CN218273162U

CN218273162U - Logistics storage and transportation robot

Info

Publication number: CN218273162U
Application number: CN202222689231.0U
Authority: CN
Inventors: 侯程坤
Original assignee: Iray Technology Co Ltd
Current assignee: Iray Technology Co Ltd
Priority date: 2022-10-12
Filing date: 2022-10-12
Publication date: 2023-01-10
Anticipated expiration: 2032-10-12

Abstract

The utility model discloses a logistics storage transport robot, including the automobile body, link to each other with the automobile body and be used for the walking to turn to the chassis to and set up on the automobile body, be used for monitoring the detector of the road information in the direction of travel the place ahead of automobile body, install the a steering system who is used for control to turn to the state on the chassis, the detector keeps signal connection with a steering system, when having the barrier in order to detect the direction of travel the place ahead of automobile body in advance to predetermine the distance, turns to through a steering system control chassis in order to bypass the barrier. Therefore, in the transportation operation process, the road environment is monitored in real time through the detector, when the obstacle is monitored to exist on the preset running route, the chassis can be timely steered through the steering system, the running direction of the vehicle body is changed, the obstacle is temporarily bypassed, and then the vehicle returns to the preset running route, so that the obstacle can be timely avoided in the transportation operation process, the collision accident is prevented, meanwhile, the operation interruption is avoided, and the operation efficiency is improved.

Description

Logistics storage and transportation robot

Technical Field

The utility model relates to the technical field of robot, in particular to logistics storage transportation robot.

Background

With the development of robotics and artificial intelligence, logistics storage and transportation robots are beginning to be widely used.

At present, logistics storage and transportation robots are often applied to environments such as logistics industry, storage industry, factory workshops and the like, for example, AGVs (Automated Guided vehicles) and the like, can travel along a specified guide path, and have safety protection and various transfer functions.

In the prior art, a logistics storage transportation robot is generally provided with a preset walking route in the transportation process, or an electromagnetic track and the like are used for assisting in establishing a walking route, under an ideal condition, the logistics storage transportation robot can smoothly complete transportation tasks along the preset walking route, but in the actual operation process, obstacles such as stones, fallen goods, occasionally passing pedestrians or other robots and the like often appear on the preset walking route, when the obstacles appear, the traditional logistics storage transportation robot either cannot perform corresponding processing, so that the obstacles are directly hit, loss and safety risks are caused, or only the transportation robots are suspended in place, then a controller gives a false alarm, and a manager is informed to perform manual processing, so that the transportation tasks cannot be continuously executed, the operation is interrupted, and the operation efficiency is not high.

Therefore, how to avoid the obstacle in time during the transportation operation to prevent the collision accident, and meanwhile, to avoid the operation interruption and to improve the operation efficiency is a technical problem faced by the technical personnel in the field.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a logistics storage transport robot can in time avoid the barrier in the transportation operation process, prevents to cause the collision accident, avoids the operation to break simultaneously, improves the operating efficiency.

In order to solve the technical problem, the utility model provides a logistics storage transportation robot, including the automobile body, with the automobile body links to each other and is used for the walking to turn to the chassis, and set up in on the automobile body, be used for the monitoring the detector of the road information in the direction of travel the place ahead of automobile body, install the a steering system who is used for control to turn to the state on the chassis, the detector with a steering system keeps signal connection, in order the detector detects when the barrier exists in the direction of travel the place ahead of automobile body in the preset distance, through a steering system control the chassis turns to in order to bypass the barrier.

Preferably, the detector comprises a laser radar for detecting an environment within a preset radius around the vehicle body and mapping the road information.

Preferably, the detector further comprises an image sensor and a screening module, wherein the image sensor is used for acquiring image information in a preset range in front of the vehicle body in the driving direction, and the screening module is used for identifying an obstacle from the image information.

Preferably, the image sensor includes a visible light photographing module and an infrared photographing module.

Preferably, the lateral wall of automobile body is provided with slidable door, be provided with in the automobile body and store the cabinet, store and install the temperature control system who is used for the interior temperature of switch board in the cabinet.

Preferably, a human-computer interaction interface is arranged at the front end of the vehicle body and used for displaying information and receiving and sending control instructions.

Preferably, the rear end of automobile body is provided with wireless charging receiver for charge with the wireless cooperation of charging stake.

Preferably, the top end of the vehicle body is provided with a photovoltaic power generation panel for generating power through sunlight.

Preferably, a plurality of rollers are arranged on the bottom surface of the chassis, and the steering system is used for controlling the steering state of each roller.

Preferably, the steering system is provided in plurality, and each steering system is used for controlling the steering state of the corresponding roller.

The utility model provides a logistics storage transport robot mainly includes automobile body, chassis, detector. The vehicle body is a main body structure of the robot and is mainly used for mounting and accommodating other parts. The chassis is the substructure of robot, connects in the bottom of automobile body, and mainly used realizes walking and the motion of turning to drive the automobile body and walk and turn to the motion in step. A steering system is mounted on the chassis, and is dedicated to controlling the steering state of the chassis, thereby controlling the traveling direction of the vehicle body. The detector is a core component, is arranged on the vehicle body and is in signal connection with a steering system on the chassis, and is mainly used for monitoring road information in front of the driving direction of the vehicle body so as to send a control instruction to the steering system when an obstacle exists in a preset distance in front of the driving direction of the vehicle body, so that the steering system controls the chassis to steer at a preset position according to the instruction content, and the driving direction of the vehicle body is changed in time so as to bypass the obstacle. Therefore, the utility model provides a logistics storage transport robot, in the transportation operation process, through the real-time supervision of detector to road environment, when monitoring on predetermineeing the route and having the barrier, can in time carry out the chassis through a steering system and turn to, change automobile body direction of traveling to on the temporary barrier of circumventing regresses and predetermines the route of traveling, consequently can in time avoid the barrier in the transportation operation process, prevent to cause the collision accident, avoid the operation to break simultaneously, the operating efficiency is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a schematic overall structure diagram of a specific embodiment of the present invention.

Fig. 2 is another view of fig. 1.

Fig. 3 is a detailed structural diagram of the chassis.

Fig. 4 is a schematic diagram of a module structure of the detector.

Wherein, in fig. 1-4:

the system comprises a vehicle body-1, a chassis-2, a detector-3, a vehicle door-4, a storage cabinet-5, a human-computer interaction interface-6, a wireless charging receiver-7, a wireless charging pile-8 and a photovoltaic power generation board-9;

a steering system-21, a roller-22, a laser radar-31, an image sensor-32 and a screening module-33.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1, fig. 1 is a schematic diagram of an overall structure of an embodiment of the present invention.

The utility model provides an among the concrete implementation mode, logistics storage transport robot mainly includes automobile body 1, chassis 2, detector 3.

The vehicle body 1 is a main structure of the robot and is mainly used for mounting and accommodating other parts.

The chassis 2 is a bottom structure of the robot, is connected to the bottom of the vehicle body 1, and is mainly used for realizing walking and steering movement so as to drive the vehicle body 1 to synchronously walk and steer. A steering system 21 is mounted on the chassis 2, and the steering system 21 is dedicated to controlling the steering state of the chassis 2, thereby controlling the traveling direction of the vehicle body 1.

The detector 3 is a core component, is arranged on the vehicle body 1, is in signal connection with a steering system 21 on the chassis 2, and is mainly used for monitoring road information in front of the traveling direction of the vehicle body 1, so as to send a control instruction to the steering system 21 when detecting that an obstacle exists in a preset distance in front of the traveling direction of the vehicle body 1, so that the steering system 21 controls the chassis 2 to steer at a preset position according to the instruction content, thereby timely changing the traveling direction of the vehicle body 1 so as to bypass the obstacle.

So, the logistics storage transport robot that this embodiment provided, in the transportation operation process, through the real-time supervision of detector 3 to road environment, when monitoring to have the barrier on predetermineeing the route of traveling, can in time carry out chassis 2 through a steering system 21 and turn to, change automobile body 1 direction of traveling, return on predetermineeing the route of traveling again with temporarily bypassing the barrier, consequently, can in time avoid the barrier in the transportation operation process, prevent to cause the collision accident, avoid the operation interrupt simultaneously, the operating efficiency is improved.

As shown in fig. 4, fig. 4 is a schematic block diagram of the detector 3.

In an alternative embodiment with respect to the detector 3, the detector 3 mainly comprises a laser radar 31. The laser radar 31 can emit a laser beam to detect the position, speed and other characteristic quantities of a target, and the working principle is to emit a detection signal (laser beam) to the target (obstacle), compare the received signal (target echo) reflected from the target with the emission signal, and after appropriate processing, obtain the relevant information of the target, such as parameters of target distance, direction, height, speed, attitude, even shape and the like, so as to detect, track and identify the obstacle in the space environment within the preset radius of the surrounding range of the vehicle body 1. Meanwhile, the laser radar 31 can map the road information ahead of the vehicle body 1 in the driving direction according to the detection result, so that autonomous driving is facilitated.

In order to improve the mapping accuracy of the detector 3 and improve the autonomous driving reliability, in this embodiment, the detector 3 further includes an image sensor 32 and a screening module 33. The image sensor 32 is mainly used to acquire image information within a preset range in front of the vehicle body 1 in the driving direction, and for example, the image information is captured by a camera or the like. The filtering module 33 is in signal connection with the image sensor 32, and can perform feature analysis on the image information acquired by the image sensor 32 to identify a target obstacle in the image. For example, a plurality of obstacles are suspected to exist in the image information acquired by the image sensor 32, the target obstacle which must be steered to avoid the obstacle is identified through the screening of the screening module 33, and the rest suspected obstacles can be ignored, so that the partial obstacle chassis 2 can directly pass over the obstacle without steering, the vehicle body 1 is not affected, the continuity of the driving state is ensured as much as possible, and the transportation operation efficiency is improved.

In order to ensure that the detector 3 can obtain sufficiently clear image information in consideration of the fact that the robot may work in an environment with insufficient light or perform night work, in the present embodiment, the image sensor 32 specifically includes a visible light shooting module and an infrared shooting module. Wherein, the module is shot to visible light mainly used is at the operational environment when ambient light is sufficient, and the operational environment when the module is shot to infrared ray mainly used ambient light is not enough, and both are the operation in coordination, can improve detector 3's detection precision.

As shown in fig. 2, fig. 2 is another view angle diagram of fig. 1.

In order to facilitate taking and placing materials, the vehicle door 4 is disposed on the side wall of the vehicle body 1, and the storage cabinet 5 is disposed in the vehicle body 1. Specifically, the door 4 is slidable on a side wall of the vehicle body 1, and has a sliding door structure for automatically sliding open and close. Of course, the vehicle door 4 may also be a rotary opening type structure. Meanwhile, the vehicle door 4 may be disposed on one of the side walls of the vehicle body 1, such as a left side wall, or may be disposed on a plurality of side walls, such as a left side wall and a right side wall; according to actual needs, the device can also be arranged at the positions of a top wall, a bottom wall and the like.

In view of the fact that some materials may have specific requirements for the storage environment temperature when transporting the materials, the present embodiment is further configured with a temperature control system inside the storage cabinet 5 to precisely control the temperature inside the storage cabinet 5. Specifically, the temperature control system comprises a heater for heating the environment inside the storage cabinet 5, a cooler for cooling the environment inside the storage cabinet 5, a temperature sensor for detecting the temperature of the environment inside the storage cabinet 5, and a temperature controller in signal connection with the temperature sensor and used for adjusting the working state of the heater or the cooler according to the difference between the target temperature and the detected temperature.

In order to facilitate the checking and manual control of the transportation state of the robot, the human-computer interaction interface 6 is additionally arranged on the vehicle body 1. Specifically, the human-computer interaction interface 6 is arranged at the front end of the vehicle body 1, and an LED or LCD screen can be adopted, so that the relevant information such as the operation state of the robot, the material transportation information and the like can be displayed, and the user can check the information conveniently. Meanwhile, a touch control film or a control panel can be integrated on the human-computer interaction interface 6, so that human-computer interaction between a user and the robot is facilitated, and therefore control instructions are sent to the robot, guidance work is completed, and the like. Of course, the human-machine interface 6 may also be provided at other locations of the vehicle body 1, such as various side walls, a ceiling wall, etc.

In order to ensure the energy supply during the transportation operation of the robot, the wireless charging receiver 7 is additionally arranged on the vehicle body 1. Specifically, this wireless charging receiver 7 sets up the rear end at automobile body 1 to charge with the wireless transmitter cooperation that charges in the wireless electric pile 8, realize wireless charging. When charging, the robot only needs to move in place according to the guide for the wireless charging receiver 7 enters into the power radiation range of the wireless charging transmitter of the wireless charging pile 8, and manual intervention is not needed. Of course, the wireless charging receiver 7 may be disposed at other positions of the vehicle body 1, such as the respective side walls, the front end, the bottom wall, and the like, and may be mounted on the chassis 2. Meanwhile, a line charging interface, such as a mains supply interface, can be configured on the vehicle body 1 or the chassis 2.

Further, in order to realize clean energy utilization and improve environmental protection performance, the photovoltaic power generation panel 9 is additionally arranged on the vehicle body 1. Specifically, this photovoltaic power generation board 9 sets up on the top of automobile body 1, can conveniently receive sunshine to utilize sunshine to generate electricity, the electric energy of production can directly supply with the robot and use, perhaps charges for the battery, and then improves the duration of the robot. Of course, the photovoltaic power generation panel 9 may also be provided at other positions on the vehicle body 1, such as a side wall, a front end, a rear end, or the like.

As shown in fig. 3, fig. 3 is a specific structural schematic diagram of the chassis 2.

In an alternative embodiment of the chassis 2, in order to conveniently realize the walking function of the chassis 2, the present embodiment is provided with a plurality of rollers 22, for example, 4 or more, on the bottom surface of the chassis 2, and each roller 22 may be uniformly distributed along the circumferential direction of the chassis 2, for example, distributed on the front and rear sides. Meanwhile, the steering system 21 is mainly used for controlling the rolling direction of each roller 22, so as to control the chassis 2 to steer, and further control the driving direction of the vehicle body 1.

In order to realize synchronous steering of each roller 22, in this embodiment, the steering systems 21 are provided with a plurality of steering systems 21 simultaneously, the specific number of the steering systems is equal to that of the rollers 22, each steering system 21 is in power connection with the corresponding roller 22, and the steering power can be transmitted to each roller 22 respectively, so that each roller 22 performs synchronous steering, the robot can smoothly perform high-difficulty actions such as in-situ rotation, transverse movement and the like, the mobility of the robot in a narrow space is ensured, the robot can complete work in the narrow space, and the robot is suitable for more harsh work scenes.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. The utility model provides a logistics storage transportation robot, its characterized in that, including automobile body (1), with automobile body (1) link to each other and are used for walking to turn to chassis (2), and set up in on automobile body (1), be used for monitoring detector (3) of the road information in the direction of travel the place ahead of automobile body (1), install steering system (21) that are used for controlling the state of turning to on chassis (2), detector (3) with steering system (21) keep signal connection, in order detector (3) detect when the direction of travel the place ahead of automobile body (1) presets apart the distance memory when the barrier, through steering system (21) control chassis (2) turn to in order to bypass the barrier.

2. The logistics storage and transportation robot of claim 1, wherein the detector (3) comprises a laser radar (31) for detecting a spatial environment within a preset radius around the body (1) and mapping road information.

3. The logistics warehousing transportation robot of claim 2, wherein the detector (3) further comprises an image sensor (32) and a screening module (33), wherein the image sensor (32) is used for acquiring image information within a preset range in front of the driving direction of the vehicle body (1), and the screening module (33) is used for identifying an obstacle from the image information.

4. The logistics warehousing transportation robot of claim 3, wherein the image sensor (32) comprises a visible light camera module and an infrared camera module.

5. The logistics storage and transportation robot according to claim 1, wherein a slidable vehicle door (4) is arranged on a side wall of the vehicle body (1), a storage cabinet (5) is arranged in the vehicle body (1), and a temperature control system for controlling the temperature in the cabinet is installed in the storage cabinet (5).

6. The logistics storage and transportation robot of claim 1, wherein the front end of the vehicle body (1) is provided with a human-computer interface (6) for displaying information and receiving and sending control commands.

7. The logistics storage and transportation robot of claim 1, wherein the rear end of the vehicle body (1) is provided with a wireless charging receiver (7) for charging in cooperation with a wireless charging pile (8).

8. The logistics warehousing and transportation robot of claim 1, characterized in that the top end of the vehicle body (1) is provided with a photovoltaic power generation panel (9) for generating electricity by sunlight.

9. Logistics storage transportation robot according to any one of claims 1-8, wherein the bottom surface of the chassis (2) is provided with a plurality of rollers (22), and the steering system (21) is used for controlling the rolling direction of each roller (22).

10. The logistics warehousing transportation robot of claim 9, wherein the steering system (21) is provided in plurality, and each steering system (21) is used for controlling the steering state of the corresponding roller (22).