CN106276011A - A kind of articles from the storeroom based on mobile robot searches control system - Google Patents
A kind of articles from the storeroom based on mobile robot searches control system Download PDFInfo
- Publication number
- CN106276011A CN106276011A CN201610728379.7A CN201610728379A CN106276011A CN 106276011 A CN106276011 A CN 106276011A CN 201610728379 A CN201610728379 A CN 201610728379A CN 106276011 A CN106276011 A CN 106276011A
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- control signal
- robot
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- mobile robot
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
- G06K7/1404—Methods for optical code recognition
- G06K7/1408—Methods for optical code recognition the method being specifically adapted for the type of code
- G06K7/1413—1D bar codes
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
- G06K7/1404—Methods for optical code recognition
- G06K7/1408—Methods for optical code recognition the method being specifically adapted for the type of code
- G06K7/1417—2D bar codes
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/40—Scenes; Scene-specific elements in video content
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Toxicology (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Electromagnetism (AREA)
- General Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a kind of articles from the storeroom based on mobile robot and search control system, including: host computer, it is used for generating and sending Trig control signal, and receives feedback signal；Robot, including wireless receiver, PLC, servo electrical machinery system, traction drive system, radio positioner, photographic head, ccd image sensor, radio transmitters, wherein wireless transceiver is used for receiving Trig control signal；Described PLC, is used for obtaining pwm pulse control signal, and generates the first and second control signals；Described servo electrical machinery system, is used for generating driving force；Described traction drive system, produces mobile for band mobile robot；Described radio positioner, is used for obtaining the elements of a fix；Described photographic head, is used for obtaining video pictures；Described ccd image sensor, is used for obtaining image；Described radio transmitters, is used for sending.The present invention can effectively combine robot and enter articles from the storeroom lookup, improves the Practical Performance of system.
Description
Technical field
The present invention relates to a kind of articles from the storeroom based on mobile robot and search control system, belong to the technology of storehouse management
Field.
Background technology
Warehouse as the distribution centre of total kinds of goods resource, kinds of goods of a great variety, comprise the management of a lot of information datas.According to
Investigation is learnt, former warehouse carries out the mode of information management and is mainly based upon the craft of the paper medium such as text, form and processes, for
The statistics going out warehouse situation of kinds of goods and examine etc. and often to use the hand inspection to account book, to gerentocratic administration authority etc. no
Constrained, anyone can check, the most easily causes data to leak.
It addition, processing data information workload is big, easily makes mistakes, owing to data are various, be easily lost, and not easy-to-search.
Generally speaking, system, the information management of specification are lacked.And, general storage condition is recorded on account book, warehouse
Staff and manager also simply remembered at that time relatively to understand, the time one is long, if to inquire about again, must be numerous
Data in browse lookup, so cause time-consuming, laborious, as the kinds of goods before for a long time being modified the most tired
Difficult.Therefore, necessary set up an inventory management system, make kinds of goods manage work standardization, systematization, sequencing.Improve
The speed of information processing and accuracy.
Computer information management has storage capacity big, and speed waits many advantages soon, it is provided that to people process information and
Shi Kuaijie, is supplied to the information management in warehouse hence with computer huge to the management of product process effect of business inventory, with
Form a whole set of dynamic management system.And the warehouse management system of automatization acts on more and more prominent in material handling at present
Go out.
Due to the warehouse management system of automatization possess retrieval rapidly, search convenient, reliability is high, amount of storage is big, secrecy
Property good, life-span length, low cost etc., can reduce more manpower and materials, and these can be greatly enhanced the management of kinds of goods stock
Efficiency, the stock control of Ye Shi company is scientific, regular, the essential condition walked with world's pace.
While it is true, the warehouse management system of existing automatization is also constantly improving.Such as application number:
In the file of 201510502441.6 applyings date: 2015-08-17, it is provided that a kind of automated warehouse library management system, including central authorities
Processing unit, environmental monitoring unit, performance element, entrance guard management unit, in-out-storehouse management unit and power supply unit, described in
Central Processing Unit is electrically connected with environmental monitoring unit by the way of wired, performance element, entrance guard management unit and power supply unit,
Play the effect that information data processes and controls；Described environmental monitoring unit is electrically connected with central authorities' process by the way of wired
Unit, plays the effect of environmental monitoring.The present invention passes through environmental monitoring unit, performance element, entrance guard management unit, and come in and go out depositary management
Reason unit and the setting of power supply unit, be conducive to improving the automaticity of storehouse management, and data inputting is accurate, reduces work strong
Degree, the ambient temperature and humidity in Automated condtrol warehouse, meet the quality storage demand of warehouse internal memory warehousing thing, ensure warehouse system
The properly functioning and property safety of goods in stock, promote warehouse management level.
And at application number: in the file of 201510810267.1 applyings date: 2015-11-20, disclose a kind of automatic
Change Three-dimensional warehouse system, including user class, mutual level, planning control level, communication level and execution intelligent cell level, described user class
To system input picking kind and stock up kind order and inquiry warehouse storage information；Described mutual level completes to connect from user class
Receive user command again these information to be sent to plan Agent；Described planning control level completes conduct programming and the control of intelligent body
System, realizes storage and carrying task distribution；Described communication level ensures the communication of planning Agent Yu AGV-Agent, passes on planning
The assignment information of Agent and the feedback information of AGV-Agent；Described execution intelligent cell level is by multiple stage AGV-Agent
Composition, each AGV-Agent has intelligent carrying mechanism.The present invention improves enterprises production efficiency, actual answers apparatus to relevant
Significant.”
Although warehouse management system is made improvement by above-mentioned document, but actually its Shortcomings.Existing articles from the storeroom manages
In system, it is impossible to robot is controlled, even and if apply to robot, do not possess location and image acquisition obtain goods letter
Breath function so that robot is used only for machinery utilization, and during automatically goods information identification cannot be participated in, it is impossible to have
Effect utilizes the feature of goods to make a look up control.
Summary of the invention
The technical problem to be solved is to overcome the deficiencies in the prior art, it is provided that a kind of based on mobile robot
Articles from the storeroom search control system, solve in existing warehouse cargo management system, robot do not possess location and image adopts
The problem that collection obtains goods information function.
The present invention solves above-mentioned technical problem the most by the following technical solutions:
A kind of articles from the storeroom based on mobile robot searches control system, including:
Host computer, for generating and send the Trig control signal making robot produce movement, and receives from robot
Feedback signal；
Robot, including wireless receiver, PLC, servo electrical machinery system, traction drive system, radio positioner, takes the photograph
As head, ccd image sensor, radio transmitters, the triggering that wherein said wireless transceiver sends for receiving host computer controls
Signal；Described PLC, obtains pwm pulse control signal for processing according to Trig control signal, and generates the first control
Signal and the second control signal；Described servo electrical machinery system, for producing driving force according to pwm pulse control signal；Described row
Traction drive system, rotates for the driving force transmission road wheel generated according to servo electrical machinery system, and band mobile robot produces and moves
Dynamic；Described radio positioner, obtains the elements of a fix for the current location of robot being carried out location according to the first control signal；
Described photographic head, for imaging the shelf of the current location of robot according to the second control signal, it is thus achieved that video pictures；Described
Ccd image sensor, for carrying out image zooming-out to described video pictures, it is thus achieved that goods image；
Described radio transmitters, for the control according to PLC, sends out video pictures and goods image as feedback signal
Deliver to host computer.
Further, as a kind of optimization technique of the present invention: described robot also includes code reader, described code reader with
PLC is connected.
Further, as a kind of optimization technique of the present invention: described code reader is Quick Response Code code reader.
Further, as a kind of optimization technique of the present invention: described code reader bar code code reader.
Further, as a kind of optimization technique of the present invention: described host computer also includes memorizer.
The present invention uses technique scheme, can produce following technique effect:
Articles from the storeroom based on mobile robot provided by the present invention searches control system, by by PC control robot
Move, and robot moves control, and the present bit to robot according to pwm pulse control signal in moving process
Put and carry out the location acquisition elements of a fix, and feed back to host computer；Meanwhile, in moving process, the goods of the current location of robot
Frame images, it is thus achieved that video pictures, carries out described video pictures feeding back to equally after image zooming-out obtains goods image
Position machine so that robot can obtain the goods image of diverse location automatically, accomplishes to upload in time；Host computer can rely on machine
Goods on shelf is quickly searched and verifies by people, such that it is able to the goods on shelf is controlled effectively, it is simple to right
Goods in whole warehouse is managed, and improves the Practical Performance of system.And system can also utilize code reader directly to obtain
Goods information, thus realize goods more accurately and search and verification.Can solve in existing warehouse cargo management system, machine
People does not possess location and the problem of image acquisition acquisition goods information function.
Accompanying drawing explanation
Fig. 1 is the module diagram of the articles from the storeroom lookup control system based on mobile robot of the present invention.
Detailed description of the invention
Below in conjunction with Figure of description, embodiments of the present invention are described.
As it is shown in figure 1, the present invention devises a kind of articles from the storeroom based on mobile robot searches control system, this system
Relying on and communicate between host computer and robot, specifically, system includes:
Host computer, for generating and send the Trig control signal making robot produce movement, and receives from robot
Feedback signal.
Robot, including wireless receiver, PLC, servo electrical machinery system, traction drive system, wireless location
Device, photographic head, ccd image sensor, radio transmitters, wherein said wireless transceiver is for receiving the triggering that host computer sends
Control signal；Described PLC, obtains pwm pulse control signal for processing according to Trig control signal, and generates first
Control signal and the second control signal；Described servo electrical machinery system, for producing driving force according to pwm pulse control signal；Institute
Stating traction drive system, rotate for the driving force transmission road wheel generated according to servo electrical machinery system, band mobile robot produces
Raw mobile；Described radio positioner, obtains location for the current location of robot being carried out location according to the first control signal
Coordinate；Described photographic head, for imaging the shelf of the current location of robot according to the second control signal, it is thus achieved that video is drawn
Face；Described ccd image sensor, for carrying out image zooming-out to described video pictures, it is thus achieved that goods image；
Described radio transmitters, for the control according to PLC, sends out video pictures and goods image as feedback signal
Deliver to host computer.
Its principle is: cross PC control robot is moved, and robot in moving process according to pwm pulse control
Signal processed moves control, and the current location of robot is carried out the location acquisition elements of a fix, and feeds back to host computer, institute
Stating radio positioner can be GPS locator, or other radio positioners, it is achieved positioning function；Meanwhile, at moving process
In, the shelf of the current location of robot image, it is thus achieved that video pictures, and described video pictures is carried out image zooming-out acquisition
Feed back to host computer after goods image equally so that robot can obtain the goods image of diverse location automatically, accomplish in time
Upload；Host computer can rely on robot quickly search the goods on shelf and verify, such that it is able to shelf effectively
On cargo state obtain.
Searching and verification to realize goods more accurately, described robot also includes code reader, described code reader and PLC
Controller is connected.Code reader is utilized directly the bar code on goods or Quick Response Code to be scanned, defeated after this goods information of typing
Enter PLC so that it is goods can be found more accurately, and be synchronized in host computer by radio transmitters.It is easy to host computer
Renewal to articles from the storeroom data.Preferably, described code reader is Quick Response Code code reader.Or described code reader bar code barcode scanning
Device.The uniqueness utilizing Quick Response Code can improve recognition accuracy.And bar code fashion can be with more rapid direct acquisition goods
Thing information.
When warehouse possesses more goods, host computer of the present invention also includes memorizer, utilizes memorizer to being received
Store from the information in the feedback signal of robot, improve memory capacity so that it is data can be carried out with more capacity
Management.
To sum up, the host computer of the present invention can rely on robot quickly search the goods on shelf and verify, from
And can effectively be controlled by the goods on shelf, it is simple to the goods in whole warehouse is managed, improves the reality of system
Use performance.And system can also utilize code reader directly to obtain goods information, thus realize goods more accurately and search and school
Test.
Above in conjunction with accompanying drawing, embodiments of the present invention are explained in detail, but the present invention is not limited to above-mentioned enforcement
Mode, in the ken that those of ordinary skill in the art are possessed, it is also possible on the premise of without departing from present inventive concept
Make a variety of changes.
Claims (5)
1. an articles from the storeroom based on mobile robot searches control system, it is characterised in that including:
Host computer, for generating and send the Trig control signal making robot produce movement, and receives from robot
Feedback signal；
Robot, including wireless receiver, PLC, servo electrical machinery system, traction drive system, radio positioner, takes the photograph
As head, ccd image sensor, radio transmitters, the triggering that wherein said wireless transceiver sends for receiving host computer controls
Signal；Described PLC, obtains pwm pulse control signal for processing according to Trig control signal, and generates the first control
Signal and the second control signal；Described servo electrical machinery system, for producing driving force according to pwm pulse control signal；Described row
Traction drive system, rotates for the driving force transmission road wheel generated according to servo electrical machinery system, and band mobile robot produces and moves
Dynamic；Described radio positioner, obtains the elements of a fix for the current location of robot being carried out location according to the first control signal；
Described photographic head, for imaging the shelf of the current location of robot according to the second control signal, it is thus achieved that video pictures；Described
Ccd image sensor, for carrying out image zooming-out to described video pictures, it is thus achieved that goods image；
Described radio transmitters, for the control according to PLC, sends out video pictures and goods image as feedback signal
Deliver to host computer.
The most according to claim 1, articles from the storeroom based on mobile robot searches control system, it is characterised in that: described machine
Device people also includes that code reader, described code reader are connected with PLC.
The most according to claim 2, articles from the storeroom based on mobile robot searches control system, it is characterised in that sweep described in:
Code device is Quick Response Code code reader.
The most according to claim 2, articles from the storeroom based on mobile robot searches control system, it is characterised in that sweep described in:
Code device bar code code reader.
The most according to claim 1, articles from the storeroom based on mobile robot searches control system, it is characterised in that: on described
Position machine also includes memorizer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610728379.7A CN106276011A (en) | 2016-08-26 | 2016-08-26 | A kind of articles from the storeroom based on mobile robot searches control system |
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| CN201610728379.7A CN106276011A (en) | 2016-08-26 | 2016-08-26 | A kind of articles from the storeroom based on mobile robot searches control system |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108594801A (en) * | 2018-01-24 | 2018-09-28 | 安徽中慧工业设计有限公司 | A kind of AGV trolley intelligent transportation systems for dragging load steam box |
| CN108733054A (en) * | 2018-05-04 | 2018-11-02 | 苏州博众机器人有限公司 | A kind of communication system towards explosion-proof AGV scheduling |
| CN108960737A (en) * | 2018-07-16 | 2018-12-07 | 武汉理工大学 | Warehouse automatic tour inspection system and method based on machine vision |
| CN109003029A (en) * | 2018-07-20 | 2018-12-14 | 福州大学 | A kind of intelligent repository method for inspecting and system based on deep learning |
| CN110537189A (en) * | 2017-11-14 | 2019-12-03 | 深圳市海柔创新科技有限公司 | A kind of transfer robot and the picking method based on transfer robot |
| CN111098832A (en) * | 2020-01-13 | 2020-05-05 | 达闼科技（北京）有限公司 | Battery replacement robot and electrical control method thereof |
| US11396424B2 (en) | 2017-11-14 | 2022-07-26 | Hai Robotics Co., Ltd. | Handling robot |
| US11465840B2 (en) | 2017-11-14 | 2022-10-11 | Hai Robotics Co., Ltd. | Handling robot |
| US11542135B2 (en) | 2019-02-01 | 2023-01-03 | Hai Robotics Co., Ltd. | Handling robot |
| US11597598B2 (en) | 2019-02-01 | 2023-03-07 | Hai Robotics Co., Ltd. | Handling robot |
| US11655099B2 (en) | 2017-11-14 | 2023-05-23 | Hai Robotics Co., Ltd. | Handling robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11465840B2 (en) | 2017-11-14 | 2022-10-11 | Hai Robotics Co., Ltd. | Handling robot |
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| CN109003029A (en) * | 2018-07-20 | 2018-12-14 | 福州大学 | A kind of intelligent repository method for inspecting and system based on deep learning |
| US11597598B2 (en) | 2019-02-01 | 2023-03-07 | Hai Robotics Co., Ltd. | Handling robot |
| US11542135B2 (en) | 2019-02-01 | 2023-01-03 | Hai Robotics Co., Ltd. | Handling robot |
| US11851278B2 (en) | 2019-02-01 | 2023-12-26 | Hai Robotics Co., Ltd. | Handling robot |
| CN111098832A (en) * | 2020-01-13 | 2020-05-05 | 达闼科技（北京）有限公司 | Battery replacement robot and electrical control method thereof |
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Application publication date: 20170104 |
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