CN213302854U

CN213302854U - Intelligent warehousing robot based on combination of ultra-wideband and laser radar

Info

Publication number: CN213302854U
Application number: CN202021532229.7U
Authority: CN
Inventors: 周成状; 王琪
Original assignee: Nanchang Hangkong University
Current assignee: Nanchang Hangkong University
Priority date: 2020-07-29
Filing date: 2020-07-29
Publication date: 2021-05-28
Anticipated expiration: 2030-07-29

Abstract

The utility model discloses an intelligent storage robot based on combination of ultra wide band and laser radar, which mainly comprises a robot body and a manipulator, and is characterized in that the top of the robot body is provided with a laser radar module for map reconstruction, obstacle avoidance and path planning; the middle part of the robot body is provided with a central main control module, an ROS host module, an ultra-wideband positioning module and a steering engine control module; ultra wide band orientation module for realize indoor location, the robot bottom carries the lift-launch has gyroscope module, motor drive module and mains operated module, and robot chassis front portion is equipped with the dropproof module, and the manipulator includes two sections arms, mechanical tongs, is used for adjusting the first steering wheel of the angle of two sections arms, and is used for adjusting the second steering wheel of mechanical tongs, the utility model discloses compare traditional artifical goods access, can realize that accurate goods is got and is put, also avoid making mistakes of modes such as artifical access, still save space simultaneously.

Description

Intelligent warehousing robot based on combination of ultra-wideband and laser radar

Technical Field

The utility model relates to an intelligent storage technical field, concretely relates to intelligent storage robot based on ultra wide band and laser radar combination.

Background

Warehousing mainly carries out warehousing, storage, ex-warehouse and other related activities on warehouse goods, thereby ensuring normal operation of logistics. At present, still there are many access activities to adopt artifical manual storage, and this kind of traditional mode work efficiency is low, easily produces artificial operation error, and the cost of labor is big, and has personnel's potential safety hazard, especially under poisonous and harmful goods storage environment.

Along with the continuous improvement of the living standard of people, the intelligent storage robot more and more enters the life of people. The existing storage robot is insufficient in indoor positioning precision, and cannot accurately store and take goods, so that a large amount of working time is wasted; unable independently dismantles after reaching the destination in the aspect of the transportation, causes unnecessary labour's waste, and current storage robot is monitoring the barrier through the ultrasonic wave to reach the effect of anticollision, nevertheless unable autonomic obstacle avoidance and the re-planning route use the removal.

The robot at present needs the manual work to pass through the operation of remote controller in order to reach accurate control moving range and action, uses inconveniently, and the function is single, and this type of intelligent storage robot's intelligent degree is not high, and indoor positioning accuracy is not high, arouses easily to get wrong goods shelves goods, also than higher to the requirement in warehouse.

The invention discloses an ultra-wideband-based intelligent warehousing robot, which is based on the combination of the current leading information technology, artificial intelligence technology and warehousing business and is the high integration and comprehensive application of the new generation of information technology, so that the ultra-wideband-based intelligent warehousing robot is invented to solve the existing requirements.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to research and develop an intelligent storage robot based on ultra wide band to solve the problem that above-mentioned background art mentioned, realize the accurate location navigation in warehouse, access warehouse goods, realize unmanned access.

The technical scheme adopted by the utility model is that, intelligent storage robot based on ultra wide band, including robot body and manipulator, its characterized in that, robot body top is loaded with laser radar module for map reconstruction, obstacle avoidance and path planning, the robot body mid portion is loaded with central main control module, ROS host computer module, ultra wide band orientation module and steering engine control module, ultra wide band orientation module is used for realizing indoor location; the robot comprises a robot body and is characterized in that a gyroscope module, a motor driving module and a power supply module are mounted at the bottom of the robot body, a falling prevention module is mounted at the front part of a chassis of the robot body, and a manipulator comprises two arms, a mechanical hand grip, a first steering engine for adjusting the angles of the two arms, and a second steering engine for adjusting the mechanical hand grip.

Furthermore, the laser radar module consists of a laser, a receiver, a signal processing unit and a rotating mechanism.

Further, the laser radar module detects the distance of the obstacle and transmits the distance to the ROS host module, the ROS host module transmits the distance to the central main control module, and the central main control module controls the motor driving module according to the received obstacle distance information so as to drive the robot body to avoid the obstacle.

Furthermore, the ultra-wideband positioning module comprises a label module used for transmitting signals and a base station module which is arranged at other positions outside the robot body and used for receiving the signals transmitted by the label module to measure the distance.

Further, the base station module comprises a radio frequency antenna for receiving the signal of the label module, a radio frequency chip, a base station CPU, a power indicator lamp and a power interface.

Furthermore, the tag module comprises a tag radio frequency antenna for transmitting signals, a tag radio frequency chip, a tag CPU, a tag indicator light and a tag power interface, wherein the tag radio frequency antenna is an active portable module and is placed on the robot body.

Furthermore, the central main control module comprises a communication circuit and a central processing system, the communication circuit is communicated with the base station module, the sensor acquisition module and the laser radar module, and the acquisition module is used for acquiring the speed value of the direct current motor of the driving robot.

Further, the robot body is provided with a roller, a direct current motor is arranged on the inner side of the roller, and the direct current motor is connected with a motor driving module carried in the robot body.

Furthermore, the anti-falling module comprises an anti-falling module, and the anti-falling module is arranged at the front part of the chassis of the robot body and used for detecting ground information.

Furthermore, the robot further comprises an electric quantity monitoring module used for monitoring the current electric quantity of the robot.

The working principle is as follows: the wireless communication module is used for receiving information of workers, when the receiving module receives a command, the robot starts to work, the ultra-wideband positioning module and the laser radar module are started to position, then the optimal route to the target position starts to be planned, the manipulator is driven to grab goods after the robot reaches the specified position, and the goods are grabbed and then reach the destination. The base station module receives the radio frequency signal and transmits the radio frequency signal to the central main control module. The relative Time Difference of the radio frequency signal that central main control module detected the ultra wide band orientation module and transmitted to according to the Time Difference calculation signal source direction, thereby control motor drive module, driving the robot and marching, the utility model discloses ultra wide band orientation module adopts signal Arrival Time Difference of Arrival, TDOA to carry out indoor accurate positioning, and signal Arrival Time Difference is through calculating the Difference of the required Time that the label signal reachd two and between a plurality of basic stations. The non-line-of-sight positioning of the ultra-wideband positioning module has certain errors, and the laser radar module can make up for the defects and realize indoor accurate positioning; the laser radar module comprises a laser, a receiver, a signal processing unit and a rotating mechanism, wherein the laser emits laser, the laser irradiates a barrier to form reflection, the reflected light is received by the receiver, a lens of the receiver can collect the reflected light, the signal processing unit processes relevant data of the emission and the reception of the laser, the distance between the barrier and the laser is calculated, the rotating mechanism expands laser ranging to the surface in a point mode, the laser can scan the plane where the laser is located, the distance between the barrier and the laser of the plane where the laser radar module is located is measured, the laser radar module detects the distance of the barrier and transmits the distance to the ROS host module, the ROS host module transmits the distance to the central main control module, the central main control module analyzes the distance of the barrier according to the distance information, and the walking path of the robot body is adjusted in time.

The utility model has the advantages that: compare in traditional intelligent storage robot, possess the locate function of high accuracy, solved current indoor positioning accuracy's problem, realize functions such as accurate location, navigation, access goods, and have characteristics such as automatic navigation, flexibility are strong, independently retrain route, access goods.

Drawings

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

Fig. 1 is a side view of the present invention;

FIG. 2 is a front view of the present invention;

fig. 3 is a top view of the main control board of the present invention;

figure 4 is a schematic view of an ultra-wideband positioning architecture;

figure 5 is a block diagram of an ultra-wideband positioning module;

fig. 6 is a system block diagram of the present invention.

In the figure: 1. a robot body; 2. a laser radar module; 3. a switch; 4. a manipulator; 5. a first steering engine; 6. a second steering engine; 7. a mechanical gripper; 8. a storage box; 9. a lifting column; 10. a power interface; 11. a battery; 12. a battery power monitoring module; 13. a fall arrest module; 14. an ROS host module; 15. a power supply module; 16. a gyroscope module; 17. a motor drive module; 18. a steering engine control module; 19. an ultra-wideband positioning module; 20. a central main control module; 21. a power indicator light; 22. a direct current motor; 23. a tag CPU; 24. a label indicator light; 25. a tag radio frequency antenna; 26. And (4) a label radio frequency chip.

Detailed Description

The following detailed description of the embodiments of the present invention is provided in connection with the accompanying drawings, which are not intended to limit the invention. For those skilled in the art, without departing from the spirit and method of the present invention, some modifications and additions can be made, and it should be understood that all the similar structures and similar changes thereof adopted in the present invention should fall within the protection scope of the present invention.

As shown in fig. 1-3 and fig. 6, the present invention is realized by an intelligent warehousing robot based on the combination of ultra-wideband and laser radar, wherein a laser radar module 2 is mounted on the top of a robot body 1 for map reconstruction, obstacle avoidance and path planning; the robot comprises a robot body 1, a central main control module 20, an ROS host computer module 14, an ultra-wideband positioning module 19 and a steering engine control module 18, the ultra-wideband positioning module 19 is used for achieving indoor positioning, a gyroscope module 16, a motor driving module 17 and a power supply module 15 are mounted at the bottom of the robot body 1, a falling-prevention module 13 is mounted at the front of a chassis of the robot body 1, a mechanical arm 4 comprises two sections of arms, a mechanical hand 7, a first steering engine 5 used for adjusting the angles of the two sections of arms, and a second steering engine 6 used for adjusting the mechanical hand 7, the mechanical hand 4 grabs goods, the goods on a goods shelf are grabbed through the mechanical hand 7, the goods are placed in a storage box 8 of the robot body 1, and the use is intelligent and convenient.

In the utility model, as shown in fig. 4 and 5, the ultra-wideband positioning module 19 comprises a tag module for emitting signals and a base station module arranged at other positions outside the robot body 1 for receiving the signals emitted by the tag module to measure the distance, the ultra-wideband positioning module 19 completes the indoor positioning of the robot body 1, due to the characteristic of the movement of the robot body 1, the tag module is combined with the base station module to transmit data through wireless communication, the wireless communication has the advantages of no direction restriction, strong communication anti-interference performance and stable performance of the ultra-wideband positioning module 19, specifically, the base station module has a plurality of tag modules which are target sources, the tag module actively emits signals, and after the base station module receives the signals emitted by the tag module, the relative position and distance between the robot body 1 and the target sources are determined and calculated through the positioning ranging algorithm of the main control chip, specifically, the label module is arranged at the head of the robot body 1, and the base station modules are arranged according to an equilateral triangle and are respectively arranged at other indoor places outside the robot body, so that the robot can realize indoor positioning.

The utility model discloses in, base station module is including the radio frequency antenna, radio frequency chip, basic station CPU, power indicator 21 and the power source 10 that are used for receiving the label module signal.

The utility model discloses in, label module is including label radio frequency antenna 25, label radio frequency chip 26, label CPU23, label pilot lamp 24, label power source 10 that are used for the transmitting signal, and label radio frequency antenna 25 is active portable module, places in robot 1 head, and the distance measurement is more accurate.

The utility model discloses in, be provided with the gyro wheel on the robot 1, direct current motor is established to the gyro wheel inboard, and direct current motor links to each other with the motor drive module that carries on in the robot 1 bottom to drive robot 1 walking.

The utility model discloses in, the distance that laser radar module detected the barrier conveys to ROS host computer module, sends to central host system 20 by ROS host computer module, and central host system 20 avoids the barrier according to received barrier distance information control motor drive module, drive robot.

In the utility model, the laser radar module 2 is composed of a laser, a receiver, a signal processing unit and a rotating mechanism, the laser radar module 2 detects the distance of the obstacle and transmits the distance to the ROS host module 14, the ROS host module 14 transmits the distance to the central main control module 20, the central main control module 20 controls the motor driving module 17 according to the received obstacle distance information to drive the robot body 1 to avoid the obstacle, laser rays are emitted through the laser, the laser irradiates the obstacle to form reflection, the reflected light is received by the receiver, the lens of the receiver can collect the rays, the signal processing unit processes the relevant data of the emission and reception of the laser, the distance between the obstacle and the laser is calculated, the rotating mechanism expands the laser ranging to the surface in a point form, so that the laser can scan the plane, the distance between the obstacle and the laser of the plane where the laser radar is located is measured, in practical application, the operator sends the requirement to the robot body 1, and simultaneously monitors the working state of the robot body 1 through the workbench.

The utility model discloses in, dropproof module 13 includes dropproof module 13, and dropproof module 13 arranges in the chassis front portion of robot 1 for detect ground information, whether detect ground has the pit, prevent that robot 1 from tumbleing.

The utility model discloses in, gyroscope module 16 arranges inside robot 1 for whether it is flat to detect ground, is just going up the downhill path, when the ground unevenness, in time adjusts robot 1 functioning speed, so that the incident appears in robot 1.

The utility model discloses in, still include an electric quantity monitoring module 12 that is used for monitoring the current electric quantity of robot, when the electric quantity is less than the threshold value, remind the robot to return the department of charging to charge, it is more convenient to use, and the function is more comprehensive.

The utility model discloses in, ultra wide band location module 19 adopts signal Arrival Time Difference of Arrival method (Time Difference of Arrival, TDOA) to carry out indoor accurate positioning, and signal Arrival Time Difference method calculates the Difference of required Time between two and a plurality of basic station module of label signal Arrival.

The method for determining the indoor position of the robot body 1 specifically comprises the steps that a central main control module 20 detects relative time differences of radio-frequency signals transmitted by a plurality of base station modules for receiving the same label, the robot body 1 is driven by two direct current motors, a motor driving module is responsible for controlling the motion state of the whole airborne system, the rotation and the speed of wheels are changed by mainly controlling the advancing direction and the rotation difference of a roller through a driving chip of the direct current motor 22 and a PWM (pulse-width modulation) pulse code output unit, and the driving chip of the direct current motor 22 and the PWM pulse code output unit are arranged in the motor driving module, so that the advancing, the retreating and the steering of the robot body 1 are realized.

In this way, the utility model discloses can realize that indoor accuracy snatchs functions such as goods, accurate positioning navigation, intelligent degree height, really overcome current storage robot intelligent degree not high, indoor positioning accuracy not high, arouse easily to get the shortcoming of wrong goods shelves goods.

Claims

1. The intelligent warehousing robot based on the combination of the ultra-wideband and the laser radar comprises a robot body (1) and a manipulator (4) arranged on the robot body (1), and is characterized in that a laser radar module (2) is mounted at the top of the robot body (1) and used for map reconstruction, obstacle avoidance and path planning; robot body (1) mid portion carries on central host system (20), ROS host computer module (14), ultra wide band orientation module (19) and steering wheel control module (18), ultra wide band orientation module (19) for realize indoor location, robot body (1) bottom carries on gyroscope module (16), motor drive module (17) and power supply module (15), robot body (1) chassis front portion is equipped with anti-falling module (13), manipulator (4) include two sections arms, mechanical tongs (7), be used for adjusting first steering wheel (5) of the angle of two sections arms, and second steering wheel (6) that are used for adjusting mechanical tongs (7).

2. The ultra-wideband and lidar combined-based smart storage robot of claim 1, wherein the lidar module (2) comprises a laser, a receiver, a signal processing unit, and a rotating mechanism.

3. The ultra-wideband and lidar combined based smart storage robot of claim 1, wherein the lidar module (2) detects the distance to an obstacle and transmits the distance to the ROS host module (14), and the ROS host module (14) transmits the distance to the central main control module (20), and the central main control module (20) controls the motor driving module (17) according to the received obstacle distance information to drive the robot body (1) to avoid the obstacle.

4. The combined ultra-wideband and lidar based smart warehouse robot according to claim 1, wherein the ultra-wideband positioning module (19) comprises a tag module for transmitting a signal, and a base station module disposed outside the robot body (1) for receiving the signal transmitted by the tag module to determine the distance.

5. The combined ultra-wideband and lidar based smart storage robot of claim 4, wherein the base station module comprises a radio frequency antenna for receiving tag module signals, a radio frequency chip, a base station CPU, a power indicator (21), and a power interface (10).

6. The ultra-wideband and lidar combined based smart warehousing robot as claimed in claim 4, characterized in that the tag module comprises a tag radio frequency antenna (25) for transmitting signals, a tag radio frequency chip (26), a tag CPU (23), a tag indicator lamp (24), and a tag power interface (10), and the tag radio frequency antenna (25) is an active portable module and is placed on the robot body (1).

7. The combined ultra-wideband and lidar based smart storage robot of claim 4, wherein the central master control module (20) comprises a communication circuit and a central processing system, the communication circuit communicating with the base station module, a sensor acquisition module, and the lidar module (2), the acquisition module being configured to acquire a speed value of a drive robot dc motor (22).

8. The ultra wide band and laser radar combined intelligent warehousing robot as claimed in claim 1, wherein rollers are arranged on the robot body (1), a direct current motor (22) is arranged inside the rollers, and the direct current motor (22) is connected with a motor driving module (17) carried in the robot body (1).

9. The ultra-wideband and lidar combined-based smart storage robot of claim 1, wherein the fall protection module (13) comprises a fall protection module (13), and the fall protection module (13) is disposed at a front portion of a chassis of the robot body (1) for detecting ground information.

10. The ultra-wideband and lidar combined-based smart storage robot of claim 1, further comprising a charge monitoring module (12) for monitoring a current charge of the robot.