CN108238396A - A kind of action command learning method of mobile transfer robot based on FPD card - Google Patents
A kind of action command learning method of mobile transfer robot based on FPD card Download PDFInfo
- Publication number
- CN108238396A CN108238396A CN201810018738.9A CN201810018738A CN108238396A CN 108238396 A CN108238396 A CN 108238396A CN 201810018738 A CN201810018738 A CN 201810018738A CN 108238396 A CN108238396 A CN 108238396A
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- China
- Prior art keywords
- card
- transfer robot
- mobile transfer
- mobile
- action command
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
Abstract
The invention discloses a kind of action command learning method of mobile transfer robot based on FPD card, include the following steps：According to the mobile action to be completed of transfer robot, required instruction card is selected, and sequentially sort in the instruction card library of tablet computer；Scanner on mobile transfer robot is directed at tablet computer, plays selected instruction card picture successively using tablet computer, mobile transfer robot scans and obtains the card coding of each Zhang Zhiling cards successively；After often obtaining a card coding, the corresponding action command of present instruction card is obtained, and in the memory being stored in order in the control system of mobile transfer robot；All order card bridge queens have been read, sequentially take out the action command of preservation from memory successively and have performed corresponding action.The present invention, the mode using tablet computer switching command card learns action command, more convenient.
Description
The application is a kind of divisional application of Chinese invention patent application " mobile transfer robot and cargo rotation system ",
Application number：201711081485.1 the applying date：On November 7th, 2017.
Technical field
The present invention relates to intelligent robot technology fields, and in particular to a kind of mobile transfer robot is based on FPD card
The action command learning method of board.
Background technology
At this stage, largely mobile transfer robot and intelligence system are introduced into logistic storage selection home-delivery center, transhipment
The occasions such as center, logistics warehouse, workshop.This application, greatly improves work efficiency, reduces cost of labor.But
Existing intelligent mobile handling robot system has the following problems：
(1) whole system installation and debugging it is extremely complex, and the external of IT expert is needed to support, all modifications and
It installs and is required for being planned by supplier or robot system manufacturer integrator, user can not independently perform all changes
More.
(2) system while needs complicated external interface and software support for the particular/special requirement that has of technological infrastructure,
A large amount of extra-pays are caused, for example wireless network and center control dispatching, warehouse management software.If wireless network is sent out
Mistake occurs for raw suspension or center control dispatching, and mobile handling robot system can terminate traveling or generate scheduling
Mistake, production, selection dispatching to user generate loss.
(3) user's study is excessively difficult using robot system, needs expert training, some systems, which also need to user, volume
Journey experience is programmed system by special software on computer.
(4) user can not test the idea of oneself and quick Optimizing Flow, need the prolonged planning stage, advise again
The cost drawn is excessively high.
In view of this, it is badly in need of being improved existing intelligent mobile handling robot system, can realizes, without special
Family, user oneself can simply install foundation and reconstructing system.And system is immediately available, is controlled without wireless network and center
And the external interface and software support of the technological infrastructure such as dispatching and warehouse management software and complexity, without skill
The dependence of art infrastructure and external interface and software, the reliability of system will be improved.
Invention content
The technical problems to be solved by the invention are intelligent mobile handling robot system arrangement complexity, and be not easy to implement asks
Topic.
In order to solve the above-mentioned technical problem, there is provided a kind of mobile robots to be based on for the technical solution adopted in the present invention
The action command learning method of FPD card card, includes the following steps：
According to the mobile action to be completed of transfer robot, selected in the instruction card library of tablet computer required
Instruction card, and sequentially sort；
Scanner on mobile transfer robot is directed at tablet computer, plays selected finger successively using tablet computer
Card picture is enabled, mobile transfer robot scans and obtains the card coding of each Zhang Zhiling cards successively；
After often obtaining card coding, encode that obtain present instruction card with the action command table of comparisons corresponding according to card
An action command, and in the memory being stored in order in the control system of mobile transfer robot；
All order card bridge queens have been read, sequentially take out the action command of preservation from memory successively and have been held
The corresponding action of row.
In the above-mentioned methods, each described instruction card is encoded with unique card, and described instruction card is equipped with
Corresponding identification code is encoded with card, card coding is preserved in the control system of the mobile transfer robot and action refers to
The correspondence table of order.
In the above-mentioned methods, first instruction card that mobile robot is read is starts card, last order card
Board is terminates card.
In the above-mentioned methods, described instruction card includes navigation card, positioning card and action card.
In the above-mentioned methods, described instruction card includes robot self study card.
In the above-mentioned methods, described instruction card includes robot setting card.
In the above-mentioned methods, described instruction card includes mode setting card.
In the above-mentioned methods, described instruction card includes replying original state, empties learning Content card.
In the above-mentioned methods, described instruction card has a string of identical codes along its length, and the identification code is bar shaped
Code, Quick Response Code or square matrix code.
In the above-mentioned methods, the tablet computer is used to instruct the selection, sequence and broadcasting of card, and display divides into three
A part；
Centre shows broadcast area for large-size screen monitors, for showing an instruction card or continuously being played；
Right side region is instruction card library, the thumbnail of card is instructed for the institute people in idsplay order card library, for user
Selection；
Lower zone is sequence area, for being shown displayed across the thumbnail of the instruction card of user's selection, and can drag change
Sequentially.
The present invention does not need to issue action command by central control system, by instructing card or instructing the group of card
Study is closed, and then according to the action command automatic running learnt, can easily modify at any time and need not change and move
The plug-in of mobile robot, very convenient arrangement implements and system debug.And utilize tablet computer switching command card
Mode learns action command, more convenient.
Description of the drawings
Fig. 1 is the logistics of card or Workplace goods delivery system schematic based on instruction in the present invention；
Fig. 2 is transfer robot schematic diagram mobile in the present invention；
Fig. 3 is the discrepancy goods structural scheme of mechanism of mobile transfer robot in the present invention；
Fig. 4 is the mobile chassis schematic diagram of mobile transfer robot in the present invention；
Fig. 5 is enters goods transfer station schematic diagram in the present invention；
Fig. 6 is presses tongue schematic diagram in the present invention；
Fig. 7 is shipment transfer station schematic diagram in the present invention；
Fig. 8 is shipment bracket schematic diagram in the present invention；
Fig. 9 is the goods integration double-purpose transfer station schematic diagram that comes in and goes out in the present invention；
Figure 10 is that the action command learning method card setting of mobile transfer robot card based on instruction in the present invention is shown
It is intended to；
Figure 11-25 is the schematic diagram of different instruction card in the present invention；
The action command learning method flow chart of mobile transfer robot card based on instruction in Figure 26 present invention；
Figure 27 is action command learning method schematic diagram of the transfer robot based on FPD card mobile in the present invention；
Figure 28 is the method stream of the new card using the mobile transfer robot of existing card combinations generation control in the present invention
Cheng Tu.
Specific embodiment
The present invention provides the logistics or Workplace cargo intelligent distribution system of card based on instruction and mating with it
The action command study side of the mobile transfer robot that uses, interchange point and mobile transfer robot card based on instruction
Method, action command learning method of the mobile transfer robot based on FPD card generate control using existing card combinations
The method of the new card of mobile transfer robot.Method and system provided by the invention is controlled without central control computer and is moved
The operation of dynamic transfer robot, can be implemented with rapid deployment, user (staff, operator) can oneself according to demand to logical
Instruction card is crossed to modifying, it is easy to use, it is low to the reliability of technical specialist.Mobile transfer robot turns by cargo
During fortune station, the telescoping mechanism on upper body transport shelf is moved by the pressure lingual ribbon on interchange point and moves downward and then stays cargo
On shelf are entered or automatically the cargo on interchange point is blocked, it can be achieved that going out, being put in storage full-automation, simple in structure, manufacture
It is at low cost.The present invention is described in detail with specific embodiment with reference to the accompanying drawings of the specification.
As shown in Figure 1, the present invention is applied to logistics or Workplace cargo intelligently selection delivery system, which includes cloth
It puts colour band or magnetic stripe terrestrial reference in logistics or Workplace ground and carrying can be moved along what colour band or magnetic stripe terrestrial reference were run
Robot, the quantity of mobile transfer robot are not limited to one.Mobile transfer robot is equipped with visual sensor or electromagnetism passes
Sensor, visual sensor can be used for reading the colour band information on mobile chassis shiftable haulage line, and electromagnetic sensor can be sensed on ground
Magnetic strip information.Colour band or magnetic stripe terrestrial reference are pasted onto on the ground of logistics or Workplace, form the row of mobile transfer robot
Path is sailed, using the colour band or magnetic stripe terrestrial reference in visual sensor or electromagnetic sensor sensing ground, makes mobile transfer robot
Along colour band or magnetic stripe terrestrial reference automatic running, cargo is transported.
Logistics or Workplace are disposed with cargo storage area, goods warehousing area and cargo and go out goods area.Wherein, cargo storage area
Equipped with multigroup fixed goods shelf 701, cargo is placed on fixed goods shelf 701.Channel 711 and same row between two rows of fixed goods shelfs
Channel 710 between fixed goods shelf is the walking passageway for choosing staff 702, and staff 702 is only in fixed goods shelf for selection
Between channel 710,711 in walk.Goods warehousing area is equipped with into goods transfer station 708, and cargo goes out goods area equipped with shipment transfer station
707。
Be equipped with selection workspace 709 in the side of fixed goods shelf, the ground of selection workspace 709 be equipped with annular colour band or
The opposite place of channel 711 between magnetic stripe terrestrial reference, the annular colour band or magnetic stripe terrestrial reference and every two rows of fixed goods shelfs is equipped with arc color
The both ends of band or magnetic stripe terrestrial reference, arc colour band or magnetic stripe terrestrial reference are connected respectively with annular colour band or magnetic stripe terrestrial reference.Mobile carrying implement
Device people 703 travels along colour band or magnetic stripe terrestrial reference, forms the selection driving path 712 of mobile transfer robot.Choose workspace 709
It is connected respectively by entering library work area and going out library work area, enters library work area 713 and go out in library work area 714 to be also respectively equipped with ring
Shape and color band or magnetic stripe terrestrial reference respectively constitute the storage driving path 713 of mobile transfer robot and storage driving path 714, enter
Library driving path 713 and storage driving path 714 are connected with selection driving path 712, to realize that mobile transfer robot can edge
Storage driving path 713, storage driving path 714 and selection driving path 712 move, and realize the storage of cargo, choose and go out
Library.
It puts on equipped with selection transfer station 704 with choosing arc colour band or the magnetic stripe of driving path 712, is put in storage driving path
713 are equipped in goods warehousing area 708 into goods transfer station 706, and outbound driving path 714, which goes out in cargo in reservoir area 707, to be equipped with out
Goods transfer station 705.
Mobile transfer robot in selection transfer station 704, enter goods transfer station 706 and shipment transfer station 705 realizes cargo
Enter goods and shipment, that is, when entering goods, cargo thereon is placed on corresponding transfer station by mobile transfer robot, during shipment, is moved
Cargo on corresponding rotation station is removed transport to other rotations and stood by dynamic transfer robot.
In the present embodiment, cargo storage divides into Zuo Qu and You Qu, and goods warehousing area and cargo shipment area are deposited positioned at cargo
The homonymy in area is put, and is separated by the region of a convex shape, which forms the logical of mobile transfer robot traveling
Road goes out goods area corresponding to cargo storage area, goods warehousing area and cargo, is respectively formed selection driving path 712, storage traveling road
Diameter 713 and outbound driving path 714.
The operation principle of the present invention is as follows：
Goods warehousing：
After cargo reaches goods warehousing area 708, cargo is removed and is placed on goods transfer station 706 by staff, is moved
Dynamic transfer robot is passed by into goods transfer station 706, is loaded and is travelled along storage driving path 713, then travelled in storage
Path 713 and the intersection of selection driving path 712, drive into selection driving path 712, reach corresponding selection transfer station 704
Afterwards, it is discharged on selection transfer station 704, is removed, be placed on fixed goods shelf by staff.
Cargo outbound：
Staff removes cargo on fixed goods shelf and is placed on nearest selection transfer station 704, move according to order
Dynamic transfer robot selection transfer station 704, and cargo is loaded automatically, then along selection driving path 712 to reservoir area traveling is gone out, arrive
Up to outbound driving path 714 with after the intersection of selection driving path 712, driving into outbound driving path 714, and travel along outbound
Path 714 travels, and reaches shipment transfer station 705, cargo is discharged in automatically on shipment transfer station 705, is removed by staff
Entrucking.
As shown in Figure 2 and Figure 3, the mobile transfer robot in the present invention includes mobile chassis 502 and is fixed on mobile bottom
Transport shelf on 502 top surface of disk.It transports shelf and includes upper body transport shelf and discrepancy cargo aircraft structure.
Upper body transport shelf are using tower structure, including four supporting legs 501 being fixed on 502 top surface of mobile chassis,
Four supporting legs 501 are vertical with the top surface of mobile chassis 502, and the top of upper body transport shelf, which has, is arranged at intervals with multiple brackets.
The travel direction (front-rear direction) in gap and mobile chassis between bracket is consistent.
It is fixedly connected respectively by floor between two supporting legs 501 in left and right, the middle part difference of two floors of front and rear arrangement
If there are two spaced pillar, two pillars of correspondence and the top of supporting leg are connected respectively by stud 506, so as to
Form 4 brackets.
The cargo aircraft structure that comes in and goes out includes vertically disposed two levers 504, and two levers 504 are arranged on upper body by telescoping mechanism
On the trailing flank for transporting shelf, make the retraction downwards of lever 504 or upwards stretching bracket (stud by pushing or unclamping telescoping mechanism
506) top surface.
Telescoping mechanism includes guide plate 509, last item 503 and the spring 507 that guiding lever 504 moves up and down.Lever 504 divides
The upper and lower part of pillar, specifically, the trailing flank of each pillar are not arranged on by two guide plates 509 arranged up and down
Upper and lower part is respectively equipped with a guide plate 509, and guide plate 509 is equipped with pilot hole, and lever 504 is inserted into what is arranged up and down
In pilot hole on two guide plates 509, and it can be moved up and down along pilot hole.
The both ends of last item 503 are fixedly connected, and last item 503 can be relative to limit respectively by spacing ring with two levers 504
Position ring rotation, forms rolling shaft structure.Spring 507 is equipped between spacing ring and the guide plate of lower section 509.In two levers 504
Portion is fixed with baffle ring,
Towing post is stretched out on the top of lever 504, presses last item, and last item drives two levers 504 to overcome the resistance of spring downward
Movement, makes the height on the top of two levers 504 be less than the height of towing post, and cargo can transport on shelf from upper body and be transferred to cargo
On transfer station.
As shown in figure 4, in the present embodiment, for mobile chassis using 6 wheel mobile chassis, middle part sets that there are two differential gears
105, each arrangement one in left and right can realize that zero turning radius rotates, front and rear to be respectively equipped with driven wheel 107, be symmetrical arranged.
3 main sensors on mobile chassis are installed, including avoidance sensor 102, visual sensor 103 and stop walking
(Stop＆Go) sensor 111.Avoidance sensor 102 can be infrared sensor, sonac or laser sensor, position
In the front lower of mobile chassis, for detecting the obstacle in front, can actively stop avoiding barrier, keep the safety advanced away from
From.Visual sensor 103 is arranged on the bottom surface of mobile chassis, can be video camera or scanner, be read by visual sensor 103
Take code blocks or the bar code information such as patch colour band information and Quick Response Code on the ground, square matrix code and various types of bar codes；
Can also the bottom surface of mobile chassis set electromagnetic sensor, sense ground on magnetic strip information, if visual sensor 103 or
Electromagnetic sensor can not find colour band, will continue to be automatically stopped traveling after travelling a certain distance (for example 20 centimetres), then show
The warning lamp to report an error.Stop walking (Stop＆Go) sensor 111 at the rear portion of mobile chassis, removed for restarting movement after stopping
Robot is transported, without manual intervention.Specific implementation is：Stop walking (Stop＆Go) sensor 111 once detecting staff's
Foot moves, and system just sends out mobile transfer robot enabling signal, continues to travel immediately.
Mobile transfer robot automatic charging or can replace battery using rechargeable battery powered.Battery case is arranged on movement
The rear portion on chassis, at least 8 hours rechargeable battery duration can connect external power supply by charge port and charge, also may be used
More to renew battery.Battery case is equipped with the indicator light for being easy to observation.
The front and back of mobile transfer robot is respectively equipped with indicator light 108, can show that movement is removed by flickering
Robot is transported to turn left, turn right or keep straight on.The front of mobile transfer robot is equipped with indicator light 110, if flickering or being always on
Represent following information：
First indicator light shows mobile transfer robot software systems mistake or hardware error；
Second indicator light shows that mobile transfer robot battery capacity is insufficient；
Third indicator light shows that mobile transfer robot encounters barrier；
4th indicator light shows that mobile transfer robot has current goal information；
The rear end of mobile transfer robot is equipped with starting switch, and both sides are equipped with scram button 109.
Upper body transport shelf are equipped with starting switch and for detecting the sensing with the presence or absence of turnover box or cargo thereon
Device.
The cooperation realization that mobile transfer robot transports shelf and transfer station by upper body enters goods and shipment automatically.Transfer station
Including three kinds of structure types, individually enter goods transfer station, individual shipment transfer station and discrepancy goods integration double-purpose transfer station,
Enter goods transfer station and shipment transfer station can be used alone.
Include into goods shelf as shown in figure 5, entering goods transfer station and be fixed on and enter goods auxiliary goods frame into goods shelf side.
Enter goods shelf include it is left and right enter goods stent and be mutually parallel in left-right direction it is spaced it is multiple enter goods bracket
606, enter roller bearing arranged side by side there are two being set on the top surface of goods bracket 606.It is left and right enter goods stent between composition for movement remove
Transport robot by channel, it is left and right enter goods stent rear end stretch out upwards, the upper end of external part 601 is horizontal horizontal by entering goods
Bar 602 is fixedly connected, enter goods horizontal cross bar 602 lower face be equipped with it is multiple it is vertical enter goods lever 605, enter goods bracket 606
Rear end is fixed with entering goods lever 605, can be supported the cargo on mobile conveying robot upper part of human body transport shelf by entering goods lever 605
Gear is on the top surface for entering goods bracket 606.Enter on the gap between goods bracket 606 and the upper body transport shelf of mobile transfer robot
Bracket it is corresponding, the height of the bracket on the upper body transport shelf of mobile transfer robot is higher than the height into goods bracket 606,
The gap respectively entered between goods lever 605 passes through for bracket, avoids hindering the proper motion of mobile transfer robot, to ensure to move
Dynamic transfer robot can pass freely through.
The intermediate bottom surface for entering goods bracket 606 is equipped with pressure tongue 607, and pressure tongue 607 can ensure push last item, and make shifting
Lever 504 on dynamic transfer robot moves down into the top surface of upper body transport shelf hereinafter, the outer end of pressure tongue 607 is cambered surface, certainly
It is continuously decreased after forward direction away from ground level, as shown in Figure 6.
Enter goods auxiliary goods frame and include frame body, the top surface of frame body is equipped with multiple roller bearings 603, and the top surface direction of frame body enters goods goods
Frame direction tilts upwards, enters the height of goods auxiliary goods frame and gradually rises towards entering goods shelf direction.It is auxiliary that staff can will enter goods
The cargo on shelf is helped to shift onto on goods auxiliary goods frame, and the other end into goods auxiliary goods frame is slid into along inclined-plane.Enter goods auxiliary
Top surface of the shelf far from the one end for entering goods shelf is equipped with limiting plate, prevents cargo from skidded off on goods auxiliary goods frame from entering.
In use, when mobile transfer robot is by entering goods shelf, since the height of bracket 606 is less than mobile carrying implement
The height of the bracket of device people, mobile transfer robot lift cargo by bracket and advance in the top of bracket 606, at this time each bracket
606 and enter interlaced between goods lever 605 and lever 504, the end of pressure tongue 607 is contacted with last item, due to pressing tongue 607
End face is arc shape, and during mobile transfer robot is advanced, pressure tongue 607 gradually pushes the upper body of mobile transfer robot
The last item 503 on shelf is transported, then last item 503 drives lever 504 to move down, and is retracted into upper body transport shelf downwards
Hereinafter, lever 504 is made no longer to keep out in one end of cargo, mobile transfer robot moves on, and enters goods lever 605 and keeps out for top surface
Cargo is simultaneously stayed on bracket 606, and the cargo on upper body transport shelf is transferred on bracket 606, and entered goods lever 605 and kept off
Firmly, it completes once to enter goods.
As shown in fig. 7, shipment transfer station includes shipment shelf and the shipment auxiliary goods frame for being arranged on shipment shelf side.
Shipment shelf include left and right shipment stent and the spaced multiple shipment brackets that are mutually parallel in left-right direction
612, shipment bracket 612 is equipped with roller bearing, as shown in Figure 8.It forms between left and right shipment stent and leads to for mobile transfer robot
The channel crossed, the rear end of left and right shipment stent are stretched out upwards, and the upper end of external part is fixedly connected by shipment horizontal cross bar, is gone out
The lower face of goods horizontal cross bar is equipped with multiple vertical montants, and rear end and the montant of shipment bracket 612 are fixed, and montant prevents cargo
Deviate from from shipment shelf 612.Gap between shipment bracket 612 and the support on the upper body transport shelf of mobile transfer robot
Frame is corresponding, and the height of the bracket on the upper body transport shelf of mobile transfer robot is less than the height of shipment bracket 612, each perpendicular
Gap between bar passes through for bracket, avoids hindering the proper motion of mobile transfer robot, to ensure mobile conveying robot
People can pass freely through.
Shipment auxiliary goods frame includes shipment frame body, and the top surface of shipment frame body is equipped with multiple roller bearings, shipment auxiliary goods frame
Top surface is tilted down towards shipment shelf direction.Staff can shift the cargo on shipment auxiliary goods frame onto shipment goods along inclined-plane
On frame.
In use, when mobile transfer robot passes through shipment shelf, since the height of shipment bracket is carried higher than mobile
The height of the bracket of robot, mobile transfer robot lift cargo by bracket and advance in the lower section of bracket, each shipment at this time
Interlaced between bracket and montant and lever 504, in mobile transfer robot forward movement, lever drives shipment goods
Cargo on frame follows mobile transfer robot to move, so as to which cargo be made to be moved to the upper of mobile transfer robot from shipment bracket
On body transport shelf, a shipment is completed.
As shown in figure 9, come in and go out goods integration double-purpose transfer station by front and rear arrangement shipment transfer station and enter goods transfer station group
Into.Shipment transfer station and enter goods transfer station using the shipment transfer station of above structure and enter goods transfer station, and the two it
Between be fixedly connected by the connecting bracket of a frame-type.
The present invention, setting transport shelf, transport lever there are two being set on shelf, can will be gone out by lever on mobile chassis
Cargo on shelf is taken away, while lever is also connected with being equipped with telescoping mechanism, can be set on shelf are entered and can trigger the telescoping mechanism
Pressure tongue, when transporting shelf by going out shelf, then cargo is stayed in into goods by the way that lingual ribbon is pressed to move telescoping mechanism and move downward
On frame, using simple mechanical structure, so that it may realize out, be put in storage full-automation, simple in structure, manufacture is at low cost, highly
It promotes and uses.
In the present invention, the automatic running of mobile transfer robot does not need to central control computer, control mode be from
The inspiration obtained in card games, mobile transfer robot can pass through a variety of different instruction cards or the group of different instruction card
Conjunction carries out instruction study, and obtains corresponding action command, and user can very easily be carried using instruction card to mobile
Robot issues action command and gives specific information.The invention mainly comprises the following aspects.
First, the logistics of card or Workplace goods delivery system based on instruction.
The system includes：
Colour band or magnetic stripe terrestrial reference, are arranged on the ground of logistics or Workplace, are transported automatically as mobile transfer robot
Capable travel route.
Mobile transfer robot, chassis are equipped with electromagnetic sensor, sense ground colour band or magnetic using electromagnetic sensor
Terrestrial reference simultaneously can realize automatic running along colour band or the operation of magnetic stripe terrestrial reference.
Card is instructed, each instruct is respectively equipped with its unique corresponding card coding in card and is encoded with card
Corresponding identification code.
Corresponding table of the card coding with action command is preserved in the control system of mobile transfer robot.
Instruction card is pasted onto on the ground beside colour band or magnetic stripe terrestrial reference, and mobile transfer robot passes through scan instruction card
Card coding on board obtains action command.
Specifically, the chassis of mobile transfer robot is equipped with scanner, and mobile transfer robot is along colour band or magnetic stripe
Automatic running is marked, when by instructing card, the identification code in instruction card is read by scanner, which can be item
Shape code, Quick Response Code or square matrix code obtain card coding using identification code and encode table corresponding with action command by searching for card
Corresponding action command is obtained, corresponding action is then performed according to action command.
In a kind of specific embodiment as shown in Figure 10, the colour band or magnetic stripe terrestrial reference that are arranged on place include straight line
Colour band 302 or straight line magnetic stripe and an arcuate limb 305 being connected with its middle part, straight line colour band 302 or straight line magnetic stripe and arc
Branch 305 forms the travel route of mobile transfer robot 301, can be by straight line colour band 302 or straight line magnetic stripe and arc
The mobile transfer robot 301 of setting instruction card control selects the travel route after joint in front of the joint of branch, such as
Continue to travel along straight-line travelling or the arcuately branch 305 that turns.
Wherein 303 be navigation card, for example, mobile transfer robot can be notified to turn right or keep straight on, while
It is fork road here that can tell mobile transfer robot.Wherein 304,305 be location information while or mobile carrying
Robot halt instruction card, mobile transfer robot are run in the card according to the instruction in card, for example stop 30 seconds,
It 60 seconds or directly stops and waits for staff and stops and walk (Stop＆Go) sensor by the rear of mobile transfer robot,
The movement of people's sensor detecting work personnel's foot, the rear device people's enabling signal for providing machine, machine continue to run with.
Such as：Right-hand bend card 303 is pasted on the ground beside colour band or magnetic stripe terrestrial reference in front of joint, then is moved
When transfer robot 301 is driven to herein, automatically scanning right-hand bend card 303 obtains right-hand bend action command, and then movement is removed
Robot 301 is transported by that after joint, will turn right and drive into arcuate limb 305.If it is not provided with right-hand bend card
303, then transfer robot 301 is moved by continuing after joint along straight-line travelling.
It can respectively be pasted with and stop in the terminal point of the terminal point and arcuate limb 305 of straight line colour band 302 or straight line magnetic stripe
Only card 304 when mobile transfer robot 301 drives to terminal, stop card 304 by scanning, obtain instruction out of service,
Then it moves transfer robot and stops at terminal.
Described above is a kind of simplest application mode, can be with for complicated travel route or control mode
It is controlled by the way of multiple card combinations.
Such as：Deceleration card and turning card are sequentially placed, then moving transfer robot can be carried out with slower speed
Turning.Into after straight line, card can also be accelerated to give it the gun by setting again.
In the present invention, instruction card is designed using What You See Is What You Get, the programming without user (staff, operator)
Knowledge.In order to which user is allowed to facilitate arrangement card, mark of the four kinds of patterns of playing card as the arrangement concluded has been used.Along colour band
The card of path bonding, to provide the information of related path layout, target point and action command to mobile transfer robot.Together
When card on have chart and explanatory note, user is facilitated to understand the meaning of card.Instruction card can have following a few classes：
(1) navigation in path point, positioning and action command card.
Such instruction card pattern is diamond, for setting path layout, target point and operational order,
For example：Setting is turned left, the navigation instruction card turned right etc., and setting anchor point (refers to until staff gives
Enabling can just move on) positioning instruction card, setting stops the action command card of specific time (for example stop one minute).
As shown in figure 11, wherein 202 be for the corresponding unique Quick Response Code of each type card, in stripe-arrangement.203 are
Arrow represents the direction of card stickup on the ground, i.e., the direction that the direction pastes the colour band on landing ground.
204 be the unique number of card number, and for example D represents the classification of diamond pattern representative, and 00001 represents the card in the category
The son number in face.205 explanatory notes and card name brief for card, user oneself can define, and 206 be the card
Icon representation understands the meaning that the card represents convenient for user at a glance.207 be the pattern icon of similar playing card, just
In user for card summarizing.208 be the further specific description of card, for example Target id 1.209 is use the card
The Business Name of board using the specific warehouse or construction number of the card, ensures to obscure in this way, because some companies exist
There is specifically defined card inside different particular warehouses or factory.
Instruction card shown in Figure 12 represents to stop 30 seconds in the position.
Instruction card shown in Figure 13 is represented in traveling speed doublings.
Instruction card shown in Figure 14, expression are turned right in the position.
Instruction card shown in figure 15, expression are turned left in the position.
(2) mobile transfer robot self study card.
Pattern is plum blossom, by the setting of card, mobile transfer robot can be allowed to learn the environmental information in entire place
Deng, such as rotate the position at station, quantity etc..
Instruction card as shown in figure 16 represents that there are 18 rotations to stand in the place.
Instruction card as shown in figure 17 represents that mobile transfer robot will stay on a Nr1 rotations station.
(3) mobile transfer robot setting card.
Pattern is red heart, and for mobile transfer robot travel speed, turning speed to be set or adjusted, acceleration slows down
Degree, enables into the speed of automatic transfer station and residence time or function.For example, it is possible to specify mobile conveying robot
People opens or closes corresponding function, specifies the threshold values of mobile transfer robot charging, if open alarm promoted the tinkle of bells and
A series of other mobile transfer robot setting instructions.
Instruction card as shown in figure 18, expression travel speed are 0.8 meter per second.
Instruction card as shown in figure 19, expression acceleration are 1 meter per second square (1m/s2).
Instruction card as shown in figure 20 represents to close alarm song.
Instruction card as shown in figure 21 represents that order starts.
Instruction card as shown in figure 22 represents that order terminates.
(4) mode setting card.
Pattern is spade, for setting operational mode of the mobile transfer robot under different application scenarios, for example storehouse
The operating parameter of storing stream mode, production logistics pattern, the pattern of quality testing etc., including under this pattern travel speed, turn
Curved speed etc..
Instruction card as shown in figure 23 represents warehouse logistics pattern, after mobile transfer robot reads the card, moves
Dynamic transfer robot will enter logistic storage application model, and a series of speed reports an error, and the setting of stop will be assigned to the shifting
Dynamic transfer robot.
(5) other special setting cards.
Pattern is clown's board, such as：Original state is replied, empties learning Content etc..
Card is instructed as of fig. 24, represents to reply original state.
Instruction card as shown in figure 25, expression empty learning Content.
The instruction card bonded along ribbon path can also provide the life of mobile transfer robot by the form of combination
It enables.For example using being multiplied by 2 cards, stopping behind card, move in this way transfer robot rest on appointed place when
Between can become 2 double-lengths.
When mobile transfer robot is read or during study instruction card, mobile transfer robot can automatic reduction of speed, believe simultaneously
Number indicator light can light, and notify staff, mobile transfer robot correctly reads and learn instruction, in case of wrong
Accidentally, the false alarm indicator light of mobile transfer robot can light prompting staff.
The logistics of card or Workplace cargo intelligent distribution system based on instruction, by instructing card or card combinations
Action command, the running route of rapid deployment movement transfer robot and operation mould can be assigned to mobile transfer robot
Formula, without complicated central control system, staff can easily realize.Also, staff can be referred to by setting
Card is enabled to be described, set and optimize the working map of existing mobile transfer robot, so as to obtain best route rule
It draws.
2nd, the action command learning method of mobile transfer robot card based on instruction.
Existing mobile transfer robot is typically based on the action command that central control system issues and realizes automatic fortune
Row, and the present invention is based on the instruction logistics of card or Workplace cargo intelligent distribution systems, it is proposed that a kind of mobile carrying implement
The action command learning method of device people card based on instruction, does not need to the action command issued by central control system, mobile
Transfer robot can be by instructing card or instructing the ensemble learning action command of card, and then is ordered according to the action learnt
Enable automatic running.
This method can be completed in mobile transfer robot operational process, can also first be learnt, then automatic fortune
Row.As shown in Figure 10, Figure 26, Figure 27, this method includes the following steps：
According to the action that mobile transfer robot will be realized, select corresponding instruction card or instruct the group of card
It closes, and the instruction card of the mobile machine operation of these controls is placed in order on the running route of mobile transfer robot；
Mobile transfer robot traveling passes by all instructions card put, and scan successively in order in the process of moving
Obtain the card coding of each Zhang Zhiling cards；
After often obtaining card coding, encode that obtain present instruction card with the action command table of comparisons corresponding according to card
An action command, and in the memory being stored in order in the control system of mobile transfer robot；
All order card bridge queens have been read, sequentially take out action command from memory successively and have been performed corresponding
Action.
Wherein, to start card, last instruction card is first instruction card that mobile transfer robot is read
Terminate card.
It is exemplified below：
Following card is put in order：
Order start -0.8 meter per second of speed-stop Nr1 transfer stations-stopping 30 seconds -1.5 meter per second of speed-stop Nr2 transfer stations -
Alarm song-order is closed to terminate.
Mobile transfer robot scans above-mentioned card successively, learns the instruction in card.
After the completion of study, mobile transfer robot is such as given an order, and is travelled with the speed of 0.8 meter per second, and enters Nr1
Transfer station is stopped 30 seconds in Nr1 transfer stations, is then travelled with the speed of 1.5 meter per seconds, and carry out Nr2 transfer stations, closes alarm
Sound simultaneously stops at Nr2 transfer stations.
It is this to obtain operating instruction by way of card study, it can easily modify and need not change at any time
Program, very convenient arrangement implements and system debug.
3rd, mobile action command learning method of the transfer robot based on FPD card.
The action command learning method of above-mentioned mobile transfer robot card based on instruction, needs a variety of instruction card combinations
It puts, it is very inconvenient, and easily malfunction.For this purpose, the present invention proposes a kind of improved method, that is, move transfer robot
Action command learning method based on FPD card learns action life using the mode of tablet computer switching command card
It enables.This method includes the following steps：
According to the mobile action to be completed of transfer robot, selected in the instruction card library of tablet computer required
Instruction card, and sequentially sort；
Scanner on mobile transfer robot is directed at tablet computer, plays selected finger successively using tablet computer
Card picture is enabled, mobile transfer robot scans and obtains the card coding of each Zhang Zhiling cards successively；
After often obtaining card coding, encode that obtain present instruction card with the action command table of comparisons corresponding according to card
An action command, and in the memory being stored in order in the control system of mobile transfer robot；
All order card bridge queens have been read, sequentially take out the action command of preservation from memory successively and have been held
The corresponding action of row.
Tablet computer is used to instruct the selection, sequence and broadcasting of card.Wherein, three portions are divided into the display of tablet computer
Point.
Centre shows broadcast area for large-size screen monitors, shows an instruction card or is continuously played.
Right side region is to instruct card library, and people from institute in idsplay order card library instructs the thumbnail of card, is selected for user.
Lower zone is sequence area, is shown displayed across the thumbnail of the instruction card of user's selection, and can drag change sequence.
In use, user clicks order card board from the instruction card library of right side region, selected instruction card is shown in
Centre shows broadcast area, and is added to simultaneously in the sequence area of lower section.
After the completion of selection, broadcast button is clicked, then the instruction card to sort in area exists successively according to the sequencing of selection
Show that broadcast area plays.
User can change the sequence of instruction card in sequence area by way of dragging, be adjusted or debug.
4th, the method for the new card of combination producing of existing card is utilized.
In practical applications, the instruction card of the mobile conveying robot human action of existing control can not meet the need of user sometimes
It asks, and makes that new instruction card is more complicated, and has stylish instruction card only disposable, to keep away
Exempt to waste, improve efficiency, the present invention proposes a kind of neocaine that the mobile transfer robot of control is generated using existing card combinations
The method of board, as shown in figure 28, this method includes the following steps：
Step 1401：Multiple existing instruction cards of the action can be implemented in combination by being selected according to new action command；
Step 1402：Mobile transfer robot reading order first starts card；
Step 1403：It is successively read existing instruction card in order, after often obtaining a card coding, is encoded according to card
The corresponding action command of present instruction card is obtained, and preserve in order with the action command table of comparisons；
Step 1404：Mobile transfer robot has read existing order card bridge queen, then read the instruction card of a blank,
Obtain card number；
Step 1405：Reading order terminates card；
Step 1406：Sequentially each action command of preservation is taken out successively and is combined into a new element life
It enables, the new element order and card number is added in card coding and the action command table of comparisons.
In this way, the instruction card of this blank is just provided with function possessed by existing combination card.
Action command content can be marked in this new command card.
The beneficial effects of the present invention are：
(1) entire system does not need to be integrated into the IT management systems of an entirety, can independent arrangement, avoid a large amount of systems
The integrated expense expenditure of system.And modification vehicle line as needed that can quickly, flexible without complicated installation and
Prepare.System is very flexible, can be customized according to specific requirements and changed when needed.
(2) system can implement (Plug＆Work/Plug＆Play) immediately, do not need to set up WLAN (WLAN) or
Cruise Control Module and scheduling and control software.
(3) system operatio is intuitive, and user does not need to training or Special Training.
(4) the card design of the What You See Is What You Get of innovation, the programming knowledge without user (staff, operator).For
User is allowed to facilitate arrangement card, has used mark of the four kinds of patterns of playing card as the arrangement concluded.Have in card simultaneously
Chart and explanatory note facilitate user to understand the meaning of card.
(5) card has an endless combinations, user (staff, operator) can oneself according to demand to by card to moving
Dynamic handling robot system is modified.
(6) user can newly define card by the combination of old card, without upgrading the inside of mobile transfer robot
Software, mobile transfer robot can learn new pattern and instruction.
(7) code-bar that card has string of code identical along its length, it is ensured that mobile transfer robot reads code
Item, and navigate under driving mode in card, it is ensured that mobile transfer robot is accurately stopped on the last one code.
(8) mobile conveying robot upper part of human body stent and transfer station proposed by the present invention, are all simple pure mechanic structure, do not have
There are auxiliary electrical or pneumatic consumption, do not need to carry out wiring, it is non-maintaining.
(9) it is supported using the reading that the electronic ink screen tablet or ordinary flat of low-power consumption can dynamically be shown, this
Sample can dynamically give card, more convenient user's operation.
(10) user (staff, operator) oneself can change travel route and stop quickly through the use of card
Point is supported without outside.It easily can change or be adapted to the vehicle line and anchor point of mobile transfer robot.Easily
Addition and removal transfer station, connect goods yard and put, position of getting in stocks.
(11) whether mobile transfer robot can be has turnover box, by being mounted on the pallet of automatic sensing upper body stent
The sensor (for example, photoelectric sensor) of the upper body stent of special designing is identified.It is upper on mobile transfer robot simultaneously
Another sensor (for example, photoelectric sensor) of body stent may determine that on transfer station whether there is turnover box.
There is the ingehious design worked in coordination between (12) three kinds of stents, wherein the upper body stent for moving transfer robot is high
Degree is higher than the L-type support bottom level into the stent of goods transfer station, and less than shipment transfer station L-type support bottom level.It is mobile
The upper body stent of transfer robot and the plan-position of L-type support bottom for entering goods and shipment transfer station intersect successively, do not do mutually
It relates to.
(13) special designing stop and walk (Stop＆Go) sensor can improve working efficiency.Stop and walk (Stop＆Go) biography
Sensor is on the trailing flank of mobile transfer robot, after mobile transfer robot stops, being passed by stopping and walking (Stop＆Go)
The mobile transfer robot of sensor restarting, without manual intervention.Realization method is：Stop and walk (Stop＆Go) sensor once
The movement of foot is detected, mobile transfer robot enabling signal is just provided immediately, machine can continue to travel.
(14) stent on mobile transfer robot also provides button, and user does not need to bend over by positioned at mobile conveying robot
Button on people.
(15) transfer station has several designs, individually enters goods transfer station, individual shipment transfer station, and the goods that comes in and goes out integrally is transported
It stands, also double-deck or multilayer transfer station design.Transfer station can arrange in pairs or groups idler wheel simultaneously, can be accelerated by the gravity of the gradient
Degree is realized unloads goods on automatic, provides storage efficiency.
(16) field division is picking staff's service aisle, and mobile transfer robot special mobile channel, work people
Member and mobile transfer robot had not only ensured safety but also can ensure that mobile transfer robot moves at a high speed in different channels operations
It is dynamic.Mobile transfer robot does not enter inside the road of people's picking, and the driving path of mobile transfer robot is simply single.By turning
The use at station is transported, mobile transfer robot can automatically take turnover box, and can support to deposit on transfer station from transfer station
Multiple turnover boxes are taken, are greatly improved the efficiency.
The present invention is set there are two telescopic lever on the transport shelf on mobile chassis, when by interchange point,
It telescoping mechanism is moved by the pressure lingual ribbon on interchange point moves downward and then cargo is stayed on shelf or is blocked automatically
Cargo on interchange point, using simple mechanical structure, so that it may it realizes out, be put in storage full-automation, it is simple in structure, it is manufactured into
This is low.
The present invention is not limited to above-mentioned preferred forms, and anyone should learn that the knots made under the enlightenment of the present invention
Structure changes, and the technical schemes that are same or similar to the present invention are each fallen within protection scope of the present invention.
Claims (10)
1. a kind of action command learning method of mobile transfer robot based on FPD card, which is characterized in that including with
Lower step：
According to the mobile action to be completed of transfer robot, required finger is selected in the instruction card library of tablet computer
Card is enabled, and is sequentially sorted；
Scanner on mobile transfer robot is directed at tablet computer, plays selected order card successively using tablet computer
Board picture, mobile transfer robot scan and obtain the card coding of each Zhang Zhiling cards successively；
After often obtaining a card coding, encoded according to card and obtain present instruction card corresponding one with the action command table of comparisons
Action command, and in the memory being stored in order in the control system of mobile transfer robot；
All order card bridge queens have been read, sequentially take out the action command of preservation from memory successively and have performed phase
The action answered.
2. action command learning method of the mobile transfer robot according to claim 1 based on FPD card,
It is characterized in that, each described instruction card is encoded with unique card, and described instruction card is equipped with and encodes phase with card
Corresponding identification code preserves the correspondence table of card coding and action command in the control system of the mobile transfer robot.
3. action command learning method of the mobile transfer robot according to claim 1 based on FPD card,
It is characterized in that, first instruction card that mobile transfer robot is read is starts card, last instruction card is terminates
Card.
4. action command learning method of the mobile transfer robot according to claim 1 based on FPD card,
It is characterized in that, described instruction card is included for navigation card, positioning card and the action command card in path point.
5. action command learning method of the mobile transfer robot according to claim 1 based on FPD card,
It is characterized in that, described instruction card includes the self study card for moving transfer robot autonomous learning.
6. action command learning method of the mobile transfer robot according to claim 1 based on FPD card,
It is characterized in that, described instruction card includes the setting card for mobile transfer robot operating parameter to be set or adjusted.
7. action command learning method of the mobile transfer robot according to claim 1 based on FPD card,
It is characterized in that, described instruction card includes setting operational mode of the mobile transfer robot under different application scenarios
Mode setting card.
8. action command learning method of the mobile transfer robot according to claim 1 based on FPD card,
It is characterized in that, described instruction card includes setting what mobile transfer robot replied original state to empty learning Content card
Board.
9. action command learning method of the mobile transfer robot according to claim 1 based on FPD card,
It is characterized in that, described instruction card has a string of identical identification codes along its length, and the identification code is bar code, Quick Response Code
Or square matrix code.
10. action command learning method of the mobile transfer robot according to claim 1 based on FPD card, institute
Tablet computer is stated for instructing the selection, sequence and broadcasting of card, three parts are divided into display；
Centre shows broadcast area for large-size screen monitors, for showing an instruction card or continuously being played；
Right side region is instruction card library, and the thumbnail of card is instructed for the institute people in idsplay order card library, is selected for user；
Lower zone is sequence area, for being shown displayed across the thumbnail of the instruction card of user's selection, and can drag change sequence.
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| CN201810018738.9A CN108238396B (en) | 2017-11-07 | 2017-11-07 | Mobile action command learning method of the transfer robot based on FPD card |
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| CN201810018738.9A CN108238396B (en) | 2017-11-07 | 2017-11-07 | Mobile action command learning method of the transfer robot based on FPD card |
| CN201711081485.1A CN107720074B (en) | 2017-11-07 | 2017-11-07 | Mobile transfer robot and cargo rotating system |
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| CN108238396B CN108238396B (en) | 2019-04-12 |
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| CN201810018738.9A Active CN108238396B (en) | 2017-11-07 | 2017-11-07 | Mobile action command learning method of the transfer robot based on FPD card |
| CN201810019485.7A Active CN108238397B (en) | 2017-11-07 | 2017-11-07 | The method of the new card of control mobile robot is generated using existing card combinations |
| CN201810018737.4A Active CN108163436B (en) | 2017-11-07 | 2017-11-07 | A kind of logistics or Workplace goods delivery system of card based on instruction |
| CN201711081485.1A Active CN107720074B (en) | 2017-11-07 | 2017-11-07 | Mobile transfer robot and cargo rotating system |
| CN201810019074.8A Active CN108217036B (en) | 2017-11-07 | 2017-11-07 | A kind of action command learning method of mobile transfer robot card based on instruction |
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| CN201810018737.4A Active CN108163436B (en) | 2017-11-07 | 2017-11-07 | A kind of logistics or Workplace goods delivery system of card based on instruction |
| CN201711081485.1A Active CN107720074B (en) | 2017-11-07 | 2017-11-07 | Mobile transfer robot and cargo rotating system |
| CN201810019074.8A Active CN108217036B (en) | 2017-11-07 | 2017-11-07 | A kind of action command learning method of mobile transfer robot card based on instruction |
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| CN109872600A (en) * | 2019-03-26 | 2019-06-11 | 杭州合学教育科技有限公司 | Automobile teaching aid object block method for carrying and device, readable storage medium storing program for executing and terminal |
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| CN109516051B (en) * | 2018-12-25 | 2024-02-20 | 昆山新宁物流有限公司 | Automatic change system of choosing |
| CN113733043A (en) * | 2021-09-24 | 2021-12-03 | 深圳先进技术研究院 | Automatic delivery robot and automatic driving method thereof |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN108163436A (en) | 2018-06-15 |
| CN107720074A (en) | 2018-02-23 |
| CN108217036B (en) | 2019-04-12 |
| CN108238397B (en) | 2019-05-24 |
| CN108163436B (en) | 2019-05-03 |
| CN108217036A (en) | 2018-06-29 |
| CN108238397A (en) | 2018-07-03 |
| CN108238396B (en) | 2019-04-12 |
| CN107720074B (en) | 2020-01-21 |
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