CN106584421A - Mobile trolley system based on mobile robot - Google Patents
Mobile trolley system based on mobile robot Download PDFInfo
- Publication number
- CN106584421A CN106584421A CN201710073716.8A CN201710073716A CN106584421A CN 106584421 A CN106584421 A CN 106584421A CN 201710073716 A CN201710073716 A CN 201710073716A CN 106584421 A CN106584421 A CN 106584421A
- Authority
- CN
- China
- Prior art keywords
- moving cart
- module
- control module
- mobile robot
- system based
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
- B25J13/089—Determining the position of the robot with reference to its environment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/048—Pendulum type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
Abstract
The invention discloses a mobile trolley system based on mobile robot. The mobile trolley system comprises a mechanical body, a control module, a driving module, a navigation module and a communication module; the mechanical body is used for providing a physical structure for movement of the mobile robot; the control module is in communication connection with a general console system through the communication module; the control module is connected with the mechanical body through the driving module; the navigation module is connected with the control module; and the control module is connected with a multi-joint mechanical arm system. The mobile trolley provided by the invention can serve as a moving carrier of a small mechanical arm, omni-directional movement is achieved, and operating efficiency is high.
Description
Technical field
The present invention relates to danger solution is extracted and detection field, specifically a kind of moving cart based on mobile robot
System.
Background technology
The manufacturing, health care, nuclear test can produce a large amount of components and answer with many places of industry such as nuclear power, chemical metallurgy
The danger solution that miscellaneous, density unevenness, corrosivity are big, radioactivity is high, easily causes serious injury to people, animal and environment.This
Class dangerization solution typically using isolation method store within the enclosed space, through collection storage, sampling detection, purified treatment with
And discharge etc. step, with dilution or solidify etc. method process after, be converted into the concentrate of small size and preserved, treat corrosivity
With radioactivity less than after maximum allowable discharge index, arranged and buried in environment or spread.The sampling inspection of dangerization solution
Survey is very important link in processing procedure, and this stage will be detected to the composition and content of dangerization solution, only fully
Effective dangerization solution processing methods can be just found after detection, only could be endangered after strict process and be reduced to most
It is low.
Dangerization solution sampling need on a small quantity extract solution when detecting using advanced ways and means, carry out composition and content point
Analysis.From the point of view of published record and data, most of dangerization solution is extracted to use and built based on the mode of vacsorb
Fixed dangerization solution extraction device, the device mainly by vavuum pump, suction pipe, controlling switch and shooting is first-class constitutes, with
Dangerization solution processing equipment is fixed on together the extraction that dangerization solution is somewhere completed in artificial presence, such device
Consider almost not using the accurate measure for extracting control, so being difficult to the quantitative and random of dangerization solution for stability
Sampling observation.Lack flexible extraction means and cannot accurate quantification become the treatment effeciency lifting of restriction dangerization solution the problems such as extract
Bottleneck, due to using fixed solution extraction device, it is impossible to move freely operation, when device breaks down or dangerization solution
In the case of change of component, fixed solution extraction device cannot be competent at sampling observation work, cause dangerization solution to process when serious temporary
Stop, production line stop, bring huge economic loss.
In addition, many occasions do not have fixed dangerization solution extraction equipment, when the danger solution type for extracting is relatively more, away from
From distant, working environment it is more severe when, need people enter different environment even high-risk environment in manual operations, occur
（1）People is in operation in adverse circumstances the long period, is vulnerable to injury；（2）Dangerization solution taken amount is forbidden, and operating efficiency is relatively low；
（3）The problems such as unnecessary dangerization solution is not disposable.These problems had a strong impact on dangerization solution detection treatment effeciency and
The security of people.
The features such as having Automatic Track Finding, flexibly move due to mobile platform, is applied to more and more different industrial occasions,
And manually carry out every risky operation with reference to small-sized machine arm replacement.But current mobile platform is protected in anti-spoke under high-risk environment
Shield, self-navigation, be accurately positioned, quickly the aspect such as mobile also there is many deficiencies, in the high-risk environment that manpower cannot be participated in
Easily appearance cannot be moved freely in less space, dangerization solution extraction point location error is larger, perform electric components is subject to
The problems such as radiating and corrode and produce failure, causes mobile platform to produce various error runnings and be unable to efficient operation.
The content of the invention
To overcome the problem above of prior art presence, the invention provides a kind of moving cart based on mobile robot
System, realizes the automation mechanized operation of moving cart system high efficiency all-around mobile.
The present invention is realized by technical scheme below：
A kind of moving cart system based on mobile robot, the moving cart system includes basic machine, control module, drive
Dynamic model block, navigation module and communication module；The basic machine is used to provide the physical arrangement of moveable robot movement；The control
Molding block is communicated to connect by communication module and supervisory control desk system, and the control module is by drive module and basic machine phase
Even；The navigation module is connected with control module；The control module is connected with multi-joint mechanical arm system.
Further, the basic machine includes trolley body, steering mechanism and sensing element.
Further, the control module includes moving cart PLC and motion-control module；The moving cart
PLC respectively with motion-control module, communication module, multi-joint mechanical arm PLC, navigation module and sensing element
It is connected；The motion-control module is connected by drive module with steering mechanism.
Further, the trolley body is aluminium alloy extrusions, and outside is coated with anti-radiation shielding material.
Further, the steering mechanism is the symmetrical McCrum wheel of two couple of trolley body left and right sides distribution.
Further, the drive module includes DC servo motor driver and DC servo motor；The direct current is watched
Take motor driver one end to be connected with motion-control module, the other end is connected with DC servo motor.
Further, also including decelerator, the DC servo motor is connected after being connected with decelerator with steering mechanism；Institute
Sensing element is stated including sensor and DTU, the sensor is controlled by DTU with moving cart PLC
Device processed is connected.
Further, the navigation module includes magnetic navigation sensor, magnetic landmark sensor and is layed in leading for ground
Draw and terrestrial reference magnetic stripe, magnetic navigation sensor, magnetic landmark sensor are connected by RS485 buses with moving cart PLC.
Further, described communication module one end using WLAN standard agreement IEEE 802.11b/g/a/h with it is total
Control feature wirelessly connects, and the other end is connected with moving cart PLC by Ethernet interface.
Compared with prior art, beneficial effects of the present invention are as follows：
The moving cart stable performance of the present invention, radiation proof corrosion resistance is strong, various particular surroundings work is adapted to, as small-sized
The mobile vehicle of mechanical arm, realizes all-around mobile, and operational efficiency is high, the moving cart of the present invention using advanced automation and
Informationization technology, lifts the gentle level of IT application of shop logistics Automated water, hence it is evident that lift shop logistics efficiency, the shifting of the present invention
Dynamic dolly makes one to isolate with hazardous environment by the way of remotely control, hence it is evident that reduce the labour intensity and security risk of people,
The working environment for making people is greatly improved, and the mobile platform that the present invention is formed is that moving cart should in the in-depth of special industry
With the research and field popularization to mobile platform plays a positive role.
Moving cart is isolated using high-risk environment outside with internal physical, the remote operating work communicated by high-speed radio technology
Make mode, external command control is performed with internal motion and unite in time, be prevented effectively from people's contact hazardous environment；
Moving cart is independently driven using four McCrums, is realized in high-risk environment by the speed control algorithm of matching
Comprehensive quick movement, even if also accessible can efficiently complete the whole mistake that dangerization solution is extracted and processed in less space
Journey；
Moving cart car load Jing high density stereotype parcel carries out totally-enclosed radiation proof corrosion-resistance treatment, and it is internal equidistant using three layers
Structure design, every layer of reasonable Arrangement each critical electrical part, so as at utmost utilize inner space, prevents critical electrical portion
Part is radiated generation failure, can also mitigate complete vehicle quality, improves mobile efficiency；
Using the magnetic induction characteristic not high to high-risk environment susceptibility, the navigation of moving cart is designed by the way of magnetic stripe navigation
Module, so as to the change of its run location of effective monitoring and running status, realizes that multiple-limb path optimization selects and pinpoints accurately
Off-position.
Description of the drawings
Fig. 1 is the System Working Principle figure of the present invention.
Fig. 2 is the block diagram of system of the present invention.
Fig. 3 is the mobile robot structure chart of the present invention.
Fig. 4 is the mobile-robot system control structure figure of the present invention.
Fig. 5 is the control instruction and transmittance process network diagramming of the present invention.
Fig. 6 is the wireless telecommunication system network topological diagram of the present invention.
Fig. 7 is the supervisory control desk system hardware and software frame diagram of the present invention.
Fig. 8 is the supervisory control desk software and hardware network architecture of the present invention.
Fig. 9 is the supervisory control desk shape assumption diagram of the invention of the present invention.
Figure 10 is the moving cart system module block diagram of the present invention.
Figure 11 is the moving cart body interior structure chart of the present invention.
Figure 12 is that the moving cart of the present invention turns to just enough schematic diagrames.
Figure 13 is the moving cart control driving principle figure of the present invention.
Figure 14 is the moving cart Navigation Control schematic diagram of the present invention.
Specific embodiment
The present invention is further illustrated below in conjunction with the drawings and specific embodiments.
According to the characteristics of changing solution and the flow process extracted of automatic ration, it is considered to processing safety and function it is reliable real
It is existing, design dangerization solution automatic ration extraction system under a kind of high-risk environment based on mobile robot, operation principle such as Fig. 1 institutes
Show.Overall to adopt the detached thought of controlling organization and executing agency, mobile-robot system is placed on high-risk as executing agency
Environmental interior, supervisory control desk is placed on outside high-risk environment as controlling organization, and at random quantitatively extraction will to be not only adapted to general solution
Ask, be further adapted for that radioactivity is high, chemical composition is uncertain, the danger solution that variety type is more, safety requirements is high is quantitatively extracted at random
The scene of requirement, with good flexibility.
As shown in Figure 2：The system includes supervisory control desk system, wireless communication data Transmission system, moving cart system, many
Articulated mechanical arm system, multi-functional clamp system, vision ultrasonic wave detecting system, dangerization solution storage system and power-supply system
Deng.Wherein, moving cart system, multi-joint mechanical arm system, multi-functional clamp system, dangerization solution storage system and vision
Ultrasonic wave detecting system constitutes mobile-robot system.
As shown in Figure 3：The mobile robot includes moving cart system, multi-joint mechanical arm system, chucking appliance system, regards
Feel ultrasonic wave detecting system and dangerization solution storage system, and multi-joint mechanical arm system, chucking appliance system, vision ultrasound examination
System, dangerization solution storage system are arranged in moving cart system；The supervisory control desk system is based on communication network and shifting
Dynamic cart system communication connection, and each system status parameters in mobile robot are obtained by moving cart system, while sending
Take liquid information and movement instruction and give moving cart system；The moving cart system is received and forwards what supervisory control desk system sent
Liquid information and movement instruction are taken, realizes that mobile robot gathers and place the movement on circuit in dangerization solution；The movement is little
Car system is connected respectively with multi-joint mechanical arm system and dangerization solution storage system, the multi-joint mechanical arm system and fixture
System is connected, and the video ultrasound ripple detecting system is realized and the communication connection of supervisory control desk system by communication network.
Fig. 4 for mobile robot system architecture control figure, supervisory control desk system as instruction send and real time data at
Reason center, by communication module in real time with the main system such as moving cart system, multi-joint mechanical arm system, vision ultrasound examination
The accessory systems such as system, multi-functional clamp system and dangerization solution storage system are connected, and are constituted and are moved under high-risk environment
Robot control system.
Specifically, supervisory control desk system is connected with wireless mixing LAN by wired with wireless communication module, wirelessly
Communication module is connected by Ethernet interface with the PLC of moving cart system.Moving cart system and multi-joint machinery
Arm system adopts master-slave control mode, the i.e. PLC of moving cart system as main website, multi-joint mechanical arm system
Used as slave station, both are connected PLC by Prifibus DP module interfaces, for performing mobile and operation behavior and many
Articulated mechanical arm pedestal is arranged on moving cart top nose.Dangerization solution storage system is arranged on moving cart top rear,
Its measuring cup weight sensor and pneumostop lid magnetic valve are integrated by O/I modules with moving cart PLC, are used
In storage and the carrying safely of dangerization solution.Multi-functional clamp system is arranged on mechanical arm tail end, its detection sensor, pneumatic system
Magnetic valve etc. is integrated by O/I modules with mechanical arm controller, is quantitatively extracted and is gripped for dangerization solution.It is arranged on
Energy of the power-supply system inside moving cart for needed for main system and accessory system provide mobile, operation, detection, by wireless charging
The part of electric installation, Li-ion batteries piles and power management module etc. three constitutes, and wherein power management module is by MCU micro-control lists
Unit, PMIC power management integrated circuits and various sensor groups into power control.
Fig. 5 is the control instruction and transmittance process network diagramming of the present invention, and system control instruction and transmittance process are described as, work
Supervisory control desk sends dangerization solution extracting parameter signal, action by instruction input with sending module Jing radio transmitting devices when making
Command signal to moving cart system, vision ultrasonic wave detecting system and power-supply system, three digest journals and its accessory system from
Start working after inspection is errorless.Moving cart according to instruction movement, complete sending action after assignment of mission instruct machinery to multi-joint
Arm, makes mechanical arm carry out corresponding dangerization solution and extracts and grasping manipulation, dangerization solution storage system while mechanical arm action
Control instruction cooperative mechanical arm according to moving cart works.In addition, vision ultrasonic wave detecting system by collection in worksite to regard
Frequency information and ultrasonic data acquisition information return to master station.Power-supply system is powered to subsystems, and battery status
Feed back to master control platform.
Fig. 6 is wireless telecommunication system network topological diagram, inside and outside high-risk environment, builds and is based on IEEE 802.11b/g/a/h
The WIFI wireless networks of communications protocol, by WIFI wireless networks be data medium, connection supervisory control desk, moving cart system,
Multi-joint mechanical arm system, vision ultrasonic wave detecting system etc., constitute control data, video data, the state under high-risk environment
Effective passage of the transmission such as data.
Communication system is mainly made up of wireless aps, wireless data transceiving device, LAN etc., and wherein LAN is to be based on
The Ethernet that IEEE802.3 communications protocol builds, supervisory control desk is directly connected to LAN by wired mode；Wireless aps and nothing
Line data source and sink is addressable device, and wireless aps are directly connected to LAN, wireless communication apparatus one by wired mode
End is connected with moving cart system, vision ultrasonic wave detecting system, power-supply system etc. by Ethernet interface, and the other end passes through
WIFI network is wirelessly connected with AP, so as to realize the high-speed transfer of control data, video data, status data.
Fig. 7 is the supervisory control desk system hardware and software frame diagram of the present invention, and supervisory control desk is by display, main control computer, reality
When the hardware such as communication server, data server, video server, network communication module and monitoring application system, back-end data
The software sharings such as storehouse, service software.It is wired with it is wireless mix LAN by way of with moving cart system, multi-joint machinery
The real-time communications such as arm system, dangerization solution storage system, vision ultrasonic wave detecting system, obtain its state parameter, while sending
Liquid information and movement instruction are taken to modules, the Remote of mobile robot is realized.
Monitoring application system is developed based on windows platform, on main control computer, with basic data maintenance mould
Block, take liquid information input and instruction sending module, mobile work robot monitoring module, vision ultrasonic wave monitoring module,
The big module of security protection alarm module and real-time data communication module etc. six.
Fig. 8 for supervisory control desk system the software and hardware network architecture, main control computer, data server, video server etc.
In the form of bus connection over ethernet, by network communication module, main control computer and each server real-time communication, just
Data query and process are carried out in monitoring software.Real-time communication server is installed above Communications service software, in time crawl master
The instruction that control computer is assigned is to subsystems, while the status data and sensing data of subsystems feedback is captured, and
It is stored on data server and video server.Installation relation type database, for monitoring software number is provided on data server
Support according to storage, real-time storage operations data, feedback data, basis safeguard that data, safe operation status data, transmission refer to
Make historical data etc..Video information and ultrasonic height detection that video server real-time storage vision ultrasonic system is collected
Information.
Fig. 9 is a kind of shape assumption diagram of the supervisory control desk of the present invention, outward appearance is designed using ergonomics thought, by two
Individual display, an operating desk and master control platform housing composition, two of which display one is used for visual control, a use
Send and receive in control instruction；Master control platform housing is made up of stainless steel material, and 1 millimeters thick sheet lead is laid on surface, a radiation proof,
Corrosion-resistant effect.
Figure 10 be the present invention moving cart system module block diagram, mobile dress of the moving cart system as whole system
Put, including five major parts such as basic machine, control module, drive module, navigation module, communication module.The movement is little
Car system includes basic machine, control module, drive module, navigation module and communication module；The basic machine is used to provide
The physical arrangement of moveable robot movement；The control module is connected by communication module with supervisory control desk system, the control
Module is connected by drive module with basic machine；The navigation module is connected with control module.
Figure 11 be the present invention moving cart system ontology cut-away view, moving cart basic machine, by trolley body,
Steering mechanism and sensing element are constituted, and wherein trolley body is in rectangular shape, and vehicle body frame adopts aluminium alloy extrusions, carries out
Totally-enclosed radiation protection is processed, and the thick sheet leads of 1 ~ 2mm are laid outside car body as shielding material；Car top is main supporting part
Point, there is the multi-joint mechanical arm installing hole of four screwed holes that are uniformly distributed along the circumference forward position, and being bolted makes moving cart
Connect together with the base fixing plate of multi-joint mechanical arm；Rearward there is dangerization solution storage device mounting seat position to car body top,
It is rigidly connected with the mounting seat in dangerization solution storage device by bolt；Car body the right and left bottom be distributed with two pairs it is symmetrical
Four McCrum wheels, constitute the movable part of dolly；Car body directly to the right is disposed with signal transmitting and receiving antenna, signal transmitting and receiving antenna with
The wireless communication apparatus connection of car interior, constitutes the wireless communication module of dolly.
Car interior, according to the principle of reasonable utilization space, is three layers of mounting structure, and logic connecting relation is referring to " moving machine
Device people's System control structures figure ", ground floor is upper strata, predominantly the control unit of multi-joint mechanical arm, wireless communication apparatus and
Vision ultrasonic treatment unit, the control unit of concrete multi-joint mechanical arm includes 1 multi-joint mechanical arm controller, 1 fortune
The servo-driver of dynamic control module, 4 joint of mechanical arm, wireless communication apparatus are 1 set of wireless telecommunications based on wireless WIFI
Device, vision ultrasonic treatment unit is 1 set based on CCD camera and the position detecting device of ultrasonic wave；The second layer is intermediate layer,
The predominantly control unit of moving cart, pneumatic system, the control unit of concrete moving cart includes 1 moving cart control
Device, 1 motion-control module, the servo-driver of 4 moving cart wheels, pneumatic system includes that 1 set dangerization solution is stored and fills
Put pneumatic means, 1 set of multi-functional clamp device Tridactyle pneumatic fixture pneumatic means, 1 set of multi-functional clamp device quantitative liquid getting dress
The pneumatic means put；Third layer is bottom, for the supply unit that each device provides power, specifically have one group of lithium battery string and
1 electric power controller.The angular direction of dolly bottom four is disposed with 4 McCrum wheel servomotors and motor reducer, centre
Location arrangements have the navigation sensor and landmark sensor of a set of magnetic induction navigation, a wireless charging receiver.
As shown in figure 12, moving cart steering mechanism is carried out by the way of the four motorized wheels based on McCrum wheel
Moving of car is controlled.McCrum wheel is made up of two wheel hubs and a number of pony roll, using two ends supporting construction, pony roll
Sub- axis and hub axis angle are ± 45 °, and both materials adopt corrosion-resistant radiation proof material.Two in four McCrum wheels
Individual left-handed spiral configuration and two right-handed spiral configurations, in the way of two left two right four-wheels are arranged symmetrically moving cart car body or so two is arranged on
Side；Each McCrum wheel is direct-connected with a DC servo motor and motor reducer, by the speed different to four wheels
Control, realizes the motion of dolly different directions.
Sensing element in moving cart basic machine be detect the angle of four McCrum wheel servomotors, rotating speed,
The isoparametric sensor of electric current, voltage and its DTU.
As shown in Figure 10,13, control module includes PLC and motion-control module, and moving cart is using PLC controls
Device adds the modes such as motion-control module to carry out motion control, and wherein PLC is mainly responsible for and supervisory control desk communication, by WIFI communication
Mode receives in time control instruction and the feedback trolley travelling status data that supervisory control desk sends；Motion-control module is responsible for execution
The signal instruction that PLC is received, the navigation signal, position signalling to moving cart feedback carries out real-time processing and calculating, output control
Signal processed is to direct current servo driver.In addition, the Open Control mould that moving cart is integrally combined using host computer with slave computer
Formula, wherein host computer are supervisory control desk system, and slave computer is the PLC of moving cart system.
Drive module：Moving cart is driven using DC servo motor driver and DC servo motor, DC servo electricity
Machine driver one end is connected with the motion-control module in moving cart PLC, and one end is connected with DC servo motor.
The motion-control module of PLC sends digital quantity high-speed pulse signal to servo-driver, and servo-driver adopts position
Control model produces the pwm signal of impulse form, Jing power amplification rear-guards according to the signal that control signal and servomotor feed back
Dynamic servomotor, the pulse and direction signal that servomotor sends according to servo-driver is started, stopped, being inverted and is become
The actions such as speed.
Communication module：It is made up of wireless communication apparatus and signal transmitting and receiving antenna, wherein wireless communication apparatus are wireless data
R-T unit, installed in moving cart inside ground floor, signal transmitting and receiving antenna is arranged on moving cart outside right side.Wireless telecommunications
Module one end adopts WLAN standard agreement IEEE 802.11b/g/a/h, is connected with supervisory control desk real-time radio, in time
Obtain master control platform send take liquid instruction and movement instruction, while by the state of moving cart and interconnected system notify at once to
Master control platform.The wireless communication module other end is connected with moving cart PLC by Ethernet interface, in time sends master control platform
Take liquid instruction and movement instruction pass to moving cart PLC, while the feedback signal that moving cart PLC is received is passed to always
Console.
As shown in figure 14, navigation module：The module is made up of Magnetic Sensor with the magnetic stripe for being laid on ground, wherein magnetic sensing
Device is divided into magnetic inductive transducers and magnetic landmark sensor, and magnetic stripe is divided into guiding magnetic stripe and terrestrial reference magnetic stripe.Magnetic induction is to high-risk environment
Susceptibility is not high, therefore the navigation module of moving cart is designed by the way of magnetic stripe navigation, and the forward position in dolly bottom is provided with
Magnetic navigation sensor and landmark sensor, for guiding magnetic stripe and terrestrial reference magnetic stripe that detection makes a reservation for lay on ground.Moving cart
During operation, magnetic navigation sensor gathers the magnetic field intensity of magnetic stripe perpendicular to magnetic stripe top certain distance, judges magnetic stripe relative to magnetic
Navigation sensor deviation position, accordingly moving cart adjust automatically, it is ensured that move ahead along magnetic stripe.Landmark sensor constantly reads terrestrial reference
Magnetic stripe, and judge run location accordingly and change running status.Terrestrial reference magnetic stripe is attached to navigation magnetic stripe perpendicular to navigation magnetic stripe direction
On the ground on side.
For the description of the understanding of specific embodiment is only to understand the present invention for help, rather than for limiting this
Bright.Those skilled in the art can utilize the thought of the present invention to carry out some and change and change, as long as its technological means does not have
There is the thought and main points for departing from the present invention, still within protection scope of the present invention.
Claims (9)
1. a kind of moving cart system based on mobile robot, it is characterised in that：The moving cart system includes machinery originally
Body, control module, drive module, navigation module and communication module；The basic machine is used to provide moveable robot movement
Physical arrangement；The control module is communicated to connect by communication module and supervisory control desk system, and the control module is by driving
Module is connected with basic machine；The navigation module is connected with control module；The control module and multi-joint mechanical arm system
It is connected.
2. a kind of moving cart system based on mobile robot according to claim 1, it is characterised in that：The machinery
Body includes trolley body, steering mechanism and sensing element.
3. a kind of moving cart system based on mobile robot according to claim 2, it is characterised in that：The control
Module includes moving cart PLC and motion-control module；The moving cart PLC respectively with motion control mould
Block, communication module, multi-joint mechanical arm PLC, navigation module and sensing element are connected；The motion-control module passes through
Drive module is connected with steering mechanism.
4. a kind of moving cart system based on mobile robot according to claim 2, it is characterised in that：The dolly
Body is aluminium alloy extrusions, and outside is coated with anti-radiation shielding material.
5. a kind of moving cart system based on mobile robot according to claim 2, it is characterised in that：The steering
Mechanism is the symmetrical McCrum wheel of two couple of trolley body left and right sides distribution.
6. a kind of moving cart system based on mobile robot according to claim 3, it is characterised in that：The driving
Module includes DC servo motor driver and DC servo motor；Described DC servo motor driver one end and motion control
Module is connected, and the other end is connected with DC servo motor.
7. a kind of moving cart system based on mobile robot according to claim 3, it is characterised in that：Also include subtracting
Fast device, the DC servo motor is connected after being connected with decelerator with steering mechanism；The sensing element includes sensor sum
According to conversion equipment, the sensor is connected by DTU with moving cart PLC.
8. a kind of moving cart system based on mobile robot according to claim 3, it is characterised in that：The navigation
Module includes magnetic navigation sensor, magnetic landmark sensor and is layed in guiding and the terrestrial reference magnetic stripe on ground, magnetic navigation sensor,
Magnetic landmark sensor is connected by RS485 buses with moving cart PLC.
9. a kind of moving cart system based on mobile robot according to claim 3, it is characterised in that：The communication
Module one end is connected using WLAN standard agreement IEEE 802.11b/g/a/h with supervisory control desk system wireless, the other end
It is connected by Ethernet interface with moving cart PLC.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710073716.8A CN106584421A (en) | 2017-02-10 | 2017-02-10 | Mobile trolley system based on mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710073716.8A CN106584421A (en) | 2017-02-10 | 2017-02-10 | Mobile trolley system based on mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106584421A true CN106584421A (en) | 2017-04-26 |
Family
ID=58585884
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710073716.8A Pending CN106584421A (en) | 2017-02-10 | 2017-02-10 | Mobile trolley system based on mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106584421A (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106945048A (en) * | 2017-05-08 | 2017-07-14 | 广州赫伽力智能科技有限公司 | A kind of intelligent mobile robot goes up yarn system automatically |
| CN108569528A (en) * | 2018-07-17 | 2018-09-25 | 广东嘉腾机器人自动化有限公司 | Unmanned floor truck and automatic Material Handling System |
| CN108974818A (en) * | 2018-08-30 | 2018-12-11 | 南京灵雀智能制造有限公司 | A kind of industrial production material transfer robot |
| CN109015587A (en) * | 2018-05-28 | 2018-12-18 | 上海锐铎自动化有限公司 | A kind of AGV vehicle equipped with gripper library |
| CN109254583A (en) * | 2018-09-08 | 2019-01-22 | 华中农业大学 | Crawler type trolley field automatic information collecting device and method |
| CN109262620A (en) * | 2018-08-15 | 2019-01-25 | 北京思迈特科技有限公司 | A kind of cable duct crusing robot laser ranging system and its control system |
| CN109291031A (en) * | 2018-08-15 | 2019-02-01 | 北京思迈特科技有限公司 | A kind of cable duct crusing robot walking mechanism and its control system |
| CN110170978A (en) * | 2019-03-08 | 2019-08-27 | 华东师范大学 | A kind of omnidirectional's mechanical arm danger exploration robot |
| CN110209174A (en) * | 2019-06-28 | 2019-09-06 | 北京史河科技有限公司 | A kind of method and system for realizing robot navigation |
| CN110275532A (en) * | 2019-06-21 | 2019-09-24 | 珠海格力智能装备有限公司 | Control method and device, the control method and device of visual apparatus of robot |
| CN110907221A (en) * | 2019-12-31 | 2020-03-24 | 哈工大机器人智能制造有限公司 | Mobile robot system for automatic temperature measurement and sampling of stokehold molten iron |
| CN113050625A (en) * | 2021-02-24 | 2021-06-29 | 东莞新友智能科技有限公司 | Novel AGV navigation device and control method thereof |
| WO2022160560A1 (en) * | 2021-01-28 | 2022-08-04 | 武汉工程大学 | Aircraft towing robot and working method therefor |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101293349A (en) * | 2008-06-05 | 2008-10-29 | 广州大学 | Robot based on Wi-Fi |
| CN102103379A (en) * | 2009-12-17 | 2011-06-22 | 广州风神汽车有限公司 | Dispatching system of automated guided vehicle (AGV) |
| CN102233575A (en) * | 2010-04-23 | 2011-11-09 | 北京航空航天大学 | Small-sized emergency rescue and detection robot for nuclear radiation environment |
| WO2012020858A1 (en) * | 2010-08-11 | 2012-02-16 | (주) 퓨처로봇 | Intelligent driving robot for providing customer service and calculation in restaurants |
| CN205219095U (en) * | 2015-11-03 | 2016-05-11 | 汕头大学 | Intelligent movement platform of multi freedom arm |
| CN206899220U (en) * | 2017-02-10 | 2018-01-19 | 东方电气成都智能科技有限公司 | A kind of moving cart system based on mobile robot |
-
2017
- 2017-02-10 CN CN201710073716.8A patent/CN106584421A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101293349A (en) * | 2008-06-05 | 2008-10-29 | 广州大学 | Robot based on Wi-Fi |
| CN102103379A (en) * | 2009-12-17 | 2011-06-22 | 广州风神汽车有限公司 | Dispatching system of automated guided vehicle (AGV) |
| CN102233575A (en) * | 2010-04-23 | 2011-11-09 | 北京航空航天大学 | Small-sized emergency rescue and detection robot for nuclear radiation environment |
| WO2012020858A1 (en) * | 2010-08-11 | 2012-02-16 | (주) 퓨처로봇 | Intelligent driving robot for providing customer service and calculation in restaurants |
| CN205219095U (en) * | 2015-11-03 | 2016-05-11 | 汕头大学 | Intelligent movement platform of multi freedom arm |
| CN206899220U (en) * | 2017-02-10 | 2018-01-19 | 东方电气成都智能科技有限公司 | A kind of moving cart system based on mobile robot |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106945048A (en) * | 2017-05-08 | 2017-07-14 | 广州赫伽力智能科技有限公司 | A kind of intelligent mobile robot goes up yarn system automatically |
| CN109015587A (en) * | 2018-05-28 | 2018-12-18 | 上海锐铎自动化有限公司 | A kind of AGV vehicle equipped with gripper library |
| CN108569528A (en) * | 2018-07-17 | 2018-09-25 | 广东嘉腾机器人自动化有限公司 | Unmanned floor truck and automatic Material Handling System |
| CN109291031A (en) * | 2018-08-15 | 2019-02-01 | 北京思迈特科技有限公司 | A kind of cable duct crusing robot walking mechanism and its control system |
| CN109262620A (en) * | 2018-08-15 | 2019-01-25 | 北京思迈特科技有限公司 | A kind of cable duct crusing robot laser ranging system and its control system |
| CN108974818A (en) * | 2018-08-30 | 2018-12-11 | 南京灵雀智能制造有限公司 | A kind of industrial production material transfer robot |
| CN108974818B (en) * | 2018-08-30 | 2019-06-14 | 南京灵雀智能制造有限公司 | A kind of industrial production material transfer robot |
| CN109254583A (en) * | 2018-09-08 | 2019-01-22 | 华中农业大学 | Crawler type trolley field automatic information collecting device and method |
| CN110170978A (en) * | 2019-03-08 | 2019-08-27 | 华东师范大学 | A kind of omnidirectional's mechanical arm danger exploration robot |
| CN110275532A (en) * | 2019-06-21 | 2019-09-24 | 珠海格力智能装备有限公司 | Control method and device, the control method and device of visual apparatus of robot |
| CN110275532B (en) * | 2019-06-21 | 2020-12-15 | 珠海格力智能装备有限公司 | Robot control method and device and visual equipment control method and device |
| CN110209174A (en) * | 2019-06-28 | 2019-09-06 | 北京史河科技有限公司 | A kind of method and system for realizing robot navigation |
| CN110907221A (en) * | 2019-12-31 | 2020-03-24 | 哈工大机器人智能制造有限公司 | Mobile robot system for automatic temperature measurement and sampling of stokehold molten iron |
| WO2022160560A1 (en) * | 2021-01-28 | 2022-08-04 | 武汉工程大学 | Aircraft towing robot and working method therefor |
| CN113050625A (en) * | 2021-02-24 | 2021-06-29 | 东莞新友智能科技有限公司 | Novel AGV navigation device and control method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106584421A (en) | Mobile trolley system based on mobile robot | |
| CN106695742A (en) | Multi-joint mechanical arm system based on mobile robot | |
| CN103978474B (en) | A kind of job that requires special skills robot towards extreme environment | |
| CN206493309U (en) | A kind of pneumatic multi-jaw chuck device | |
| CN206899222U (en) | A kind of multi-joint mechanical arm system based on mobile robot | |
| CN106843213B (en) | Method for automatically planning movement and operation paths based on mobile robot | |
| CN106799737B (en) | Safe storage, transportation and fixed-point placement method for hazardous chemical liquid based on mobile robot | |
| CN202153615U (en) | Robot for transformer station device inspection tour | |
| CN106625567A (en) | Mobile robot for dangerous chemical solution extraction | |
| WO2017004943A1 (en) | Smart mobile detection platform for greenhouse | |
| CN106695741B (en) | A kind of method of mobile-robot system state-detection and initial work | |
| CN106813943B (en) | Dangerous chemical solution automatic positioning and quantitative extraction method based on mobile robot | |
| CN206899220U (en) | A kind of moving cart system based on mobile robot | |
| CN204248894U (en) | Transformer station's living water washing is auxiliary rushes robot control system | |
| CN103268111A (en) | Networked distribution type multiple-mobile-robot system | |
| CN109324649A (en) | A kind of compound cruising inspection system of substation and method | |
| CN204912140U (en) | Safety protection system for robot is washed in electrified water -washed of transformer substation | |
| CN106644588A (en) | Quantitative liquid taking device for dangerous chemical solution extraction | |
| CN106737556A (en) | A kind of danger solution extraction system based on mobile robot | |
| CN106799734B (en) | Method for automatically processing redundant hazardous chemical solution based on mobile robot | |
| CN206493308U (en) | A kind of mobile robot extracted for dangerization solution | |
| CN212256105U (en) | A intelligent vehicle is patrolled and examined to circuit for transformer substation | |
| CN104858166A (en) | Emergency control system and method of live-washing robot for low-altitude insulator | |
| CN203366398U (en) | Temperature inspection tour trolley for operation equipment of transformer station | |
| CN106873588B (en) | Hazardous chemical solution extraction method based on mobile robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170426 |
|
| RJ01 | Rejection of invention patent application after publication |