measurement technology to calculate the single steel plate. The size is thus calculated to obtain the required magnetic force. By adjusting the magnetic adsorption to collect the magnetic force during the process of picking up a single steel plate, the power supply is adjusted in sections to achieve intelligent energy saving.

Description

A single-piece reclaiming steel plate stacker based on laser radar and its use method

Technical field

The present invention relates to the technical field of intelligent handling equipment, and in particular to a single-piece steel plate stacker based on laser radar and a method of using the same.

Background technique

Stackers are important handling equipment in the three-dimensional warehousing and logistics systems of modern manufacturing enterprises. They are mainly used to transport various materials and provide guarantee for the flexibility, integration and efficient operation of the system.

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

In view of this, overcoming the shortcomings of the prior art is an urgent problem to be solved in this technical field.

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 retrieval of a single steel plate, and provide a single-piece retrieval steel plate stacker based on laser radar and its use method.

A further technical problem to be solved by embodiments of the present invention is to provide an improved single-piece steel plate stacker based on laser radar and a method of using the same.

The embodiments of the present invention adopt the following technical solutions:

In the first aspect, the present invention provides a single-piece steel plate stacker based on laser radar, 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 picked up to complete intelligent segmentation for electromagnetic adsorption to collect a single steel plate;

Among them, the intelligent segmented electromagnetic adsorption includes the first section of the single steel plate to be taken from the steel plate pile for electromagnetic adsorption, the second section of the steel plate from adsorption to the starting moving state for electromagnetic adsorption, and the moving state. The third section is for electromagnetic adsorption, and the fourth section is for electromagnetic adsorption to convert the steel plate from a moving state to a placed state;

Among them, the magnetic adsorption unit 2 completes the size collection of a single steel plate through its own equipped 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 to the magnetic adsorption unit 2 .

Preferably, the magnetic adsorption unit 2 includes a frame 21, a cargo 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 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 to the cargo platform 22; four identical magnetic adsorption heads 24 are provided on the magnetic adsorption plate 23 for Realize magnetic adsorption to collect the single steel plate to be taken;

The tripod bracket 25 is arranged on the cargo platform 22, and the bottom end of the tripod bracket 25 is connected to the cargo platform 22, and is used to support the lowering and pulling up of the magnetic adsorption plate 23;

The positioning laser 26 is arranged on the tripod bracket 25 and is used to position the single steel plate to be taken;

The laser radar 27 is arranged on the tripod bracket 25 and is used to measure the thickness of a single steel plate to be taken;

The dual cameras 28 are arranged on the tripod bracket 25, respectively located on both sides of the positioning laser 26 and the laser radar 27, and are used to determine the positioning status of the positioning laser 26, and to calculate the length and width of the single steel plate to be taken through a stereoscopic vision algorithm. .

Preferably, the hydraulic pump 3 is arranged on the cargo 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 Driving the magnetic adsorption plate 23 to move enables the magnetic adsorption plate 23 to move in the direction of a preset position, which is used to provide the power for the magnetic adsorption plate 23 to complete rotation around the portion where it is axially connected to the cargo platform 22 .

Preferably, it also includes:

The dual 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 uppermost single steel plate to be retrieved in the steel plate pile by adjusting the light angle. The dual camera 28 calculates the single steel plate to be retrieved through a stereoscopic vision algorithm. The length and width of the steel plate stacker move to the position of the single steel plate to be taken;

Adjust the height of the cargo platform 22 until the dual camera 28 captures the light emitting point of the positioning laser 26 and hits the cross section of the single steel plate to be taken toward the positioning laser 26, ensuring that the single steel plate to be taken enters the laser. The effective working range of the radar 27; scan and collect the upper surface points and lower surface points on the cross section of the single steel plate to be taken by the laser radar 27, and calculate the thickness of the single steel plate to be taken;

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

Based on the volume of the single steel plate to be removed and the known density of the single steel plate to be removed, the weight of the single steel plate to be removed is calculated, thereby calculating the segmented electromagnetic adsorption force.

Preferably, the laser radar 27 starts scanning along the horizontal direction from the cross section of the single steel plate to be taken toward the positioning laser 26. The scanning range is a fan-shaped area formed by adjusting the light angle, and is calculated by the time difference between light emission and reception. The distance d from the light point to the single steel plate to be taken is collected, and the upper surface points and lower surface points on the cross section of the single steel plate to be taken are collected, and the thickness of the single steel plate to be taken is calculated, which specifically includes:

When the return laser received by the lidar 27 is strong, the light emitting point of the lidar 27 hits the inside of the single steel plate to be taken, and the light emitting point of the lidar 27 is in the same position as the light emitting point of the positioning laser 26. The cross-sections of the single steel plate to be taken toward the positioning laser 26 overlap, and the shortest distance from the light point to the single steel plate to be taken is d _min ;

When the laser radar 27 scans upward in the horizontal direction and receives weak return laser light, the light emission 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 emission point reaches the The distance at which a single steel plate is to be taken is d ₀ ;

When the laser radar 27 scans downward in the horizontal direction and receives weak returning laser light, the light emission point of the laser radar 27 hits the lower surface point on the cross section of the single steel plate to be removed, and the light emission point reaches The distance between the single steel plate to be taken is d _n ;

Through the distance d from the light point of the lidar 27 to the single steel plate to be taken = {d ₀ , d ₁ ,..., d _n }, the thickness of the single steel plate to be taken is calculated as

Preferred ones specifically include:

The first section for electromagnetic adsorption is that 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 weight;

The second section is for electromagnetic adsorption. When the magnetic adsorption plate 23 pulls the single steel plate to be taken out of the steel plate pile, and is in the turning process, the preset magnetic force of the magnetic adsorption head 24 is set to be calculated based on 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 picked up and adjusts it to an inclined state and places it on the cargo platform 22, the preset magnetic force of the magnetic adsorption head 24 is set to pass the weight of the single steel plate to be picked up. 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 placement state, the preset magnetic force of the magnetic adsorption head 24 is set to 1.2± of the required magnetic force calculated based on the weight of the single steel plate to be taken. 0.1 times.

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

The lower end of the L-shaped support frame 61 is disposed close to the bottom of the cargo platform 22, and the upper end of the L-shaped support frame 61 extends beyond the plane of the cargo platform 22 and is perpendicular to the cargo platform 22;

The magnetic adsorption plate 23 is provided with a square groove for the upper end of the L-shaped support frame 61 to pass 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 is at 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 removed, When placed on the cargo 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 picked up and adjusts it to an inclined state and places it on the cargo platform 22, the preset magnetic force of the magnetic adsorption head 24 is set to be calculated based on the weight of the single steel plate to be picked up. 0.3±0.1 times the required magnetic force.

Preferably, the hydraulic pump 3 is arranged on the cargo 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 The magnetic adsorption plate 23 is driven to move so that the magnetic adsorption plate 23 can move in the direction of the preset position, which is used to provide the power for the magnetic adsorption plate 23 to complete rotation around its axis connection with the cargo platform 22

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

The dual cameras cooperate with the positioning laser to scan and locate the position of the steel plate pile and the position information of the uppermost single steel plate to be removed in the steel plate pile by adjusting the light angle. The dual cameras calculate the length sum of the single steel plate to be removed through a stereo vision algorithm. Width, the steel plate stacker moves to the position of the single steel plate to be picked up;

Adjust the height of the cargo platform until the dual cameras capture the light point of the positioning laser and hit the cross section of the single steel plate to be taken toward the positioning laser, ensuring that the single steel plate to be taken enters the effective working range of the laser radar;

The laser radar scans and collects the upper surface points and lower surface points on the cross section of the single steel plate to be removed, and calculates the thickness of the single steel plate to be removed;

Calculate the volume of the single steel plate to be taken based on 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 board to be lowered to the level of the cargo platform;

The magnetic adsorption unit moves to the position of the single steel plate to be picked up to complete intelligent segmentation for electromagnetic adsorption to pick up the single steel plate;

Among them, it includes the first section for electromagnetic adsorption to absorb a single steel plate to be taken from the steel plate pile, the second section for converting the steel plate from adsorption to the start-up moving state for electromagnetic adsorption, and the third section in the moving state for electromagnetic adsorption. Adsorption, the fourth electromagnetic adsorption that converts the steel plate from the moving state to the placed state.

Preferred ones specifically include:

The first section for electromagnetic adsorption is a magnetic adsorption plate that magnetically adsorbs a 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 is set to be calculated based on the weight of the single steel plate to be taken. 1.5±0.2 times the required magnetic force;

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

The third section 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 cargo platform, the preset magnetic force of the magnetic adsorption head is set to be calculated based on 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 magnetic adsorption plate switches the steel plate from the moving state to the placement state, the preset magnetic force of the magnetic adsorption head is set to 1.2 ± 0.1 times the required magnetic force calculated based on the weight of the single steel plate to be taken. .

Compared with the existing technology, the beneficial effects of the embodiments of the present invention are that: the present invention uses the principle of magnetic adsorption to perform unmanned material picking operations on a single steel plate, solving the problem of inconvenience in picking up materials from a single steel plate. It uses magnetic adsorption to pick up materials. It is convenient to adjust the power supply to save energy; the combination of laser measurement technology and stacker control technology allows the stacker to accurately and intelligently obtain the position and size information of the target single steel plate, thereby calculating the volume, weight, and magnetic adsorption requirements of the steel plate. The released magnetic force improves work 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 single steel plate to be picked up is collected and placed on the cargo platform, which is a short time-consuming process. In the process, higher energy consumption is used to ensure the completion of the picking task. After the single steel plate to be fetched is placed on the loading platform, the state of the steel plate is maintained with lower energy consumption, thereby saving the energy consumption of collecting the single steel plate; in the actual production workshop, the present invention In the application scenario of stacker, the operation speed of production equipment such as conveyor belts that store steel plate stacks is relatively slow. It takes a long time to complete the retrieval and subsequently move the steel plates to the effective discharge position. Using lower energy consumption to maintain the status of the steel plates is helpful for energy saving. Remarkable effect; compared with traditional stackers, the present invention can achieve unmanned collection of single steel plates, and at the same time can significantly reduce energy consumption and have the effect of reducing costs.

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

Description of the drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting creative efforts.

Figure 1 is a schematic structural diagram of a single-piece steel plate stacker based on laser radar provided by an embodiment of the present invention;

Figure 2 is a top view of a laser radar-based single-piece steel plate stacker provided by an embodiment of the present invention;

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

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

Figure 5 is an overall flow chart for collecting a single steel plate by a laser radar-based single-piece steel plate stacker according to an embodiment of the present invention;

Figure 6 is a flow chart of a method of using a laser radar-based single-piece steel plate stacker provided by an embodiment of the present invention;

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

Figure 8 is a schematic diagram of the error in the horizontal activation light output area of the laser radar 27 of a single-piece steel plate stacker based on laser radar provided by the embodiment of the present invention;

Figure 9 is a scanning flow chart of the laser radar 27 in a single-piece steel plate stacker based on laser radar provided by an embodiment of the present invention;

Figure 10 is a schematic scanning diagram of the laser radar 27 of a single-piece steel plate stacker based on laser radar provided by the embodiment of the present invention;

Figure 11 is a segmented magnetic adjustment flow chart of a laser radar-based single-piece steel plate stacker provided by an embodiment of the present invention;

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

Figure 13 is another schematic diagram of a single-piece steel plate reclaiming stacker based on laser radar provided by an embodiment of the present invention;

Figure 14 is a front view of the magnetic adsorption plate 23 of a laser radar-based single-piece steel plate stacker provided by an embodiment of the present invention;

Figure 15 is a front view of a structural schematic diagram of the position of the L-shaped support frame 61 of a laser radar-based single-piece steel plate stacker to protect the single steel plate to be taken according to the embodiment of the present invention;

Fig. 16 is a right side view of a structural schematic diagram of the position where the L-shaped support frame 61 of a single-piece steel plate stacker based on laser radar protects the single steel plate to be picked out according to the embodiment of the present invention.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention and are not intended to limit the present invention.

In the description of the present invention, the terms "inside", "outer", "longitudinal", "transverse", "upper", "lower", "top", "bottom", etc. indicate an orientation or positional relationship based on the drawings. The illustrated orientation or positional relationship is only for convenience of describing the present invention and does not require that the present invention must be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

The terms "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, features defined by "first," "second," etc. may explicitly or implicitly include one or more of such features.

In this application, unless otherwise clearly stated 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 a detachable connection. Can be connected indirectly through intermediaries. In addition, the term "coupling" may refer to a means of 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 conflict with each other.

Example 1:

The embodiment of the present invention provides a single-piece steel plate stacker based on laser radar, including: a frame 1, a magnetic adsorption unit 2 and a hydraulic pump 3; the structural schematic 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 segmented electromagnetic adsorption includes the first section of the single steel plate to be taken from the steel plate pile for electromagnetic adsorption, the second section of the steel plate from adsorption to the starting moving state for electromagnetic adsorption, and the moving state. The third section is for electromagnetic adsorption, and the fourth section is for electromagnetic adsorption to convert the steel plate from a moving state to a placed state.

Among them, the magnetic adsorption unit 2 completes the size collection 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 to the magnetic adsorption unit 2 .

Among them, the mechanical structure frame 1 of the embodiment of the present invention includes a base and a column. The driving wheel set vertically embedded on the base and the base form a whole body similar to a four-wheel drive chassis. After the motor provides power to the driving wheel set, the driving wheel set The rollers located at both ends of the base all begin to rotate. At this time, the driving wheel set drives the mobile wheel set provided below both ends of the base to rotate, realizing the single-piece steel plate stacker based on laser radar in the embodiment of the present invention to move forward and backward along the predetermined track. ; The column is set vertically on the base, and the motor provided on the column provides power for the steel cables provided on both sides of the column. 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. The direction moves up and down. After the magnetic adsorption unit 2 is positioned and moved to the position of the uppermost single steel plate in the steel plate pile, the magnetic adsorption unit 2 scans, collects and calculates the thickness of the single steel plate to be taken out, and calculates the volume of the single steel plate to be taken out, thereby calculating the required Magnetic force; the magnetic adsorption unit 2 uses magnetic adsorption segmented power supply to collect a single steel plate. The embodiment of the present invention utilizes a single-piece steel plate stacker based on laser radar to achieve unmanned collection of single steel plates, adjust the operation energy supply in sections, reduce operation energy consumption, improve operation efficiency, and greatly reduce The cost of moving a single piece of steel.

In order to better explain the principle of collecting single steel plates to be picked up in the present invention, the laser radar-based single-piece steel plate picking stacker according to the embodiment of the present invention will be further detailed. The corresponding magnetic adsorption unit 2 includes Frame 21, cargo platform 22, magnetic adsorption plate 23, magnetic adsorption head 24, tripod bracket 25, positioning laser 26, lidar 27, dual camera 28, including:

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 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 to the cargo platform 22; four identical magnetic adsorption heads 24 are provided on the magnetic adsorption plate 23 for Realize magnetic adsorption to collect the single steel plate to be taken;

The tripod bracket 25 is arranged on the cargo platform 22, and the bottom end of the tripod bracket 25 is connected to the cargo platform 22, and is used to support the lowering and pulling up of the magnetic adsorption plate 23;

The positioning laser 26 is arranged on the tripod bracket 25 and is used to position the single steel plate to be taken;

The laser radar 27 is arranged on the tripod bracket 25 and is used to measure the thickness of a single steel plate to be taken;

The dual cameras 28 are arranged on the tripod bracket 25, respectively located on both sides of the positioning laser 26 and the laser radar 27, and are used to determine the positioning status of the positioning laser 26, and to calculate the length and width of the single steel plate to be taken through a stereoscopic vision algorithm. . Among them, the corresponding stereo vision algorithm is an existing technology and is directly used in the present invention, so no further description will be given here.

In order to better present the details of the magnetic adsorption unit 2, the top view of the laser radar-based single-piece picking steel plate stacker according to the embodiment of the present invention when picking up the single piece of steel plate to be picked is shown in Figure 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 steel plate stacker in the embodiment of the present invention, the positioning laser 26 projects the laser beam onto the production line and scans the positioning presets. At the position of the steel plate pile on the route, the dual camera 28 cooperates to record the intersection position of the laser beam and the steel plate to realize scanning and positioning of the single steel plate to be taken out of the uppermost layer of the steel plate pile; at the same time, the dual camera 28 calculates and restores the length and length of the steel plate through a stereoscopic vision algorithm. wide data. Lidar 27 is based on laser ranging technology. After the laser beam emitted by Lidar 27 is reflected or scattered on the surface of a single steel plate to be taken, the receiver of Lidar 27 receives and records the reflection or scattering time of the laser beam. By calculating the laser The product of the beam reflection or scattering time and the laser beam speed obtains the time difference from the emission to the reception of the laser beam, thereby calculating the distance from the magnetic adsorption unit 2 to the single steel plate to be removed, by capturing the laser projected on the cross section of the single steel plate to be removed 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 cargo 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 drives the magnetic adsorption plate 23 to move so that the magnetic adsorption plate 23 can move in the direction of the preset position, which is used to provide the magnetic adsorption plate 23 with a complete rotation around its axis connection with the cargo 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 positional relationship between the cargo platform 22, the hydraulic pump 3 and the magnetic adsorption plate 23 is shown in Figure 3. Show. When preparing the magnetic adsorption to pick up the single steel plate to be picked up, the hydraulic pump 3 extends its hydraulic rod so that the connecting end of the hydraulic pump 3 and the magnetic adsorption plate 23 lowers the component magnetic adsorption plate 23 in Figure 2 to the cargo platform 22 Horizontal, at this time, another schematic diagram of the positional relationship between the cargo platform 22, the hydraulic pump 3 and the magnetic adsorption plate 23 is shown in Figure 4; the four magnetic adsorption heads 24 magnetically adsorb the single steel plate to be removed by releasing magnetic force. After the adsorption head 24 pulls up the single steel plate to be removed and separates it from the steel plate pile, the magnetic adsorption plate 23, the magnetic adsorption head 24 and the single steel plate to be removed become a whole, and the connection end of the hydraulic pump 3 and the magnetic adsorption plate 23 connects the whole Pull it up to a tilted state and place it on the cargo platform 22 so that the whole body is perpendicular to the cargo platform 22 . The magnetic adsorption head 24 continuously releases the magnetic force from the beginning of the magnetic adsorption to collect the single steel plate to be picked up to the end to connect and fix the single steel plate to be picked up.

Through the setting of the magnetic adsorption unit 2, the present invention uses the hydraulic pump 3 to drive the magnetic adsorption plate 23 to lower and pull up, and uses the principle of magnetic adsorption to complete the unmanned steel retrieval operation of a single steel plate to be taken, solving the problem of single steel plates in actual production. The problem of excessive manpower and time costs for retrieving materials; the frame 1 drives each mechanical structure so that the entire steel stacker can operate, which is easy to implement, has high reliability, and improves on-site operation efficiency.

Example 2:

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

Step 201: The dual 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 uppermost single steel plate to be retrieved in the steel plate pile by adjusting the light angle. The dual camera 28 calculates the position of the single steel plate to be retrieved through a stereoscopic vision algorithm. 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 start horizontal movement along the preset route with steel plate stacks, such as a production line or a conveyor belt, the controller issues an instruction to the motor, and the motor starts and drives the driving wheel set to move forward and backward horizontally, and the driving wheel set starts and drives The moving wheel set rotates, thereby driving the frame 1 to move forward, backward, and horizontally. At this time, the laser radar-based single-piece reclaiming steel plate stacker according to the embodiment of the present invention moves forward, backward, and horizontally as a whole, and the positioning laser 26 projects the laser beam onto the production line. , determine the position of the steel plate pile on the preset route by adjusting the light angle and scanning positioning. The laser beam projected by the positioning laser 26 hits the uppermost single steel plate A in the steel plate pile. The dual camera 28 collects the laser beam projected by the positioning laser 26 and hits the The point on steel plate A is used to record the intersection position of the laser beam and the edge of the steel plate to determine the position information of the steel plate stack and steel plate A. When the controller of the steel plate stacker receives the horizontal position information of the steel plate stack collected by the positioning laser 26 and the dual camera 28, the steel plate stacker moves forward and backward horizontally to the position of the steel plate stack and then stops moving; when the control of the steel plate stacker After receiving the position information of steel plate A collected by the positioning laser 26 and the dual camera 28, it sends an instruction to the motor, and the motor drives the magnetic adsorption unit 2 to move vertically up and down to the position of steel plate A and then stops moving. At the same time, the dual cameras 28 use algorithms to process the collected stereoscopic images and calculate and restore the length and width data of steel plate A.

Step 202: Adjust the height of the cargo platform 22 until the dual camera 28 captures the light emitting point of the positioning laser 26 and hits the cross section of the single steel plate to be picked up toward the positioning laser 26 to ensure that the single piece of steel plate to be picked is The steel plate enters the effective working range of the lidar 27.

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

Step 203: The laser radar 27 scans and collects the upper surface points and lower surface points on the cross section of the single steel plate to be removed, and calculates the thickness of the single steel plate to be removed.

When the controller of the steel plate stacker of the present invention receives the position information of steel plate A collected by the positioning laser 26 and the dual camera 28, it starts the laser radar 27. The flow chart of the laser radar 27 scanning is shown in Figure 9;

The laser radar 27 starts scanning in the horizontal direction from the cross section of the single steel plate to be taken towards the positioning laser 26. The laser beam projected by the positioning laser 26 hits the cross section of the steel plate A. The laser radar 27 and The laser beams projected by the positioning laser 26 coincide with the light spots on the steel plate A. The laser radar 27 starts scanning the laser beam horizontally from the coincident light spot position by default. The scanning range is a fan-shaped area formed by adjusting the light angle. The laser radar 27 emits After the laser beam is reflected or scattered on the cross section of steel plate A, the receiver of the lidar 27 receives and records the reflection or scattering time of the laser beam, and calculates the time difference between the light emission and reception to get the light point to the order to be taken. The distance d between two steel plates, by capturing the laser line information projected on the cross section of 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 steel plate A, reconstructing the surface profile of steel plate A, according to the profile Calculate the volume of steel plate A, determine the edge of its cross-section through the intensity of the return laser received by the lidar 27, collect the upper surface points and lower surface points on the cross-section 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 steel plate A collected by LiDAR 27 is shown in Figure 10. The details include:

When the return laser received by the lidar 27 is strong, the light emitting point of the lidar 27 hits the inside of the single steel plate to be taken, and the light emitting point of the lidar 27 is in the same position as the light emitting point of the positioning laser 26. The cross-sections of the single steel plate to be taken are aligned with the positioning laser 26, and the shortest distance from the light emitting point to the single steel plate to be taken is d _min . 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 position of the center point of the section, resulting in a certain small-scale error in the position of the laser radar 27's light point hitting the cross-section of the steel plate;

When the laser radar 27 scans upward in the horizontal direction and receives weak return laser light, the light emission 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 emission point reaches the The distance at which a single steel plate is to be taken is d ₀ ;

When the laser radar 27 scans downward in the horizontal direction and receives weak returning laser light, the light emission point of the laser radar 27 hits the lower surface point on the cross section of the single steel plate to be removed, and the light emission point reaches The distance between the single steel plate to be taken is d _n ;

Among them, the distance d ₀ from the light emitting point to the upper surface point on the cross section of steel plate A and the distance d _n from the light emitting point to the lower surface point on the cross section of steel plate A are located at the center of the cross section of steel plate A where the positioning laser 26 locates If the points are not equal when there is an error, the distance d={d ₀ , d ₁ ,..., d _n } from the light point of the laser radar 27 to the single steel plate to be removed is calculated to calculate the single steel plate to be removed. The thickness of the steel plate is

Through the cooperation of the positioning laser 26 and the dual camera 28, the horizontal default start position of the lidar 27 is determined, ensuring the correctness of the working range of the lidar 27, enabling the lidar 27 to accurately scan the uppermost single steel plate to be taken, and calculate and determine 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 thickness calculation error caused by the difference in distance from the light exit point to the upper surface point and the lower surface point on the cross section of steel plate A, and provides accurate calculation for subsequent steps. The required magnetic force of the steel plate provides the support.

Step 204: Calculate the volume of the single steel plate to be removed based on the length, width and thickness of the single steel plate to be removed.

Step 205: Calculate the weight of the single steel plate to be removed based on the volume of the single steel plate to be removed and the known density of the single steel plate to be removed, thereby calculating 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 corresponding segmented electromagnetic adsorption force.

Step 206: The hydraulic pump 3 drives the magnetic adsorption plate 23 to be lowered to the level of the cargo 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 in the direction of the preset position, that is, the direction of steel plate A, thereby realizing magnetic adsorption. Board 23 is put down.

Step 207: The four identical magnetic adsorption heads 24 on the magnetic adsorption plate 23 release the preset magnetic force, and the magnetic adsorption picks up the single steel plate to be taken.

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

During the magnetic adsorption process of the magnetic adsorption unit 2 to collect the single steel plate to be picked up, energy saving is achieved by adjusting the preset magnetic force and adjusting the power supply in stages. The flow chart of the staged magnetic adjustment is shown in Figure 11, in which:

The first section for electromagnetic adsorption is the magnetic adsorption plate 23 that magnetically adsorbs a single steel plate to be taken, and before the single steel plate to be taken is separated from the steel plate pile, the initial magnetic attraction force overcomes the pressure and other forces between the steel plates in the steel plate pile, As shown in Figure 12, the magnetic adsorption plate 23 is lowered to the level of the cargo platform 22 and the magnetic adsorption column is used 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 1.5±0.2 times the required magnetic force calculated based on the weight of the single steel plate to be taken;

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 turning process, external complex factors such as dust and wind resistance must be overcome to ensure that the steel plate A is turned over stably to the loading platform during the picking process. 22, and the preset pulling force is set to 1.2 ± 0.1 times the required magnetic force calculated from the weight of steel plate A, then the preset magnetic force of the magnetic adsorption head 24 is set to the required required calculated from the weight of the single steel plate to be taken. 1.2±0.1 times of magnetic force.

Step 208: The hydraulic pump 3 drives the magnetic adsorption plate 23 to be pulled up to be perpendicular to the cargo platform 22, thereby completing the collection of the single steel plate to be taken out.

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. The connection end of the tripod bracket 25 and the magnetic adsorption plate 23 pulls up the magnetic adsorption plate 23 to flip the steel plate A to the cargo platform 22. Forming an included angle, as shown in Figure 13, the magnetic adsorption plate 23 and the steel plate A are in an inclined state, so that the magnetic adsorption plate 23 can be pulled up. The third section is used for electromagnetic adsorption to pull up the magnetic adsorption plate 23 and adjust the single steel plate to be taken out to tilt. When placed on the cargo platform 22, it only needs to overcome the gravity of the steel plate A's own weight, and the cargo platform 22 can support the steel plate A as a flat surface. The preset pulling force of the magnetic adsorption head 24 is appropriately reduced. Assuming that the pulling force is set to 0.6±0.2 times the required magnetic force calculated from the weight of 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 from the weight of the single steel plate to be taken. times; complete magnetic adsorption and collect steel plate A.

In the specific implementation process, the control of the corresponding segmented magnetic adsorption will be greatly different due to the size of the single steel plate to be removed and the corresponding tilt state; for example, when the length of the single steel plate to be removed is larger 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 relatively evenly distributed near the center of gravity of the single steel plate to be taken. Correspondingly, in the first section for electromagnetic adsorption, close to the magnetic adsorption The magnetic attraction force of the two magnetic adsorption heads 24 on the side of the rotation axis of the plate 23 will be smaller than the magnetic attraction force of the two magnetic adsorption heads 24 on the side of the rotation axis of the magnetic adsorption plate 23, that is, compared with the "magnetic adsorption" described in the above embodiment. The preset magnetic force of the head 24 is set to 1.5 ± 0.2 times the required magnetic force calculated from the weight of the single steel plate to be taken. "More refers to the two magnetic adsorption heads 24 close to the side of the rotating shaft of the magnetic adsorption plate 23. The magnetic attraction force, and the corresponding magnetic attraction force of the two magnetic adsorption heads 24 on the side of the rotation axis of the magnetic adsorption plate 23 even needs to be weighted to even 1.8 times on the basis of 1.5 times the above-mentioned required magnetic force (the specific parameter value is based on The distance between the four magnetic adsorption heads 24 caused by the size of the single steel plate to be removed and the center of gravity of the single steel plate to be removed is set. The actual operation can also be obtained based on multiple attempts and test experiments, which will not be explained in detail here). For another example, when the length of the single steel plate to be removed is greater than the length of the magnetic adsorption plate 23, the four magnetic adsorption heads 24 on the corresponding magnetic adsorption plate 23 cannot be relatively evenly distributed near the center of gravity of the single steel plate to be removed. Correspondingly, in the third paragraph for electromagnetic adsorption, "the preset magnetic force of the magnetic adsorption head 24 is set to 0.6 times the required magnetic force calculated based on the weight of the single steel plate to be taken" refers more to the distance away from the magnetic force. The magnetic attraction force of the two magnetic adsorption heads 24 on the side of the rotation axis of the adsorption plate 23, and the corresponding magnetic attraction force of the two magnetic adsorption heads 24 on the side of the rotation axis of the magnetic adsorption plate 23, even need to be 0.6 times the above-mentioned required magnetic force. Then weight it to even 0.8 times to make up for the uneven force problem caused by the deviation from the center of gravity.

In the specific implementation process, the corresponding weighting coefficient of magnetic adsorption will also be affected by factors such as the material density of the steel plate, the offset distance of the center of gravity shown by the shape of the steel plate compared to the four magnetic adsorption points, etc. The adjustment of the value can be revised according to the actual situation, and there are no excessive restrictions here. It should be understood that the weighting parameter values given in the embodiments are only reference values for demonstrating achievability, and should not be used as a basis for limiting the effective protection scope of the present invention.

The present invention uses stereoscopic vision to monitor the working conditions of the stacker through the setting of dual cameras 28. The dual cameras 28 cooperate with the positioning laser 26 and the laser radar 27 to achieve accurate calculation of the dimensional parameters of the steel plate to be taken, and avoid possible problems in actual operations through the calculation method. error; 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 material retrieval. By adjusting the magnetic force, the energy consumption of the operation can be adjusted in sections. Design a segmented power supply scheme to avoid waste of energy costs.

Example 3:

The laser radar-based single-piece steel plate reclaiming stacker in Embodiment 3 of the present invention is basically the same as the laser radar-based single-piece steel plate reclaiming stacker in Embodiment 1, except that a fixed steel plate stacker is provided under the cargo platform 22 The L-shaped support frame 61 and the magnetic adsorption plate 23 are provided with a square slot 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 disposed close to the bottom of the cargo platform 22, and the upper end of the L-shaped support frame 61 extends beyond the plane of the cargo platform 22 and is perpendicular to the cargo platform 22;

The magnetic adsorption plate 23 is provided with a square groove for the upper end of the L-shaped support frame 61 to pass 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 is at 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 removed, When placed on the cargo 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 .

During the process of magnetically adsorbing and collecting steel plate A, and the position where the magnetic adsorption plate 23 is connected to the cargo platform 22 is at a certain distance from the edge of the cargo platform 22, two L-shaped support frames 61 are provided for when the magnetic adsorption plate 23 is connected to the cargo platform 22. 23. Pull up the steel plate A and adjust it to an inclined state to support the steel plate A when placing it on the cargo platform 22. As shown in Figure 14, a square groove is provided on the magnetic adsorption plate 23 for the lower end of the L-shaped support frame 61 to support the steel plate A when the magnetic adsorption plate 23 is put down and pulled up. A square hole is provided on the cargo 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 cargo platform 22. When the magnetic adsorption plate 23 magnetically adsorbs the steel plate A, the steel plate A is located above 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 collected by the magnetic adsorption plate 23 and flipped to the tilted state, the base of the L-shaped support frame 61 rises from below the cargo platform 22. At this time, the L-shaped support frame 61 protects the position of the steel plate A. The right view of the structural diagram is shown in Figure 16. The lower end of the L-shaped support frame 61 rises 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 23 release 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. Most of the gravity of the steel plate is shared by the L-shaped support frame 61 and the magnetic adsorption plate 23. At this time, the magnetic adsorption It is only used to prevent the steel plate from flipping and falling.

Example 4:

Embodiment 4 of the present invention is based on the use method of a single-piece steel plate stacker based on laser radar in Embodiment 2, and provides a single-piece steel plate stacker based on laser radar and its use method. The process steps of Embodiment 4 of the present invention are basically the same as those of Embodiment 2. The difference is that when the magnetic adsorption plate 23 pulls up the single steel plate to be taken, adjusts it to an inclined state and places it on the cargo platform 22, the process steps are reduced. Power supply to achieve energy saving, specifically:

When the L-shaped support frame 61 is provided on the cargo platform 22 and the position where the magnetic adsorption plate 23 is connected to the cargo platform 22 is at 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 cargo platform 22, since the four magnetic adsorption heads 24 on the magnetic adsorption plate 23 release magnetic force to form a pulling force on the collected steel plate A, there is no need to independently bear the gravity of the steel plate A, and the L-shaped 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. 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 the required magnetic force calculated based on the weight of the single steel plate to be taken, which saves the electric energy used by the magnetic adsorption head 24 to release the magnetic force. Complete the magnetic adsorption and collect the single steel plate A.

The embodiment of the present invention uses the L-shaped support frame 61 to provide partial support for the steel plate, thereby reducing the amount of time the magnetic adsorption head 24 needs to release when a single steel plate is to be taken out and placed on the cargo platform 22 . Magnetic force, thereby reducing the power consumption of picking materials; the process from placing the single steel plate to be picked up on the loading platform 22 to the subsequent unloading operation is the longest stage in actual production, reducing the power consumption of this process, making this process The energy-saving effect of the invention 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 substitutions and improvements made within the spirit and principles of the present invention shall be included in the protection of the present invention. within the range.

Claims (8)

1. A single-piece reclaiming steel plate stacker based on laser radar, which is characterized in that it includes: 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 picked up to complete intelligent segmentation for electromagnetic adsorption to collect a single steel plate; During the process of collecting the single steel plate to be picked up by magnetic adsorption, the magnetic force is adjusted, that is, the power supply is adjusted in stages; among them, the process of collecting the single steel plate to be picked up and placing it on the loading platform takes a short time, and high energy consumption is used to ensure that the steel plate is picked up. To complete the material task, the single steel plate to be picked up takes a long time after being placed on the loading platform, and the status of the steel plate is maintained with lower energy consumption, thereby saving the energy consumption of collecting the single steel plate; Among them, the intelligent segmented electromagnetic adsorption includes the first section of the single steel plate to be taken from the steel plate pile for electromagnetic adsorption, the second section of the steel plate from adsorption to the starting moving state for electromagnetic adsorption, and the moving state. The third section is for electromagnetic adsorption, and the fourth section is for electromagnetic adsorption to convert the steel plate from a moving state to a placed state; Among them, the magnetic adsorption unit (2) completes the size collection 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 magnetic adsorption unit (2) includes a frame (21), a cargo platform (22), a magnetic adsorption plate (23), a magnetic adsorption head (24), a tripod bracket (25), a positioning laser (26), and a lidar. (27), dual cameras (28), including: 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 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 to the cargo platform (22); the magnetic adsorption plate (23) is provided with four Two identical magnetic adsorption heads (24) are used to realize magnetic adsorption to collect the single steel plate to be taken; The tripod bracket (25) is arranged on the cargo platform (22), and the bottom end of the tripod bracket (25) is connected to the cargo platform (22), and is used to support the lowering and pulling of the magnetic adsorption plate (23). rise; The positioning laser (26) is arranged on the tripod bracket (25) and is used to position the single steel plate to be taken; The laser radar (27) is arranged on the tripod bracket (25) and is used to measure the thickness of a single steel plate to be taken; The dual cameras (28) are arranged on the tripod bracket (25), respectively located on both sides of the positioning laser (26) and lidar (27), and are used to determine the positioning status of the positioning laser (26) and calculate through stereo vision algorithms. Obtain the length and width of the single steel plate to be removed; The dual cameras (28) cooperate with the positioning laser (26) to scan and locate the position of the steel plate pile and the position information of the uppermost single steel plate to be taken out of the steel plate pile by adjusting the light angle. The dual camera (28) calculates the position of the steel plate through a stereoscopic vision algorithm. The length and width of the single steel plate to be taken are stated, and the steel plate stacker moves to the position of the single steel plate to be taken; Adjust the height of the cargo platform (22) until the dual camera (28) captures the light point of the positioning laser (26) hitting the cross section of the single steel plate to be taken toward 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 said single steel plate to be taken is calculated. Take the thickness of a single steel plate; Calculate the volume of the single steel plate to be taken based on the length, width and thickness of the single steel plate to be taken; Based on 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 segmented electromagnetic adsorption force; The hydraulic pump (3) is used to provide power to the magnetic adsorption unit (2). 2. The single-piece steel plate stacker based on laser radar according to claim 1, characterized in that the laser radar (27) locates the laser (26) along the horizontal direction from the direction of the single steel plate to be taken. Start scanning on the cross section. The scanning range is a fan-shaped area formed by adjusting the light angle. The distance d from the light point to the single steel plate to be taken is calculated through the time difference between light emission and reception, and the distance d of the single steel plate to be taken is collected. Calculate the thickness of the single steel plate to be taken from the upper surface points and lower surface points on the cross section, including: When the return laser received by the laser radar (27) is strong, the light emission point of the laser radar (27) hits the inside of the single steel plate to be taken, and the light emission point of the laser radar (27) is consistent with the positioning The light emitting point of the laser (26) coincides with the cross section of the positioning laser (26) facing the single steel plate to be removed, and the shortest distance from the light emitting point to the single steel plate to be removed is d _min ; When the laser radar (27) scans upward in the horizontal direction and receives weak return laser light, the light emitting 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 point to the single steel plate to be taken is d ₀ ; When the laser radar (27) scans downward in the horizontal direction and receives weak return laser light, the light emitting point of the laser radar (27) hits the lower surface point on the cross section of the single steel plate to be removed. , the distance from the light point to the single steel plate to be taken is d _n ; Through the distance d from the light point of the lidar (27) to the single steel plate to be taken out={d ₀ , d ₁ ,..., d _n }, the thickness of the single steel plate to be taken out is calculated as 3. The single-piece steel plate stacker based on laser radar according to claim 2, characterized in that it specifically includes: The first section for electromagnetic adsorption is that 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 to-be-taken steel plate. Take 1.5±0.2 times the required magnetic force calculated from the weight of a single steel plate; The second section is for electromagnetic adsorption. The magnetic adsorption plate (23) pulls the single steel plate to be taken out of the steel plate pile. When the turning process is in progress, 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 cargo 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 based on the weight of the 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 placement state, the preset magnetic force of the magnetic adsorption head (24) is set to the required value calculated based on the weight of the single steel plate to be taken. 1.2±0.1 times of magnetic force. 4. The single-piece steel plate stacker based on laser radar according to claim 3, 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 close to the lower part of 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 in contact with the cargo. The platform (22) is vertical; The magnetic adsorption plate (23) is provided with a square groove for the upper end of the L-shaped support frame (61) to pass 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) is at a certain distance from the edge of the cargo platform (22). When the magnetic adsorption When the plate (23) pulls up the single steel plate to be picked up and adjusts it to an inclined state and places it on the cargo platform (22), the L-shaped support frame (61) is used to protect and support the magnetic adsorption plate (23) to be picked up. Take a single steel plate. 5. The single-piece steel plate stacker based on laser radar according to claim 4, characterized in that when the magnetic adsorption plate (23) pulls up the single steel plate to be taken, adjusts it to an inclined state and places it on the cargo platform ( 22), the preset magnetic force of the magnetic adsorption head (24) is set to 0.3±0.1 times the required magnetic force calculated from the weight of the single steel plate to be taken. 6. The laser radar-based single-block steel plate stacker according to any one of claims 1 to 5, characterized in that the hydraulic pump (3) is arranged on the cargo platform (22), and the hydraulic pump (3) is 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 bracket (25); the hydraulic pump (3) drives the magnetic adsorption plate (23) The movement enables the magnetic adsorption plate (23) to move in the direction of the preset position, and is used to provide the power for the magnetic adsorption plate (23) to complete rotation around its axial connection with the cargo platform (22). 7. A method of using a laser radar-based single-piece steel plate reclaiming stacker, characterized in that the method of use is based on the laser radar-based single-piece steel plate reclaiming stacker described in any one of claims 1-6. , methods include: The dual cameras cooperate with the positioning laser to scan and locate the position of the steel plate pile and the position information of the uppermost single steel plate to be removed in the steel plate pile by adjusting the light angle. The dual cameras calculate the length sum of the single steel plate to be removed through a stereo vision algorithm. Width, the steel plate stacker moves to the position of the single steel plate to be picked up; Adjust the height of the cargo platform until the dual cameras capture the light point of the positioning laser and hit the cross section of the single steel plate to be taken toward the positioning laser, ensuring that the single steel plate to be taken enters the effective working range of the laser radar; The laser radar scans and collects the upper surface points and lower surface points on the cross section of the single steel plate to be removed, and calculates the thickness of the single steel plate to be removed; Calculate the volume of the single steel plate to be taken based on 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 board to be lowered to the level of the cargo platform; The magnetic adsorption unit moves to the position of the single steel plate to be picked up to complete intelligent segmentation for electromagnetic adsorption to pick up the single steel plate; Among them, the intelligent segmented electromagnetic adsorption includes the first section of the single steel plate to be taken from the steel plate pile for electromagnetic adsorption, the second section of the steel plate from adsorption to the starting moving state for electromagnetic adsorption, and the moving state. The third section is for electromagnetic adsorption, and the fourth section is for electromagnetic adsorption to convert the steel plate from a moving state to a placed state. 8. The method of using the laser radar-based single-piece steel plate stacker according to claim 7, characterized in that it specifically includes: The first section for electromagnetic adsorption is a magnetic adsorption plate that magnetically adsorbs a 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 is set to be calculated based on the weight of the single steel plate to be taken. 1.5±0.2 times the required magnetic force; The second section is for electromagnetic adsorption. The magnetic adsorption plate pulls the single steel plate to be taken out of the steel plate pile. When the flipping process is in progress, the preset magnetic force of the magnetic adsorption head is set to the required value calculated from the weight of the single steel plate to be taken. 1.2±0.1 times of magnetic force; The third section 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 cargo platform, the preset magnetic force of the magnetic adsorption head is set to be calculated based on 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 magnetic adsorption plate switches the steel plate from the moving state to the placement state, the preset magnetic force of the magnetic adsorption head is set to 1.2 ± 0.1 times the required magnetic force calculated based on the weight of the single steel plate to be taken. .