WO2020088284A1

WO2020088284A1 - Warehouse robot and fire control method thereof

Info

Publication number: WO2020088284A1
Application number: PCT/CN2019/112069
Authority: WO
Inventors: 刘哲
Original assignee: 锥能机器人（上海）有限公司
Priority date: 2018-10-31
Filing date: 2019-10-20
Publication date: 2020-05-07
Also published as: CN111111054A; CN211752025U

Abstract

Provided are a warehouse robot (100) and fire control method thereof. The warehouse robot has: a vehicle frame (1) and an outer housing (2) mounted on the vehicle frame, the bottom of the vehicle frame being provided with wheels (3, 4); a raising/lowering mechanism (5), the raising/lowering mechanism being mounted on the vehicle frame; a tray (6), the tray being arranged to be able to move up and down under the driving of the lifting/lowering mechanism; and a control module (7), a drive module (8), and a battery (9); the control module is used for controlling the operation of the warehouse robot; the drive module is electrically connected to the control module and is used for driving the warehouse robot to move; the battery provides power to the warehouse robot. The warehouse robot is further provided with fire extinguishers (11, 18); the fire extinguishers are arranged to extinguish a fire on the warehouse robot itself. The warehouse robot can, if it is on fire, extinguish the fire itself, thus preventing it from causing a fire.

Description

Storage robot and its fire control method

Related applications cross reference

This patent application requires the priority of the Chinese patent application filed on October 31, 2018 with the application number 201811289441.2 and the invention titled "Warehouse Robot and Fire Control Method". The entire contents of the above applications are incorporated by reference In this article.

Technical field

The invention relates to logistics equipment, in particular to a storage robot.

Background technique

At present, with the development of logistics, more and more new logistics equipment has appeared. In the transportation of materials in large warehouses, more and more warehouses use storage robots to automatically move goods.

However, the inventors of the present application have found that none of the current storage robots are equipped with a safe fire extinguishing device, and cannot detect and handle their own fires or fires caused by outside, which will cause the storage robots to fail to deal with them in time , Causing the fire to spread or cause other safety accidents.

Summary of the invention

The object of the present invention is to provide a storage robot which can realize self-extinguishing when a fire occurs in the storage robot.

In order to achieve the above object, the present invention provides a storage robot, the storage robot has: a frame and a shell mounted on the frame, wherein the bottom of the frame is provided with wheels; a lifting mechanism, the lifting mechanism Installed on the frame; a pallet arranged to be able to move up and down under the drive of the lifting mechanism, and a control module, drive module and battery, wherein the control module is used to control the operation of the storage robot , The drive module is electrically connected to the control module and used to drive the movement of the storage robot, the battery provides power for the storage robot, and the storage robot is further provided with a fire extinguisher, the fire extinguishers are arranged in pairs The storage robot extinguishes itself.

In one embodiment, the tray is installed on the lifting mechanism.

In one embodiment, the fire extinguisher is arranged to extinguish the fire caused by the storage robot itself.

In one embodiment, the fire extinguisher is arranged to extinguish the interior of the storage robot.

In an embodiment, the storage robot further includes a power management module, and the fire extinguisher is arranged to cause a fire caused by the power management module and / or the control module and / or the drive module and / or the battery Extinguish the fire.

In one embodiment, the fire extinguisher is installed inside the storage robot.

In one embodiment, a mounting bracket is connected to the vehicle frame, the fire extinguisher is mounted on the mounting bracket, or the fire extinguisher is mounted inside the housing on the lower surface of the top plate of the housing.

In one embodiment, the storage robot further includes a power management module, the fire extinguisher is arranged close to the battery, or the power management module, or the control module, or the control module A drive module, or arranged between the battery, the drive module and the power management module, the control module.

In an embodiment, the storage robot further includes a power management module, and the storage robot is provided with at least two fire extinguishers, wherein the at least two fire extinguishers are arranged to cover the battery and the power management module , The area where the control module and the drive module are located.

In one embodiment, the fire extinguisher has a container storing fire extinguishing materials and a blaster for detonating the container.

In an embodiment, the warehousing robot further includes a power management module, the blaster has at least one fuze, and the end of the fuze is arranged at a battery terminal of the battery and / or at the power management module And / or arranged at the control module and / or arranged at the drive module.

In an embodiment, the blaster is provided with an electronic lighter and a wire, and the electronic lighter is electrically connected to the control module via the wire and arranged so that the control module determines that the storage robot has a fire , The fire extinguisher was detonated.

In an embodiment, the storage robot is further provided with a smoke sensor, the smoke sensor is arranged to be able to detect the smoke generated by the storage robot and is electrically connected to the control module, so that when the smoke sensor detects the occurrence of smoke , The control module controls the blaster to detonate the fire extinguisher.

In one embodiment, the storage robot is further provided with a temperature sensor and a power management module, the temperature sensor is arranged to be able to detect the temperature of the battery, the power management module, the control module and / or the drive module , And is electrically connected to the control module, so that when the temperature sensor detects that the temperature exceeds a preset threshold, the control module controls the blaster to detonate the fire extinguisher.

In an embodiment, the storage robot is further provided with a light sensor, the light sensor is arranged to detect an abnormal light source generated by the storage robot and electrically connected to the control module, so that the light sensor detects an abnormal light source When this happens, the control module controls the blaster to detonate the fire extinguisher.

In an embodiment, the storage robot further includes at least two sensors of a smoke sensor, a temperature sensor, and a light sensor electrically connected to the control module, and the control module combines the detection results of the at least two sensors Judgment, so as to decide whether to detonate the fire extinguisher through the blaster according to the judgment result.

In one embodiment, the storage robot is further provided with an alarm module, the alarm module has a horn and / or an alarm light, and is arranged to send an alarm signal when the storage robot has a fire or a fire hazard is detected.

In an embodiment, the warehousing robot further includes a communication module, the communication module is arranged to send the fire information of the warehousing robot to a background monitoring system, receive an instruction from the background monitoring system, and send the instruction To the control module, the control module decides whether to detonate the fire extinguisher according to the instruction.

In one embodiment, the fire information includes temperature information, light information, and / or smoke information.

In one embodiment, the fire extinguishing material is fire extinguishing powder or water-based fire extinguishing material.

In an embodiment, the storage robot further includes a rotation device and an obstacle avoidance module, wherein the rotation device is used to drive the tray to perform a rotational movement, and the obstacle avoidance module is used to enable the storage robot to automatically avoid obstacles, and all The wheels include driving wheels and driven wheels.

The present application also provides a fire control method for a storage robot, the storage robot has: a frame and a shell mounted on the frame, wherein the bottom of the frame is provided with wheels; a lifting mechanism, the lifting mechanism Installed on the frame; tray, the tray is installed on the lifting mechanism and can move up and down under the drive of the lifting mechanism, and a control module, drive module and battery, wherein the control module is used to control During the operation of the storage robot, the drive module is electrically connected to the control module and used to drive the storage robot to operate. The battery provides power to the storage robot. The fire control method includes the following steps:

A fire extinguisher is provided in the storage robot, and a fuze or electronic lighter is provided on the fire extinguisher; and

The fire extinguisher is arranged to cover the area where the control module, the drive module and / or the battery are located.

In one embodiment, the fire control method further includes collecting fire information, and judging whether to detonate the fire extinguisher according to the fire information.

In an embodiment, the fire control method further includes sending the fire information to a background monitoring system, receiving an instruction from the background monitoring system, and sending the instruction to the control module, the control module according to The instruction to decide whether to detonate the fire extinguisher.

In one embodiment, the storage robot has a power management module, the fire extinguisher is arranged to cover the area where the power management module is located, and the power management module has a circuit for powering the drive module, the The fire control method further includes: when it is judged that the warehousing robot has a fire, the control module first cuts off the power supply circuit of the power management module for the drive module, then detonates, and finally cuts off the battery output.

The present application further provides a storage robot having a frame, a control module, a drive module, and a power supply module, wherein the bottom of the frame is provided with wheels, and the control module is used to control the operation of the storage robot , The drive module is electrically connected to the control module and used to drive the movement of the storage robot, the power supply module provides power to the storage robot, wherein the storage robot is further provided with a fire extinguisher, the fire extinguishers are arranged in pairs The storage robot fires itself.

In one embodiment, the power supply module includes a power management module and a battery, and the fire extinguisher is arranged for the power management module and / or the control module and / or the drive module and / or the fire Extinguish the fire.

In one embodiment, the fire extinguisher is installed inside the storage robot.

In an embodiment, the power supply module includes a power management module and a battery, and the fire extinguisher is arranged close to the power management module or the power management module or the control module or the control module A drive module, or arranged between the battery, the drive module and the power management module, the control module.

In one embodiment, the power supply module includes a power management module and a battery, and the storage robot is provided with at least two fire extinguishers, wherein the at least two fire extinguishers are arranged to cover the battery and the power management The area where the module, the control module and the drive module are located.

In an embodiment, the power supply module includes a power management module and a battery, and the blaster has at least one fuze, the end of the fuze is disposed at a battery terminal of the battery and / or the power management module And / or arranged at the control module and / or at the drive module; and / or the blaster is provided with an electronic lighter and a wire, the electronic lighter is connected to the The control module is electrically connected and arranged so that the control module detonates the fire extinguisher when it judges that a fire has occurred in the storage robot.

In an embodiment, the storage robot is further provided with a smoke sensor, the smoke sensor is arranged to be able to detect the smoke generated by the storage robot and is electrically connected to the control module, so that when the smoke sensor detects the occurrence of smoke , The control module controls the blaster to detonate the fire extinguisher; and / or the power supply module includes a power management module and a battery, the storage robot is further provided with a temperature sensor, the temperature sensor is arranged to detect the battery , The temperature of the power management module, the control module and / or the drive module, and is electrically connected to the control module so that when the temperature sensor detects that the temperature exceeds a preset threshold, the control module controls The blaster detonates the fire extinguisher; and / or the storage robot is further provided with a light sensor, the light sensor is arranged to detect an abnormal light source generated by the storage robot and is electrically connected to the control module so that When the light sensor detects an abnormal light source, the control module controls the Detonating the blasting device extinguisher.

In an embodiment, the storage robot further includes a rotation device and an obstacle avoidance module, wherein the rotation device is used to drive the tray for rotational movement, and the obstacle avoidance module is used to allow the storage robot to automatically avoid obstacles. The wheels include driving wheels and driven wheels.

In one embodiment, an actuator is installed on the top of the frame.

In an embodiment, the actuator is a jacking mechanism, a roller transmission mechanism, a turning mechanism, or a robotic arm.

In one embodiment, the warehousing robot further includes a housing mounted on the frame, a tray, and a lifting mechanism, wherein the lifting mechanism is mounted on the frame, and the tray is arranged to be capable of being mounted on the lifting mechanism Driven up and down.

In an embodiment, the power supply module includes a power management module and a battery.

The present application also provides a fire control method for a storage robot. The storage robot has a frame, a control module, a drive module, and a power supply module. The bottom of the frame is provided with wheels, and the control module is used to control the The operation of the storage robot, the drive module is electrically connected to the control module and used to drive the movement of the storage robot, and the power supply module provides power for the storage robot, characterized in that the fire control method includes The following steps:

The fire extinguisher is arranged to cover the area where the control module, the drive module and / or the power supply module are located.

In one embodiment, an actuator is installed on the top of the frame.

The warehousing robot of the present application can realize the ability of an unmanned warehousing robot to independently detect and judge a fire situation, and can release a large amount of dry fire extinguishing powder or other fire extinguishing materials in a short period of time in the event of a fire caused by itself or a fire caused by external reasons, so that the dry powder The fire extinguishing materials instantly cover the fire parts inside the storage robot, which can play the role of fire extinguishing and flame retardant.

At the same time, the device can also trigger a large decibel horn and transmit data to the monitoring background to remind the operator of abnormal conditions, facilitate the operator to quickly respond and intervene in emergency situations, deal with it in time, and effectively control the deterioration of the situation.

Compared with the current plan of only placing an external fire extinguisher in the storage area or installing a smoke sensor on the top of the floor and laying fire pipes, the storage robot of the present application has the advantages of autonomous fire extinguishing capability, quick fire extinguishment, prompt reminder, fast background monitoring and quick response.

BRIEF DESCRIPTION

FIG. 1 is a schematic perspective view of the warehouse robot of the present application.

FIG. 2 is a cross-sectional view taken along the cutting line A-A of FIG. 1.

FIG. 3 is another schematic perspective view of the storage robot of FIG. 1 with the housing removed.

4 is a schematic internal layout diagram of a warehouse robot according to an embodiment of the present application.

5 is a schematic internal layout diagram of a warehouse robot according to another embodiment of the present application.

6 is a schematic internal layout diagram of a warehouse robot according to still another embodiment of the present application.

7 is a schematic diagram of a fire extinguishing control of a storage robot according to an embodiment of the present application.

FIG. 8 shows a schematic perspective view of a storage robot with a roller conveyor mechanism of the present application.

9 shows a schematic perspective view of a storage robot with a turnover mechanism of the present application.

FIG. 10 shows a schematic perspective view of a storage robot with a mechanical arm of the present application.

detailed description

The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, in order to more clearly understand the objectives, features, and advantages of the present invention. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but merely to illustrate the essential spirit of the technical solutions of the present invention.

In the following description, certain specific details are set forth for the purpose of illustrating various disclosed embodiments to provide a thorough understanding of the various disclosed embodiments. However, those skilled in the relevant art will recognize that the embodiments can be practiced without one or more of these specific details. In other cases, well-known devices, structures, and techniques associated with this application may not be shown or described in detail to avoid unnecessarily obscuring the description of the embodiments.

Unless the context requires otherwise, throughout the specification and claims, the words "including" and its variants, such as "comprising" and "having", should be understood as open and inclusive meaning that they should be interpreted as "including, but not limited to".

Reference throughout the specification to "one embodiment" or "one embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Therefore, appearances of "in one embodiment" or "in one embodiment" in various places throughout the specification need not all refer to the same embodiment. In addition, specific features, structures, or characteristics may be combined in any manner in one or more embodiments.

The singular forms "a" and "said" as used in this specification and the appended claims include plural referents unless the text clearly dictates otherwise. It should be noted that the term "or" is generally used in its meaning including "and / or" unless the text clearly stipulates otherwise.

In the following description, in order to clearly show the structure and working mode of the present invention, many directional words will be used for description, but "front", "back", "left", "right", "outer", "inner" "", "Outward", "inward", "upper", "lower" and other words are understood as convenient terms and should not be understood as limiting words.

1-4 show a schematic structural diagram of a warehouse robot according to an embodiment of the present application. Warehousing robot refers to a robot used to automatically carry goods in warehouses and other places. As shown in FIGS. 1-4, the storage robot 100 has a frame 1 and a housing 2 mounted on the frame 1. The bottom of the frame 1 is equipped with wheels. The wheels include drive wheels 3 and driven wheels 4. The driving wheel 3 is used to drive the storage robot to travel. The driven wheel 4 is an unpowered wheel, which may be a universal wheel. The number and arrangement positions of the driving wheel 3 and the driven wheel 4 can be set as required. In operation, the driving wheel 3 rotates driven by the motor, so that the storage robot travels to a desired position. The storage robot 100 also has a lifting mechanism 5 and a tray 6 mounted on the lifting mechanism. The lifting mechanism 5 is installed on the frame 1 and is used to drive the tray 6 to move up and down. The pallet 6 is used to carry the goods, that is, when the storage robot travels to the bottom of the goods, the lifting mechanism 5 moves, so that the pallet bears the bottom of the goods and lifts the goods off the ground to be able to carry the goods to a desired position.

The storage robot 100 also has a control module 7, a drive module 8 and a battery 9, wherein the control module 7 is used to control the operation of the storage robot. The control module 7 can be implemented by any suitable module. The driving module 8 is used to drive the movement of the storage robot, especially to drive the rotation of the driving wheel. The battery 9 provides power for the storage robot. The battery 9 can provide a power source for the driving wheel 3 and the lifting mechanism 5 at the same time. The warehouse robot 100 also has a power management module 21. The power management module 21 has a circuit for powering the drive module. The power management module 21 is electrically connected to the control module so that the control module can cut off the power supply to other modules. The control module is also electrically connected to the battery management module in the battery, so that the control module can cut off the output of the battery. Here, the battery and power management module may be collectively referred to as a power module. The power module of the present application may include only the battery, or only the power management module, or both. It can be understood that in other embodiments of the present application, the power supply module may include any form of power supply device other than the battery, as long as it can provide power for the storage robot.

The storage robot 100 may further include a rotating device 10 and an obstacle avoidance module (not shown). The rotating device 10 is used to drive the tray 6 to perform a rotating movement. The obstacle avoidance module is used to enable the storage robot to automatically avoid obstacles. During the storage robot's driving process, the obstacle avoidance module can monitor and identify the obstacles in its travel route in real time and avoid it by itself.

The storage robot 100 is further provided with a fire extinguisher 11, which is arranged to extinguish the storage robot itself, especially its interior. Specifically, the fire extinguisher is arranged to extinguish fire-prone parts of the storage robot, such as the power management module, control module, drive module, and battery. Here, the fire situation includes a fire that is already on fire or is about to fire. The fire extinguisher 11 is preferably installed inside the storage robot. The fire extinguisher 11 has a container storing fire extinguishing materials and a blaster (not shown) for detonating the container. The detonator can detonate the detonator by igniting the fuze, or it can detonate the detonator by means of the electronic lighter. The fire extinguisher 11 may be provided with both a fuze and an electronic lighter, both of which are connected to a blaster, whereby the way of igniting the fuze by an open flame can be achieved, or by electronic ignition. Fire extinguishing materials can be dry powder or water based.

In the embodiment shown in FIGS. 1-4, the fire extinguisher 11 is installed inside the housing 2 on the lower surface of the top plate 12 of the housing 2 and is installed by means of adhesion. The fire extinguisher 11 is installed close to the power management module 21, the control module 7, and the battery 9, so that when a fire occurs in the power management module 21, the control module 7, and the battery 9, these parts can be covered to realize The purpose of fire fighting. Here, close refers to being closer than other parts. In a variant, the fire extinguisher 11 may be arranged close to the battery 9, or close to the control module 7, or close to the drive module 8, or close to the power management module 21, or to the battery 9, drive module 8 and power supply Between the management module 21 and the control module 7, the corresponding parts are extinguished.

The blaster in the fire extinguisher 11 may have at least one fuse 13, three in FIG. 4. When the storage robot fires and produces an open flame, the fuze 13 may be ignited. Thus, the fire extinguisher is detonated. The ends of the fuses 13 are respectively arranged at the battery terminals of the battery, the power management module and the drive module. The blaster of the fire extinguisher 11 may also be provided with an electronic lighter (not shown). The electronic lighter is electrically connected to the control module 7 via the electric wire 14. The electronic lighter decides whether to ignite according to the instruction from the control module 7 to detonate the fire extinguisher. When the control module determines that a fire has occurred in the storage robot, the fire extinguisher is detonated.

The storage robot 100 is further provided with one or more of a smoke sensor 15, a temperature sensor 16, and a light sensor 17. The smoke sensor 15 is arranged to detect smoke generated by the storage robot and is electrically connected to the control module 7 so that when the smoke sensor 15 detects the occurrence of smoke, the control module 7 controls the blaster to detonate the fire extinguisher. The smoke sensor 15 may be arranged on the lower surface of the top plate 12 of the housing 2, or on the circuit board of the control module, or other suitable places. The temperature sensor 16 is arranged to be able to detect the temperature of the battery 9, the control module 7, the power management module 21 and / or the drive module 8 and is electrically connected to the control module 7 so that when the temperature sensor 16 detects that the temperature exceeds a preset threshold, the control module 7 Control the blaster to detonate the fire extinguisher. The temperature sensor 16 is usually installed on the surface of the battery 9, the power management module 21, and the drive module 8, and monitors the temperature of these components in real time.

The light sensor 17 is arranged to detect an abnormal light source generated by the storage robot, such as a spark, and is electrically connected to the control module, so that when the light sensor 17 detects the occurrence of the abnormal light source, the control module 7 controls the blaster to detonate the fire extinguisher.

The above-mentioned various types of sensors can be installed at the parts that need to be monitored, and the detection data can be transmitted to the control module of the storage robot for judgment. The detection data are temperature, light intensity, and smoke concentration. The judging method may be that a single sensor sets a threshold according to actual experience, or assigns a weight to each sensor according to actual experience for combined judgment. The control module decides whether to detonate the fire extinguisher, whether to issue an alarm, and whether to cut off the battery according to the judgment result.

The warehousing robot 100 also has an alarm module and a communication module. The alarm module has a horn and / or an alarm light, and is arranged to send an alarm signal when a fire occurs in the storage robot or a fire hazard is detected. The communication module is arranged to send the fire information of the storage robot to the background monitoring system, receive an instruction from the background monitoring system, and send the instruction to the control module, and the control module determines whether to detonate the fire extinguisher according to the instruction. Specifically, the communication module may use a bus communication module. The communication module transmits the collected information to the background monitoring system, and presents the data through the background monitoring system. When the data is abnormal, an alarm is reminded. When the personnel judged as a fire by the monitoring system, they can send a one-key detonation command to trigger the electronic trigger detonation device and detonate the fire extinguisher to realize the fire extinguishing function. Here, the fire information includes temperature information, light information, and / or smoke information.

FIG. 5 shows a storage robot according to another embodiment of the present invention. The difference between this embodiment and the embodiment shown in FIGS. 1-4 lies in the shape and installation position of the fire extinguisher 18, and the rest are the same, and will not be described in detail here. In the embodiment shown in FIG. 5, a mounting bracket 19 is connected to the frame 1. The fire extinguisher 18 is mounted on the mounting bracket 19. The mounting bracket 19 can be placed in any suitable position, so that the fire extinguisher 18 can be flexibly placed as needed. A rack 20 may be connected to the top of the mounting bracket 19. The fire extinguisher 18 can be placed on the rack 20. The fire extinguisher 18 of this embodiment may adopt any suitable shape.

FIG. 6 shows a storage robot according to still another embodiment of the present invention. The difference between this embodiment and the embodiment shown in FIGS. 1-5 lies in the number and installation positions of the fire extinguishers, and the rest are the same, and will not be described in detail here. In the embodiment shown in FIG. 6, the fire extinguisher 11 shown in FIGS. 1-4 and the fire extinguisher 18 shown in FIG. 5 are provided at the same time. Since two fire extinguishers are installed, a larger range of fire extinguishing can be achieved. In fact, the storage robot can also be equipped with more fire extinguishers, so that it can fully cover the fire-prone areas such as batteries, power management modules, control modules and drive modules.

7 is a schematic diagram of a fire extinguishing control of a storage robot according to an embodiment of the present application. As shown in FIG. 7, the storage robot of the present application is provided with a fire extinguishing device. The fire extinguishing device is equipped with a blaster. When the blaster is detonated, the container of the fire extinguishing device containing the fire extinguishing material may be exploded, thereby covering the fire extinguishing material at the fire point or the location where the fire is about to occur, to achieve fire extinguishing or prevent fire. The detonator is also equipped with an electronic trigger detonator (ie electronic lighter) and a physical trigger detonator (ie fuze). When the fuse encounters an open flame, the fuse is ignited, thereby detonating the fire extinguisher. When the sensor detects the fire information, the fire information is first sent to the background control system through the wireless and / or bus communication module. The background control system analyzes it and decides whether to detonate the fire extinguisher according to the analysis result. Thus, the automatic fire extinguishing function of the storage robot is realized.

In the above embodiments, the storage robot is used to perform operations on external objects, such as shelves or goods, and the execution mechanism is composed of a lifting mechanism and a tray, so as to realize the functions of lifting and transporting external objects. This actuator can also be called a jacking mechanism. It should be understood that the warehousing robot of the present application may also be installed with other execution mechanisms, thereby forming different types of warehousing robots and realizing different functions. 8-10 show schematic perspective views of storage robots with different actuators installed, respectively. Among them, the storage robot of FIG. 8 is equipped with a drum-type transmission mechanism, the storage robot of FIG. 9 is equipped with a turnover mechanism, and the storage robot of FIG. 10 is equipped with a mechanical arm. It should be understood that the warehousing robot of the present application may also be installed with other actuators. The actuator here may be any actuator known in the art or to be developed.

As shown in FIG. 8, the warehousing robot 200 has a body 201 and a drum conveyor 202 as an actuator. The drum type transmission mechanism 202 is installed on the top of the body 201. The body 201 may be provided with a frame, housing, wheels, control module, drive module, battery, fire extinguisher, and various sensors similar to the storage robot 100, which will not be described in detail here. The drum-type transmission mechanism is mainly used to transfer goods, and its specific structure may adopt a structure known in the art or to be developed, which will not be described in detail here.

As shown in FIG. 9, the warehouse robot 300 has a body 301 and a turning mechanism 302 as an actuator. The turning mechanism 302 is installed on the top of the body 301. The body 301 may be provided with a frame, a housing, a wheel, a control module, a drive module, a battery, a fire extinguisher, and various sensors similar to the storage robot 100, which will not be described in detail here. The turning mechanism is mainly used to turn the goods from the storage robot 300 to other places, such as transferring to the storage container. The specific structure of the turning mechanism may adopt a structure known in the art or to be developed, and will not be described in detail here.

As shown in FIG. 10, the storage robot 400 has a body 401 and a robot arm 402 as an actuator. The robot arm 402 is mounted on the top of the body 401. The body 401 may be provided with a frame, housing, wheels, control module, drive module, battery, fire extinguisher, and various sensors similar to the storage robot 100, which will not be described in detail here. The robot arm may be a robot arm capable of realizing various functions, such as sorting, conveying, and the like. The specific structure of the robotic arm may adopt a structure known in the art or to be developed, and will not be described in detail here.

The preferred embodiments of the present invention have been described in detail above, but it should be understood that aspects of the embodiments can be modified to adopt additional aspects, features, and concepts of various patents, applications, and publications, if necessary, to provide additional embodiments.

In view of the above detailed description, these and other changes can be made to the embodiment. In general, the terms used in the claims should not be considered as limited to the specific embodiments disclosed in the specification and claims, but should be understood to include all possible embodiments together with all equivalents enjoyed by these claims range.

Claims

A storage robot having a frame and a shell mounted on the frame, wherein the bottom of the frame is provided with wheels; a lifting mechanism, the lifting mechanism is mounted on the frame; a tray , The tray is arranged to be able to move up and down under the drive of the lifting mechanism, and a control module, drive module and battery, wherein the control module is used to control the operation of the storage robot, the drive module and the control The module is electrically connected and used to drive the storage robot. The battery provides power for the storage robot. The storage robot is further provided with a fire extinguisher, which is arranged to extinguish the storage robot itself.
The storage robot according to claim 1, wherein the fire extinguisher is arranged to extinguish the interior of the storage robot.
The storage robot according to claim 1, wherein the storage robot further comprises a power management module, and the fire extinguisher is arranged to pair the power management module and / or the control module and / or the drive module and And / or fire caused by the battery.
The storage robot according to claim 1, wherein the fire extinguisher is installed inside the storage robot.
The storage robot according to claim 1, wherein a mounting bracket is connected to the vehicle frame, the fire extinguisher is mounted on the mounting bracket, or the fire extinguisher is mounted inside the housing in the housing The lower surface of the top plate.
The storage robot according to claim 1, wherein the storage robot further comprises a power management module, the fire extinguisher is arranged close to the battery, or the power management module, or the power management module The control module is either arranged close to the drive module or between the battery, the drive module and the power management module, the control module.
The storage robot according to claim 1, wherein the storage robot further includes a power management module, and the storage robot is provided with at least two of the fire extinguishers, wherein the at least two of the fire extinguishers are arranged to cover The area where the battery, the power management module, the control module and the drive module are located.
The storage robot according to claim 1, wherein the fire extinguisher has a container storing fire extinguishing materials and a blaster for detonating the container.
The storage robot according to claim 8, wherein the storage robot further includes a power management module, the blaster has at least one fuse, and the end of the fuse is arranged at a battery terminal of the battery and / or Or arranged at the power management module and / or at the control module and / or at the drive module; and / or the blaster is provided with an electronic lighter and a wire, the electronic The firearm is electrically connected to the control module via the wire and arranged so that the control module detonates the fire extinguisher when it is judged that the storage robot has a fire.
The warehousing robot according to claim 8, wherein the warehousing robot is further provided with a smoke sensor, the smoke sensor is arranged to be able to detect the smoke generated by the warehousing robot and be electrically connected to the control module, so that When the smoke sensor detects the occurrence of smoke, the control module controls the blaster to detonate the fire extinguisher; and / or the storage robot is further provided with a temperature sensor and a power management module, the temperature sensor is arranged to detect The temperature of the battery, the power management module, the control module and / or the drive module, and is electrically connected to the control module so that when the temperature sensor detects that the temperature exceeds a preset threshold, the control The module controls the blaster to detonate the fire extinguisher; and / or the storage robot is further provided with a light sensor, the light sensor is arranged to detect an abnormal light source generated by the storage robot and is electrically connected to the control module so that When the light sensor detects an abnormal light source, the control mode The block controls the blaster to detonate the fire extinguisher.
The storage robot according to claim 8, wherein the storage robot further comprises at least two sensors of a smoke sensor, a temperature sensor and a light sensor electrically connected to the control module, the control module according to the The detection results of at least two sensors are combined to determine whether to detonate the fire extinguisher through the blaster according to the determination result.
The warehousing robot according to claim 1, characterized in that the warehousing robot is further provided with an alarm module, the alarm module has a horn and / or an alarm light, and is arranged such that a fire or detection occurs in the warehousing robot When the fire is hidden, an alarm signal is sent.
The warehousing robot according to claim 1, wherein the warehousing robot further includes a communication module, the communication module is arranged to send the fire information of the warehousing robot to a background monitoring system, and monitor from the background The system receives the instruction and sends the instruction to the control module, and the control module decides whether to detonate the fire extinguisher according to the instruction.
The warehouse robot according to claim 13, wherein the fire information includes temperature information, light information, and / or smoke information.
The storage robot according to claim 8, wherein the fire extinguishing material is dry fire extinguishing powder or water-based fire extinguishing material.
The warehousing robot according to claim 1, wherein the warehousing robot further includes a rotation device and an obstacle avoidance module, wherein the rotation device is used to drive the tray to perform a rotational movement, and the obstacle avoidance module is used to The storage robot automatically avoids obstacles, and the wheels include driving wheels and driven wheels.
A fire control method for a storage robot, the storage robot has: a frame and a shell mounted on the frame, wherein the bottom of the frame is provided with wheels; a lifting mechanism, the lifting mechanism is installed on the On the frame; a pallet, which is mounted on the lifting mechanism and can move up and down under the drive of the lifting mechanism, and a control module, a driving module and a battery, wherein the control module is used to control the storage robot Operation, the drive module is electrically connected to the control module and is used to drive the movement of the storage robot, the battery provides power for the storage robot, characterized in that the fire control method includes the following steps:

A fire extinguisher is provided in the storage robot, and a fuze or electronic lighter is provided on the fire extinguisher; and

The fire extinguisher is arranged to cover the area where the control module, the drive module and / or the battery are located.
The fire control method according to claim 17, wherein the fire control method further comprises collecting fire information, and judging whether to detonate the fire extinguisher according to the fire information.
The fire control method according to claim 18, wherein the fire control method further comprises sending the fire information to a background monitoring system, receiving an instruction from the background monitoring system, and sending the instruction To the control module, the control module decides whether to detonate the fire extinguisher according to the instruction.
The fire control method according to claim 18, wherein the fire information includes temperature information, light information, and / or smoke information.
The fire control method according to claim 17, wherein the storage robot has a power management module, the fire extinguisher is arranged to cover the area where the power management module is located, and the power management module has For the circuit that supplies power to the drive module, the fire control method further includes when the storage robot is judged to have a fire, the control module first cuts off the circuit that supplies power to the drive module in the power management module, and then Detonate again, and finally cut off the battery output.
A storage robot has a frame, a control module, a drive module and a power supply module, wherein the bottom of the frame is provided with wheels, the control module is used to control the operation of the storage robot, the drive module It is electrically connected to the control module and used to drive the storage robot. The power supply module provides power to the storage robot. The storage robot is further provided with a fire extinguisher, and the fire extinguisher is arranged to store The robot fires itself.
The storage robot according to claim 22, wherein the fire extinguisher is arranged to extinguish the interior of the storage robot.
The storage robot according to claim 22, wherein the power supply module includes a power management module and a battery, and the fire extinguisher is arranged to pair the power management module and / or the control module and / or the drive module And / or fire caused by the battery.
The storage robot according to claim 22, wherein the fire extinguisher is installed inside the storage robot.
The storage robot according to claim 22, wherein a mounting bracket is connected to the frame, the fire extinguisher is mounted on the mounting bracket, or the storage robot further includes a mounting bracket mounted on the frame A housing, the fire extinguisher is installed inside the housing on the lower surface of the top plate of the housing.
The warehousing robot according to claim 22, wherein the power supply module includes a power management module and a battery, and the fire extinguisher is arranged near the battery, or the power management module, or the power management module The control module is either arranged close to the drive module or between the battery, the drive module and the power management module, the control module.
The storage robot according to claim 22, wherein the power supply module includes a power management module and a battery, and the storage robot is provided with at least two of the fire extinguishers, wherein the at least two of the fire extinguishers are arranged to be capable of Covers the area where the battery, the power management module, the control module and the drive module are located.
The storage robot according to claim 22, wherein the fire extinguisher has a container storing fire extinguishing materials and a blaster for detonating the container.
The storage robot according to claim 29, wherein the power supply module includes a power management module and a battery, and the detonator has at least one fuze, and the end of the fuze is disposed at the battery terminal of the battery and And / or arranged at the power management module and / or at the control module and / or at the drive module; and / or the blaster is provided with an electronic lighter and wires, the electronic The lighter is electrically connected to the control module via the wire and arranged so that the control module detonates the fire extinguisher when it judges that a fire has occurred in the storage robot.
The warehousing robot according to claim 29, wherein the warehousing robot is further provided with a smoke sensor, and the smoke sensor is arranged to be able to detect the smoke generated by the warehousing robot and be electrically connected to the control module, so that When the smoke sensor detects the occurrence of smoke, the control module controls the blaster to detonate the fire extinguisher; and / or the power module includes a power management module and a battery, and the storage robot is further provided with a temperature sensor. The temperature sensor is arranged to detect the temperature of the battery, the power management module, the control module and / or the drive module, and is electrically connected to the control module so that when the temperature sensor detects a temperature When the threshold is set, the control module controls the blaster to detonate the fire extinguisher; and / or the storage robot is further provided with a light sensor, the light sensor is arranged to detect an abnormal light source generated by the storage robot The control module is electrically connected so that the light sensor detects a difference The light source occurs, the control module controls the detonating blasting is the fire extinguisher.
The storage robot according to claim 29, wherein the storage robot further includes at least two sensors of a smoke sensor, a temperature sensor, and a light sensor electrically connected to the control module, and the control module The detection results of at least two sensors are combined to determine whether to detonate the fire extinguisher through the blaster according to the determination result.
The warehousing robot according to claim 22, characterized in that the warehousing robot is further provided with an alarm module, the alarm module has a horn and / or an alarm light, and is arranged to detect or detect a fire in the storage robot When the fire is hidden, an alarm signal is sent.
The warehousing robot according to claim 22, wherein the warehousing robot further includes a communication module, the communication module is arranged to send the fire information of the warehousing robot to a background monitoring system, and monitor from the background The system receives the instruction and sends the instruction to the control module, and the control module decides whether to detonate the fire extinguisher according to the instruction.
The storage robot according to claim 34, wherein the fire information includes temperature information, light information, and / or smoke information.
The storage robot according to claim 29, wherein the fire extinguishing material is dry fire extinguishing powder or water-based fire extinguishing material.
The storage robot according to claim 22, characterized in that the storage robot further includes a rotation device and an obstacle avoidance module, wherein the rotation device is used to drive the tray for rotational movement, and the obstacle avoidance module is used to The storage robot automatically avoids obstacles, and the wheels include driving wheels and driven wheels.
The storage robot according to claim 22, wherein an actuator is installed on the top of the frame.
The warehousing robot according to claim 38, wherein the actuator is a jacking mechanism, a roller-type transmission mechanism, a turning mechanism, or a robotic arm.
The warehousing robot according to claim 22, wherein the warehousing robot further includes a housing, a tray and a lifting mechanism mounted on the frame, wherein the lifting mechanism is mounted on the frame, the The tray is arranged to be able to move up and down under the drive of the lifting mechanism.
The storage robot according to claim 22, wherein the power supply module includes a power management module and a battery.
A fire control method for a storage robot, the storage robot has a frame, a control module, a drive module, and a power module, wherein the bottom of the frame is provided with wheels, and the control module is used to control the operation of the storage robot , The drive module is electrically connected to the control module and is used to drive the movement of the storage robot, and the power supply module provides power for the storage robot, characterized in that the fire control method includes the following steps:

A fire extinguisher is provided in the storage robot, and a fuze or electronic lighter is provided on the fire extinguisher; and

The fire extinguisher is arranged to cover the area where the control module, the drive module and / or the power supply module are located.
The fire control method according to claim 42, wherein the fire control method further comprises collecting fire information, and judging whether to detonate the fire extinguisher according to the fire information.
The fire control method according to claim 43, wherein the fire control method further comprises sending the fire information to a background monitoring system, receiving an instruction from the background monitoring system, and sending the instruction To the control module, the control module decides whether to detonate the fire extinguisher according to the instruction.
The fire control method according to claim 43, wherein the fire information includes temperature information, light information, and / or smoke information.
The fire control method according to claim 42, wherein the power supply module includes a power management module, the fire extinguisher is arranged to cover an area where the power management module is located, and the power management module has For the circuit that supplies power to the drive module, the fire control method further includes when the storage robot is judged to have a fire, the control module first cuts off the circuit that supplies power to the drive module in the power management module, and then Detonate again, and finally cut off the battery output.
The fire control method according to claim 42, wherein an actuator is installed on the top of the frame.
The fire control method according to claim 47, wherein the actuator is a jacking mechanism, a drum-type transmission mechanism, a turning mechanism, or a mechanical arm.
The fire control method according to claim 42, wherein the storage robot further includes a housing, a tray, and a lifting mechanism installed on the frame, wherein the lifting mechanism is installed on the frame, The tray is arranged to be able to move up and down under the drive of the lifting mechanism.
The fire control method according to claim 42, wherein the power supply module includes a power management module and a battery.