CN107932520B - Operation method of split robot - Google Patents
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- CN107932520B CN107932520B CN201711183672.0A CN201711183672A CN107932520B CN 107932520 B CN107932520 B CN 107932520B CN 201711183672 A CN201711183672 A CN 201711183672A CN 107932520 B CN107932520 B CN 107932520B
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- B25J11/00—Manipulators not otherwise provided for
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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Abstract
The invention discloses an operation method of a split robot, which comprises the following steps: the transportation equipment moves to a target area of an area to be operated, and at least one operation equipment is placed on the transportation equipment; sequentially placing operation equipment on the transportation equipment on an area to be operated, and independently executing operation by the operation equipment; and retrieving the operating equipment positioned on the area to be operated to the transportation equipment. According to the operation method provided by the invention, at least one operation device is placed on one transportation device, and the operation device can be separated from the transportation device and then independently operated to independently execute work, so that the influence of the transportation device on the operation device is avoided, and the operation effect is reliable and uniform; when the transportation equipment transports a plurality of operation equipment simultaneously, the operation efficiency of the area to be operated is improved in a one-to-many mode, the plurality of operation equipment can realize the transfer between target areas which cannot be reached by the direct movement of the operation equipment, such as inter-row and inter-string areas of the area to be operated under the assistance of the transportation equipment, and the applicability is improved.
Description
Technical Field
The invention relates to the technical field of robot operation, in particular to an operation method of a split robot.
Background
With the development of the robot industry, the application fields of the robot are more and more extensive, such as the cleaning field, the painting field and the like.
For example, in the work of cleaning or painting a certain specific area, a specified operation process is generally completed by manually controlling an operation device, or by dragging the operation device by a conveyor and controlling the operation device.
However, the manual operation efficiency is low, the demand of human resources is large, when the number of areas needing to execute specific operations is large, the operation equipment cannot be transferred between different areas, the number of operation equipment needing to be invested at one time is very large, the construction cost investment is huge, and the maintenance task of the operation equipment is heavy.
Therefore, how to effectively improve the efficiency and the applicability of the split robot and reduce the cost is a technical problem to be solved by the technical personnel in the field.
Disclosure of Invention
The invention aims to provide an operation method of a split robot, which is used for reducing the input of manpower, avoiding the influence of topographic factors on the operation effect and achieving high operation efficiency.
In order to achieve the purpose, the invention provides the following technical scheme:
an operating method of a split robot, comprising the steps of:
the transportation equipment moves to a target area of an area to be operated, and at least one operation equipment is placed on the transportation equipment;
sequentially placing operation equipment on the transportation equipment on the area to be operated, wherein the operation equipment independently executes operation;
and taking back the operating equipment on the area to be operated to the transportation equipment.
Preferably, after the step of "sequentially placing the operation devices on the transportation device on the area to be operated, the operation devices independently perform the operation", the method further includes:
and judging whether the operation equipment on the area to be operated finishes the operation or not, and if so, executing the step of 'taking back the operation equipment on the area to be operated to the transportation equipment'.
Preferably, the step of "taking back the operating device located on the area to be operated to the transportation device" further includes:
judging whether the electric quantity of the operation equipment retrieved to the transportation equipment is lower than a preset electric quantity, and if so, charging the operation equipment;
and the transportation equipment places the charged operation equipment on an area to be operated.
Preferably, the method further comprises the following steps:
monitoring whether the electric quantity of the operating equipment after the operation is finished is lower than a preset electric quantity, and if so, taking the operating equipment which is lack of power back to the transportation equipment for charging; or the operation equipment lacking the power is taken back to the transportation equipment, and the transportation equipment is controlled to move to a charging position to charge the operation equipment lacking the power; or the operation equipment which is controlled to be lack of power is moved to the edge charging port of the area to be operated to be charged.
Preferably, the method further comprises the following steps:
and detecting whether the electric quantity of the transportation equipment is lower than a preset electric quantity, if so, the transportation equipment which is lack of power autonomously moves to a charging position to be charged.
Preferably, the step of moving the transportation device to the target area of the area to be operated is specifically:
and controlling the transportation equipment to move towards the area to be operated, and stopping moving when the carrier platform of the transportation equipment moves to the target area of the area to be operated.
Preferably, the step of "sequentially placing the operation devices on the transportation device on the area to be operated" specifically includes:
acquiring position information of operating equipment on the transportation equipment, and acquiring the adjusting displacement and/or the adjusting angle of the operating equipment needing to move according to the initial operating area of the area to be operated;
and controlling a carrying mechanism on the transportation equipment to start, and moving the operation equipment to an initial operation area of the area to be operated according to the adjusting displacement and/or the adjusting angle.
Preferably, the step of "sequentially placing the operation devices on the transportation device on the area to be operated" specifically includes:
and sequentially placing the operation equipment on the transportation equipment on the same or different areas to be operated.
Preferably, the step "the operating device independently performs the operation" specifically includes:
the operating equipment enters an operating state and moves according to a preset operating path; and when the operation equipment finishes walking the preset operation path, stopping moving, and sending the stop position information to the transportation equipment so as to wait for the transportation equipment to take back the operation equipment.
Preferably, the preset operation path specifically includes:
and the operation device generates a preset operation path according to the current environment parameters.
The operation method of the split robot provided by the invention comprises the following steps: the transportation equipment moves to a target area of an area to be operated, and at least one operation equipment is placed on the transportation equipment; sequentially placing operation equipment on the transportation equipment on the area to be operated, wherein the operation equipment independently executes operation; and taking back the operating equipment on the area to be operated to the transportation equipment. The operation method has the advantages that at least one operation device is placed on one transportation device, and the operation device can be separated from the transportation device and then independently execute work, so that the influence of the transportation device on the operation device is avoided, and the operation effect is reliable and uniform; meanwhile, when the transportation equipment transports a plurality of operation equipment simultaneously, the operation efficiency of the area to be operated is effectively improved in a one-to-many mode, and the plurality of operation equipment can realize the transfer between target areas which cannot be reached by the direct movement of the operation equipment, such as row intervals, cluster intervals and the like of the area to be operated under the assistance of the transportation equipment, so that the applicability 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 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 some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flow chart of an operation method of a split robot provided by the present invention;
fig. 2 is a schematic structural diagram of a split robot apparatus provided in the present invention;
fig. 3 is a schematic top view of the split robot apparatus provided in the present invention;
FIG. 4 is a schematic structural diagram of an embodiment of an operating device of the split robotic device shown in FIG. 3;
FIG. 5 is a schematic structural diagram of an embodiment of a handling system of the split robotic device of FIG. 3;
FIG. 6 is a schematic structural diagram of another embodiment of a handling system of the split robotic device of FIG. 3;
FIG. 7 is a schematic diagram of a work flow of plate placement of the split robot apparatus according to the present invention;
FIG. 8 is a schematic diagram of a plate-changing operation of the split robot apparatus according to the present invention;
wherein: 1: a transportation device; 2: operating the equipment; 2-1: an operation execution element; 2-2: moving the chassis; 2-3: operating the detection element; 2-4: grabbing positions; 3: a handling system; 3-1-1: a telescopic member; 3-1-2: grasping parts and accessories; 3-2-1: a rotational degree of freedom joint; 3-2-2: a first revolute joint; 3-2-3: a second revolute joint; 3-2-4: a third revolute joint; 4-area to be operated.
Detailed Description
The core of the invention is to provide an operation method of the split robot, which can effectively reduce the utilization of manpower resources, avoid the influence of topographic factors on the operation effect, and has high operation efficiency and good operation effect.
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1 to 8, fig. 1 is a flowchart illustrating an operation method of a split robot according to the present invention; FIG. 2 is a schematic structural diagram of a split robot apparatus for separable tasks according to the present invention; fig. 3 is a schematic top view of the separable robotic device of the present invention; FIG. 4 is a schematic structural diagram of an embodiment of an operating device of the split robotic device shown in FIG. 3; FIG. 5 is a schematic structural diagram of an embodiment of a handling system of the split robotic device of FIG. 3; FIG. 6 is a schematic structural diagram of another embodiment of a handling system of the split robotic device of FIG. 3; FIG. 7 is a schematic diagram of a work flow of plate placement of the split robot apparatus according to the present invention; fig. 8 is a schematic diagram of a plate-changing work flow of the split robot apparatus provided in the present invention.
In this embodiment, the method for operating a split robot, which can perform a separation operation, includes the steps of:
the transportation equipment 1 moves to a target area of the area to be operated 4, at least one operation equipment 2 is placed on the transportation equipment 1, and specifically, one or two or more operation equipment 2 can be placed on the transportation equipment 1; the target area can be the peripheral area of the area 4 to be operated or the peripheral area capable of meeting the conveying stroke of the conveying mechanism, when the transportation equipment 1 moves to the target area, the target area capable of placing the operation equipment 2 on the area 4 to be operated can be met, and the target area needs to be divided according to the conveying stroke of the conveying mechanism; meanwhile, the transportation equipment 1 automatically moves to a target area of the area to be operated 4 under the combined action of the self controller, the navigation equipment and the driving equipment;
the operation devices 2 on the transportation device 1 are sequentially placed on the region 4 to be operated, specifically, the transportation device 1 can place the operation devices 2 on the region 4 to be operated by using a carrying mechanism installed on the transportation device 1, that is, the transportation device 1 can automatically complete the work of moving, placing or retrieving the operation devices 2 and the like; after the operation devices 2 are placed in the to-be-operated area 4, the operation devices 2 independently operate the operation devices 2 to independently execute operations, specifically, when the number of the operation devices 2 is at least two, the operation devices 2 may be sequentially placed at different positions of the same to-be-operated area 4, or the operation devices 2 may be sequentially placed in different to-be-operated areas 4;
the handling device 2 located on the area 4 to be handled is retrieved onto the transport device 1.
Specifically, a carrier platform can be installed on the transportation device 1, the operation device 2 is placed on the carrier platform, the transportation device 1 can move to drive the operation device 2 to move, and the carrier platform can be specifically a ferry platform or other platforms capable of placing the operation device 2. After the operation device 2 is placed on the region 4 to be operated, the operation device 2 can operate the region 4 to be operated independently, and the transportation device 1 can perform other work independently.
It should be noted that the operating device 2 can be placed at any position of the area 4 to be operated, the operating device 2 can automatically patrol the edge and automatically perform path planning, and under the cooperation of the controller, the navigation device and the driving device carried by the operating device, the operating device automatically completes the operations of cleaning, spraying, polling and the like of the area 4 to be operated.
Further, after the step of "placing the operation devices 2 on the transportation device 1 in sequence on the area 4 to be operated, and the operation devices 2 independently perform the operation", the method further includes:
whether the operation equipment 2 located on the area 4 to be operated finishes the operation is judged, if yes, the step of 'taking back the operation equipment 2 located on the area 4 to be operated to the transportation equipment 1' is executed, namely after the operation equipment 2 finishes the work, the transportation equipment 1 moves to the preset position of the area 4 to be operated, and the operation equipment 2 is taken back to the carrier platform for subsequent work.
On the basis of the above embodiments, the step "retrieving the operating device 2 located on the area to be operated 4 onto the transportation device 1" further includes:
judging whether the electric quantity of the operation device 2 retrieved to the transportation device 1 is lower than a preset electric quantity, and if so, charging the operation device 2;
the transport device 1 places the charged operating device 2 on the area to be operated 4.
Specifically, after the operating device 2 is retrieved to the transportation device 1, when the electric quantity of the operating device 2 is lower than the preset electric quantity, the operating device 2 needs to be charged first, and after the electric quantity is at least charged to the electric quantity capable of completing the work of the next to-be-operated area 4, the transportation device 1 places the charged operating device 2 in the to-be-operated area 4.
More specifically, the operation device 2 is charged as described above, and the transportation device 1 may be directly charged to the operation device 2, or the transportation device 1 may be moved to a charging place to be charged to the operation device 2 which is short of power.
It should be noted that the transport apparatus 1 may transfer the operation apparatus 2 that has completed the work to any other to-be-operated area 4, and of course, in order to save the moving distance of the transport apparatus 1, the operation apparatus 2 that has completed the work may be transferred to the to-be-operated area 4 that is the closest distance.
In addition to the above embodiments, the present invention further includes:
monitoring whether the electric quantity of the operation equipment 2 after the operation is finished is lower than a preset electric quantity, and if so, taking back the operation equipment 2 which is lack of power to the transportation equipment 1 for charging; or, the operation device 2 with power shortage is taken back to the transportation device 1, and the transportation device 1 is moved to a charging position to charge the operation device 2 with power shortage; or, the operation device 2 which is controlled to be in power shortage moves to the edge charging port of the area 4 to be operated for charging, and of course, the operation device 2 at this time can autonomously move to the edge charging port of the area 4 to be operated for charging under the action of the navigation system and the driving system.
Specifically, the detection of the electric quantity of the operating device 2 can be realized by an electric quantity detection element installed on the operating device 2, and the detection of the electric quantity of the operating device 2 can be performed when the operating device 2 does not leave the to-be-operated area 4 yet, or can be performed after the operation is completed and transferred to the transportation device 1.
In addition to the above embodiments, the present invention further includes:
whether the electric quantity of the transportation equipment 1 is lower than the preset electric quantity or not is detected, and if yes, the transportation equipment 1 which is lack of power moves to a charging position to be charged.
Specifically, install electric quantity detecting element on the transportation equipment 1, through the testing result who acquires the electric quantity detecting element on the transportation equipment 1, judge whether the electric quantity of transportation equipment 1 is less than and predetermine the electric quantity, if yes, then the navigation element and the drive element of transportation equipment 1 open, and the transportation equipment 1 of lack of power can independently move to the department of charging and charge.
In addition to the above embodiments, the present invention further includes:
whether the operation equipment 2 finishes work or whether the electric quantity is lower than the preset electric quantity is detected, if yes, the operation equipment 2 is controlled to send out an alarm signal, and the transportation equipment 1 can charge the operation equipment 2 or transfer the operation equipment to other areas 4 to be operated by receiving the alarm signal sent by the operation equipment 2.
Here, the preset electric power may be an electric power calculated in real time according to a distance of a path that the operation device 2 still needs to operate during the operation of the operation device 2, or may be a preset electric power.
On the basis of the above embodiments, the step "the transportation device 1 moves to the target area of the area to be operated 4" is specifically:
the transportation device 1 moves to the area 4 to be operated, and when the carrier platform of the transportation device 1 moves to the target area of the area 4 to be operated, the movement is stopped.
When the belt operating area 4 is a strip-shaped area, the transportation device 1 may preferably be moved to the row end of the area to be operated 4, and then the operating device 2 is placed at the edge position of the area to be operated 4, so that the edge patrol time of the operating device 2 can be reduced, and the operating efficiency can be improved.
On the basis of the above embodiments, the step "placing the operation devices 2 on the transportation device 1 onto the area to be operated 4 in sequence" specifically includes:
acquiring position information of the operating equipment 2 on the transportation equipment 1, and acquiring an adjusting displacement and/or an adjusting angle of the operating equipment 2 required to move according to an initial operating area of the area 4 to be operated; the initial operating area may be any position of the area to be operated 4, i.e. the operating device 2 may be placed at any position of the area to be operated 4, although the division of the initial operating area also requires consideration of the conveying stroke of the conveying mechanism.
The handling mechanism on the transport device 1 is controlled to start and the handling device 2 is moved to the initial handling area of the area to be handled 4 according to the adjustment displacement and/or the adjustment angle.
Specifically, the carrying mechanism may be a mechanical arm with a gripper, or another carrying mechanism capable of transferring the operating device 2, a controller capable of controlling the carrying mechanism to move is installed on the transporting device 1, and the controller of the transporting device 1 may further control a navigation system or a driving system carried by the controller to perform operations such as autonomous charging, moving, and carrying the operating device 2. .
On the basis of the above embodiments, the step "placing the operation devices 2 on the transportation device 1 onto the area to be operated 4 in sequence" specifically includes:
the handling devices 2 on the transport device 1 are placed one after the other on the same or different areas to be handled.
Specifically, the region to be operated may be divided into a plurality of different sub-regions to be operated, one operation device 2 may be placed at each of two ends of the region to be operated, and the two operation devices 2 may start to operate from the two ends of the region to be operated to the middle position respectively; when the operation devices 2 are placed on the same region to be operated, a preset time may be set between the front and rear operation devices 2, or the operation devices 2 may be placed on different target regions on the same region to be operated, so as to realize a state where a plurality of operation devices 2 are simultaneously operated on the same region to be operated, thereby improving the operation effect. Of course, each operating device 2 may be placed on different regions to be operated, as shown in fig. 7 and 8, and of course, different numbers of operating devices 2 may be placed on different regions to be operated, which may be determined according to the degree of contamination of the region to be operated 4 or the area of the region to be operated.
On the basis of the above embodiments, the step "the operation device 2 independently performs the operation" is specifically:
the operation device 2 enters an operation state and moves according to a preset operation path; and when the operation device 2 finishes the preset operation path, stopping moving, and sending the stop position to the transportation device 1 so as to enable the transportation device 1 to retrieve the operation device 2.
Specifically, the operation device 2 is in communication connection with the transportation device 1, the operation device 2 can stop at any position and send stop position information to the transportation device 1, and the transportation device 1 takes back the operation device 2 according to the received stop position information of the operation device 2.
Preferably, the preset operation path specifically includes:
the preset operation path is a preset operation path which is planned in advance by the controller, or a preset operation path which is generated by the operation device 2 according to the current environment parameter, specifically, the current environment parameter may be a stain degree and a size parameter of the area to be operated or the array row of the area to be operated, or the number of the operation devices 2, and the electric quantity and the power of the operation device 2.
It should be emphasized here that the movement of the transportation device 1 may be controlled by a controller installed on the transportation device 1, that is, the movement of the transportation device 1 is independently completed, the state information of the operation device 2, such as whether the electric quantity is lower than the preset electric quantity or whether the operation is completed, may be sent by the controller located on the operation device 2 to the controller located on the transportation device 1, the transmission of the signal is realized between the operation device 2 and the transportation device 1 through communication connection, and the controllers of the two may work independently by a machine corresponding to each other.
Specifically, the mobile device includes a main step of placing and grasping the operation device 2, as shown in fig. 7 and 8, in the placing process, specific embodiments may be:
the transportation device 1 moves towards the edge of the first area to be operated 4, moves the first operation device 2 positioned on the carrier platform to the first area to be operated 4, and controls the first operation device 2 to independently execute operation;
the transportation equipment 1 moves to the edge of the second area to be operated 4, moves the second operation equipment 2 positioned on the carrier platform to the second area to be operated 4, and controls the second operation equipment 2 to independently execute operation;
the transport equipment 1 moves to the edge of the Nth area to be operated 4, moves the Nth operation equipment 2 on the loading platform to the Nth area to be operated 4, and controls the Nth operation equipment 2 to independently execute operation.
In each of the above steps, one operation device 2 is respectively placed on each nth to-be-operated area 4 until all the operation devices 2 on the transportation device 1 are placed, and of course, all the operation devices 2 may not be placed on the to-be-operated areas, that is, at least one operation device is left on the transportation device 1 as a spare, and preferably, the nth to-be-operated areas 4 should be the nth to-be-operated areas 4 close to each other, so as to reduce the total moving distance of the transportation device 1.
It should be noted here that the operation device provided in this embodiment may be an operation machine, a paint spraying machine, a patrol machine, or the like, after the transportation device transports the operation device to a specified location, the transportation device and the operation device may work independently, and one transportation device may correspond to one operation device, or may correspond to at least two operation devices.
In the grabbing process, the method specifically comprises the following steps:
the transportation equipment 1 returns to the edge of the first to-be-operated area 4, the first operation equipment 2 positioned on the first to-be-operated area 4 is moved to the carrier platform, the transportation equipment 1 is moved to the edge of the (N + 1) th to-be-operated area 4, the first operation equipment 2 positioned on the carrier platform is moved to the (N + 1) th to-be-operated area 4, and the first operation equipment 2 is controlled to independently execute operation;
the transportation equipment 1 returns to the edge of the second area to be operated 4, the second operation equipment 2 positioned on the second area to be operated 4 is moved to the carrier platform, the transportation equipment 1 is moved to the edge of the (N + 2) th area to be operated 4, the second operation equipment 2 positioned on the carrier platform is moved to the (N + 2) th area to be operated 4, and the second operation equipment 2 is controlled to independently execute operation;
and returning the transport equipment 1 to the edge of the Nth to-be-operated area 4, moving the Nth operation equipment 2 positioned on the Nth to-be-operated area 4 to the carrier platform, moving the transport equipment 1 to the edge of the (N + N) th to-be-operated area 4, moving the Nth operation equipment 2 positioned on the carrier platform to the (N + N) th to-be-operated area 4, and controlling the Nth operation equipment 2 to independently execute operation.
In the above step, the operating devices 2 in the first to-be-operated area 4, the second to-be-operated area 4 and the nth to-be-operated area 4 are sequentially transferred to the (N + 1) th to-be-operated area 4, the (N + to-be-operated area 4 and the (N + N) th to-be-operated area 4, and the most preferable scheme is that when the transporting device 1 returns to the edge of the first to-be-operated area 4, the operating devices 2 in the first to-be-operated area 4 just complete the work.
It should be noted here that at least one operating device 2 is installed on the carrier platform of the transportation device 1, the carrier platform may specifically be a mother vehicle with a driving device, and multiple operating devices 2 may also be installed on one carrier platform, the route transferred by the transportation device 1, the number of operating devices 2 transferred by the mother vehicle at the same time, and the number N of operating devices 2 carried by the mother vehicle should be calculated according to the moving speed of the mother vehicle, the operating efficiency of the operating devices 2, the length of a single row of the array of the area to be operated, and the row spacing of the array of the area to be operated, and the present invention is not limited to the parameter values given in this embodiment.
The operation method has the advantages that one or more operation devices 2 are placed on one transportation device 1, so that the transportation device 1 can simultaneously transport a plurality of operation devices 2, under the premise of not influencing the work of one operation device 2, the other operation device 2 is transferred to other areas 4 to be operated, the transfer of the single operation device 2 on different areas 4 to be operated is realized, the operation efficiency of the areas 4 to be operated is effectively improved in a one-to-many mode, in addition, the operation devices 2 can be separated from the transportation device 1 and then independently operated to independently perform work, the influence of the transportation device 1 on the operation devices 2 is avoided, the operation effect is reliable and uniform, meanwhile, the transfer among target areas which can not be reached by the direct movement of the operation devices 2, such as lines, strings and the like of the areas to be operated can be realized by the aid of the transportation device 1, the applicability is improved.
The operation method may be implemented by a split robot capable of performing separable operations, and specifically, the split robot capable of performing separable operations includes:
the transportation equipment 1 is used for driving the operation equipment 2 to move to a target area and providing energy for the operation equipment 2, at least one operation equipment 2 is arranged on each transportation equipment 1, namely at least one operation equipment is arranged on each mother vehicle, and the transportation equipment 1 can also charge the operation equipment 2 so as to ensure the energy consumption after the operation equipment 2 is separated from the transportation equipment 1.
The operation device 2 is used for moving on the area 4 to be operated and operating the area 4 to be operated, and the operation device 2 can work independently without the transportation device 1 to realize the operation of the area 4 to be operated;
a handling system 3 for moving the handling device 2 from the transport device to the area 4 to be handled;
and the control system is used for acquiring detection information of each detection element on the transportation equipment 1, the operation equipment 2 and the conveying system 3 and controlling each execution element on the transportation equipment 1, the operation equipment 2 and the conveying system 3 to work.
In particular, the transport device 1 has the following effects: 1. the carrying platform of the operating device 2 can also charge the operating device 2 online, and certainly, the online charging function is optional, and the concept of online charging is to supplement electric quantity to the energy supply element of the operating device 2 through the energy supply element of the transportation device 1, and if the energy supply element is not driven by electricity, other energy forms can be supplemented; 2. the mounting platform of the carrying system 3 is also an energy supply element, energy which needs to be consumed when the carrying system 3 acts is supplied by the transportation equipment 1, and of course, the carrying system 3 can also independently supply energy consumption, and the energy is uniformly supplied by the transportation equipment 1 so as to be convenient for optimization and implementation; 3. as part of the "torso" of the present invention, the power core of the present invention is disposed on this part, responsible for powering all the dissipative elements in the solution; 4. as the main long-distance transportation equipment 1, the relationship with other parts is similar to the relationship between an "aircraft carrier" and a "carrier-based aircraft", "catapult", and the like; 5. as a carrier of the "control system", a series of devices having functions of detection, transmission, calculation, and the like of the "control system" are mounted.
Further, the transport apparatus 1 includes a movement actuator, a power element, a movement detection element, and an arithmetic control element.
Wherein, the mobile executive component refers to a functional component which endows the transportation equipment 1 with active space transfer capability, and the implementation mode of the mobile executive component is a mobile chassis 2-2, such as a common automobile type wheel chassis, a common crawler chassis and the like; or a ship, an air cushion motorcycle and the like on water; the vehicle can also be an aircraft moving in the air and the like, has a vehicle with driving capability, and is not limited to implementation scenes;
the power element is used for outputting and supplying energy consumption, and can be a fuel tank and internal combustion engine combination, a storage battery and motor combination, a nuclear energy and generator set or a solar battery and motor combination, and the like, namely a component capable of providing energy and outputting power, and the storage battery and motor combination is preferably used.
The movement detection element belongs to an element of the control system, so that the transport apparatus 1 has an autonomous movement function for locating the position of the transport apparatus 1 itself and the position of the target point. The common navigation modes include magnetic stripe navigation, two-dimensional code navigation, 2D laser navigation, 3D laser navigation, GPS navigation, inertial navigation, mileage navigation and the like, and generally two or more navigation modes are combined for use to ensure the navigation precision and reliability. Another type of movement detection elements for safety includes ultrasound, safety laser, edge touch, pull-cord switch, etc., and these sensors are used to detect the environment around the transportation device 1, and if an obstacle or a target object appears on the driving route of the transportation device 1 or appears in the detection range of these sensors, the target information can be acquired, and then the target information is fed back to the arithmetic control element for information processing, and a next action command is provided. Other movement detection elements are mainly used for realizing automatic control of the movement actuating element in a matching way, such as battery power detection, chassis movement speed detection, three-dimensional angle change detection of a chassis or a machine body and the like.
The operation control element is one of the components of a control system and mainly comprises hardware with an operation function, compiled software, a controller of each component for control and an I/O. After receiving the information fed back by the movement detection element, the operation control element processes the information according to a set program through software to obtain a corresponding instruction, the instruction is output to the controller of each part through I/O, and the controller controls the specific operation of the execution element of each part, so that the control function is realized. In the application of automatic control, the movement detection element often collects the operation result of the movement execution element and feeds back the operation result to the operation control element, the execution condition is judged through the comparison of built-in software, and if the control requirement is not met, a new round of control adjustment is output until the execution result meets the control requirement.
Specifically, the operation device 2 mainly includes an operation performing member 2-1, a moving chassis 2-2, an operation detecting member 2-3, and a control member.
The operation executing element 2-1 is a structure with operation capability, and the cleaning structure has a powered active cleaning mode, such as a rotatable cylindrical roller brush, a rotatable disc brush or a structure with dust collection function. Of course, the cleaning component has passive cleaning mode without power, the moving chassis 2-2 provides thrust and pressure, the mop cleaning mode is adopted, and the cleaning head can be in a block, strip, brush and other structural forms formed by one or more materials such as cloth, rubber, nylon and the like. Meanwhile, the mode of additionally spraying water to the operated surface or directly wetting the operation material is not excluded from the inside or the outside of the operation head, and the mode of adding the operation agent can be selected and matched, and the structure is similar to a water spraying structure. In the above structure, the operation device 2 is specifically a cleaning machine, and when the operation device 2 is a spraying machine or a patrol machine or other types of devices, the operation actuator 2-1 is correspondingly a nozzle or a camera or other parts.
The movable chassis 2-2 is a wheel type or crawler type part with linear controllable movement capacity, is powered by a storage battery and driven by a motor, and is applied to an area to be operated, so that the required surface pressure is low, the mirror surface abrasion is low, the crawler chassis is selected, and the functions of chassis turning and turning around can be realized through differential control.
The operation detection element 2-3 is arranged on the chassis and is responsible for collecting information of the mobile chassis 2-2 and the surrounding environment, the operation detection element 2-3 is composed of a sensor group, and the operation detection element 2-3 is an important component of the automatic moving function of the mobile chassis 2-2. The operation detection element 2-3 may be composed of one or more of ultrasound, laser, proximity switch, camera, 3D laser, odometer, speedometer, etc. The navigation path recognition and the vehicle body state confirmation are mainly completed by the operation detection element 2-3.
The control element is an upper control part of the operation device 2, mainly comprises a controller and a driver with computing capability, compiling capability and driving capability, and can receive the environment information fed back by the operation detection element 2-3 and the state information of the chassis. According to the compiled software flow, corresponding instructions are output to the execution elements of the operation equipment 2 aiming at different feedbacks, such as the switch, acceleration and deceleration, positive and negative rotation and the like of the operation execution element 2-1, and the acceleration and deceleration, turning and the like of the moving chassis 2-2.
Specifically, the control system is responsible for information processing and decision making of the whole split robot, is responsible for receiving information fed back by respective detection elements of the three systems of operation, transportation and movement, processes information input by the systems according to a software program built in the controller, and outputs control instructions for independent operation or cooperative operation of the three systems of operation, transportation and movement according to a set strategy, and comprises a main controller, controllers and drivers of the systems and detection elements of the systems.
The handling system 3 comprises a grabbing part and a multi-degree-of-freedom adjusting part, wherein the grabbing part is used for grabbing the operating equipment 2, and the multi-degree-of-freedom adjusting part is used for driving the grabbing part to move.
The conveying system 3 has the function of providing a method which can automatically identify the spatial position of the conveyed object, calculate a conveying and placing path in cooperation with a control system and flexibly place the conveyed object. The invention of the system is aimed at achieving an automatic transfer of the operating device 2 or devices.
The function of the handling system 3 is divided into two parts: the grabbing part of the folding and unfolding operation equipment 2 and the multi-degree-of-freedom adjusting part of the similar mechanical arm can realize space position transfer, adjustment and flexible picking and placing on the operation equipment 2 through the combined action of the grabbing part and the multi-degree-of-freedom adjusting part.
Specifically, the carrying system 3 comprises a grabbing part and an auxiliary part 3-1-2, a telescopic part 3-1-1 connected with the grabbing part and the auxiliary part 3-1-2, a rotary freedom degree joint 3-2-1 for driving the grabbing part and the auxiliary part 3-1-2 to rotate, and a first rotary joint 3-2-2, a second rotary joint 3-2-3 and a third rotary joint 3-2-4 for driving the grabbing part and the auxiliary part 3-1-2 to swing; the grabbing part and the auxiliary part 3-1-2, the telescopic part 3-1-1, the rotary freedom degree joint 3-2-1, the first rotary joint 3-2-2, the second rotary joint 3-2-3 and the third rotary joint 3-2-4 are all provided with sensors for controlling and detecting corresponding angle and/or displacement information.
As can be seen from fig. 5, in the handling system 3, the multi-degree-of-freedom adjustment component has multiple degrees of freedom, each degree of freedom can realize the change of the angle or the displacement under the driving of the corresponding driving element, and the sensor installed at the corresponding position can feed back the change value of the angle or the displacement. Specifically, the telescopic part 3-1-1 is used for finely adjusting the tail end gripping apparatus, including the angle and the displacement, and can be adjusted by a single degree of freedom or simultaneously adjusted by one degree of freedom according to actual requirements; the auxiliary part at the tail end of the gripping apparatus mainly refers to a position detection element of a gripped object, namely the operating equipment 2, the position information of the target is collected by the position detection element and fed back to the control system, the movement amount of each joint including the multi-degree-of-freedom adjusting part is output through calculation and kinematics calculation, the movement amount includes the variation of angle and displacement, and the corresponding position correspondence between the gripping apparatus at the tail end of the telescopic part 3-1-1 and the operating equipment 2 is realized after the corresponding control is finished. Specifically, the positions of each joint of the multi-degree-of-freedom adjusting component and the corresponding position of the telescopic component 3-1-1 are provided with position sensors which can feed back the variation of the degree of freedom of the joints, the position sensors collect position information of the joints after the joints execute a command of a control system, the position information is fed back to the control system for comparison, and whether the operation of automatic adjustment is in place or not is confirmed, so that closed-loop control is formed. Of course, the multiple degree of freedom adjustment component may also be a boom structure, as shown in fig. 6.
The grabbing parts and the auxiliary parts 3-1-2 are mainly used for fixing the operating equipment 2 on the carrying system 3 and carrying out space transfer along with the carrying system 3 and the transportation equipment 1, and finally, the operating equipment 2 is changed into a working area; and when the working area is reached, the need to grip the parts releases the operating device 2. In one action of the taking and the placing, the grabbing part also has the capability of being out of the basic taking and placing functions:
1. the telescopic component 3-1-1 can compensate the execution error at the tail end of the multi-degree-of-freedom adjusting component;
2. the rotational degree-of-freedom joint 3-2-1 can adjust the positional relationship of the operation device 2 with respect to the conveyance system 3, and ensure that the posture at the time of placing the operation device 2 is satisfactory.
The sensor at the tail end gripper can sense the position of the operation equipment 2 and provide secondary positioning for gripping action, wherein the primary positioning is realized by visual servo operation of a multi-degree-of-freedom adjusting part of the handling system 3, the sensor at the tail end gripper can inform the gripper to open after sensing a target area and grip the operation equipment 2, the tail end gripper structure of the gripping part can be in other realization forms, and the operation equipment 2 can be fixed without being limited to the structure provided by the embodiment.
The split robot provided by the embodiment has the following working method of 1 to N:
the first stage is as follows: the operation equipment is transferred to the surface of the area to be operated 4 from the back of the mother vehicle;
the mother vehicle is provided with N operating devices, under the leading of a navigation element and a control element of the mother vehicle, the N operating devices are set according to a program and stay at the row end of a region 4 to be operated in the array, and after the mother vehicle confirms that the position of the mother vehicle reaches the set position through the navigation element, the control system instructs the carrying system 3 to start; the position detection element in the handling system 3 firstly detects the position of the operation equipment on the back platform of the mother vehicle, the position information is fed back to the control system, the control system outputs action instructions to each joint of a multi-degree-of-freedom adjusting part, hereinafter referred to as a mechanical arm for short, under the control of the instructions, the tail end of the mechanical arm moves to the vicinity of the operation equipment, and the position is determined by the structure of a grabbing part arranged at the tail end of the mechanical arm and the grabbing positions 2-4 matched with the grabbing part on the operation equipment; after the tail end of the mechanical arm is in place, the grabbing part is started, the telescopic part 3-1-1 acts, the claw tool is driven to approach the grabbing position 2-4 of the operating device, the claw tool is provided with a position detection sensor, when the distance between the position of the claw tool and the grabbing position 2-4 reaches a set position, the sensor is triggered, the grabbing action is started, the claw tool is driven by the grabbing executing element to open, after a certain position is reached, the other position sensor on the claw tool is triggered, the grabbing action is finished, and the operating device is fixed on the grabbing part; then the telescopic component 3-1-1 acts to move the operation equipment away from the platform at the back of the mother vehicle, the telescopic component 3-1-1 is also provided with a position sensor, when the claw moves to a certain position along with the telescopic component 3-1-1, the sensor is triggered, the action of the telescopic component 3-1-1 is stopped, and the 'taking' action is completely finished.
After the operation equipment is taken, the bottom of the mechanical arm rotates towards the direction of the array of the areas to be operated, the array of the areas to be operated is an array formed by a plurality of areas to be operated, as shown in fig. 3, the mechanical arm rotates 90 degrees, the operation equipment is positioned above the row end of the array of the areas to be operated, of course, the rotation angle depends on the position relation between the walking direction of the mother vehicle and the array of the areas to be operated, and is generally 90 degrees. The rotation angle of the mechanical arm is monitored by a sensor, and the rotation is stopped after the rotation angle reaches a set position. At the moment, the detection system on the mechanical arm detects the position relation between the operating equipment and the area 4 to be operated, the detection result is fed back to the control system, then the difference between the current position of the operating equipment and the target area is confirmed, the control system calculates and outputs the action instructions of all joints of the mechanical arm, and the action results are that the operating equipment is adjusted to the position with the proper height from the surface of the area 4 to be operated. The moved position is detected by a detection part on the mechanical arm, the result is transmitted to the control system for comparison and confirmation, and if the position is not in place, the adjustment is continued until the operating equipment reaches the target area. The process is a closed loop control. After the operating equipment reaches the target area, the telescopic part 3-1-1 is started, the operating equipment is slowly descended and further approaches the surface of the area to be operated 4 until the operating equipment is completely contacted with the surface of the area to be operated 4, and at the moment, a position sensor at the bottom of the operating equipment is triggered to inform a control system that the operating equipment is put in place. At the moment, the grabbing part and the auxiliary part 3-1-2 of the claw are started, the operating equipment is released, the telescopic part 3-1-1 is restored to the initial position, the tail end of the mechanical arm is restored to the set position, and the releasing action is finished completely.
As shown in fig. 7, which is a flow chart of the plate placing work of the operation device, after the operation device is disengaged from the gripping member, the operation device starts to move on the area 4 to be operated, and the operation actuator 2-1 is started, the operation actuator 2-1 is active, and the operation is started with the roller brush driven by the motor. The design of the operating path is to be set according to the arrangement of the region 4 to be operated and the size of the operating actuator 2-1, and is not further limited herein.
After the operation equipment is placed in the mother vehicle, after the mechanical arm is restored to the set position, the mother vehicle is started and moves to the next target area according to the navigation route, the next target area is also the edge of 4 rows of the area to be operated, and after the operation equipment is in place, the operation equipment is repeatedly taken and placed. The operation devices put on the surface of the to-be-operated area 4 each start the operation of the to-be-operated area as described above. When the number of the operating devices which are operated on the array surface of the area to be operated at the same time reaches the set value, the mother vehicle returns to the edge of the array row of the area to be operated where the first operating device which starts to work is located, and prepares to transfer the operating device which finishes the single-row work to the surface of the area to be operated 4 which is not operated in another row, as shown in fig. 8, a flow diagram of the plate changing work for the operating devices is a schematic diagram, which is one embodiment of the transfer process
According to the operating equipment 2 provided by the embodiment, through the arrangement of the transportation equipment 1, the operating equipment 2, the carrying system 3 and the control system, the operating equipment can be separated from the mother vehicle, N operating equipment can realize the transfer among target areas which cannot be reached by the direct movement of the operating equipment under the assistance of other parts, such as array rows and clusters of an area to be operated, and the surface movement of the operating equipment in the area to be operated 4 does not depend on the structural form of a plate, so that the autonomous navigation and operation can be realized; the transportation device 1 is not limited to the mobile chassis 2-2, and may be a sea, land and air mobile means such as an aircraft, a ship, or the like; the carrying part can be a mechanical arm type grabbing structure and also can be a platform type ferry scheme; the operation equipment 2 can work independently after being separated from the transportation equipment 1, the influence of the transportation equipment on the operation equipment 2 is avoided, the operation effect is reliable and uniform, and the applicability is improved.
The robot operation method provided by the embodiment is mainly applied to operation of a solar photovoltaic assembly, namely the region 4 to be operated can be a photovoltaic panel region to be operated, and can also be used for operation of a large region to be operated on a glass roof, namely the region 4 to be operated can also be a glass roof region to be operated, belongs to the field of cleaning equipment, and compared with common photovoltaic operation equipment or mirror surface operation equipment in the current market, the robot operation method has the characteristics of unmanned working capacity, full-automatic working flow and intelligent management, and belongs to the field of intelligent robots applied to the cleaning industry. Moreover, the robot system can be completely applied to unmanned mobile operation such as robot fire extinguishing, robot carrying on a production line, automatic inspection under severe and high-risk environments, operation and intelligent logistics operation by replacing operation accessories or operation flows, and can also be applied to the fields of spraying operation, inspection operation and the like.
The operation method of the split robot provided by the present invention is described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (9)
1. An operation method of a split robot is characterized by comprising the following steps:
the transportation equipment moves to a target area of an area to be operated, and at least one operation equipment is placed on the transportation equipment;
sequentially placing operation equipment on the transportation equipment on the area to be operated, wherein the operation equipment independently executes operation;
retrieving the operating device located on the area to be operated onto the transport device;
the step "the transportation equipment moves to the target area of the area to be operated, and the transportation equipment is provided with at least one operation equipment", and the method comprises the following steps:
the transportation equipment moves to the edge of the first to-be-operated area, moves the first operation equipment positioned on the carrier platform to the first to-be-operated area, and controls the first operation equipment to independently execute operation;
the transportation equipment moves to the edge of the second area to be operated, moves second operation equipment positioned on the carrier platform to the second area to be operated, and controls the second operation equipment to independently execute operation;
the transport equipment moves to the edge of the Nth to-be-operated area, moves the Nth operation equipment positioned on the carrier platform to the Nth to-be-operated area, and controls the Nth operation equipment to independently execute operation;
the step of "taking back the operating device located on the area to be operated onto the transportation device" includes:
the transportation equipment returns to the edge of the first to-be-operated area, the first operation equipment located on the first to-be-operated area is moved to the carrier platform, the transportation equipment is moved to the edge of the (N + 1) th to-be-operated area, the first operation equipment located on the carrier platform is moved to the (N + 1) th to-be-operated area, and the first operation equipment is controlled to independently execute operation;
the transport equipment returns to the edge of the second area to be operated, the second operation equipment positioned on the second area to be operated is moved to the carrier platform, the transport equipment is moved to the edge of the (N + 2) th area to be operated, the second operation equipment positioned on the carrier platform is moved to the (N + 2) th area to be operated, and the second operation equipment is controlled to independently execute operation;
and returning the transport equipment to the edge of the Nth to-be-operated area, moving the Nth operation equipment positioned on the Nth to-be-operated area to the carrier platform, moving the transport equipment to the edge of the (N + N) th to-be-operated area, moving the Nth operation equipment positioned on the carrier platform to the (N + N) th to-be-operated area, and controlling the Nth operation equipment to independently execute operation.
2. The method for operating a split robot according to claim 1, wherein the step of "placing the operation devices on the transportation device on the area to be operated in sequence, the operation devices performing operations independently" further comprises:
and judging whether the operation equipment on the area to be operated finishes the operation or not, and if so, executing the step of 'taking back the operation equipment on the area to be operated to the transportation equipment'.
3. The method for operating a split robot according to claim 2, wherein the step of "retrieving the operating device located on the area to be operated onto the transportation device" further comprises:
judging whether the electric quantity of the operation equipment retrieved to the transportation equipment is lower than a preset electric quantity, and if so, charging the operation equipment;
and the transportation equipment places the charged operation equipment on an area to be operated.
4. The method of operating a split robot of claim 1, further comprising:
monitoring whether the electric quantity of the operating equipment after the operation is finished is lower than a preset electric quantity, and if so, taking the operating equipment which is lack of power back to the transportation equipment for charging; or the operation equipment lacking the power is taken back to the transportation equipment, and the transportation equipment is controlled to move to a charging position to charge the operation equipment lacking the power; or the operation equipment which is controlled to be lack of power is moved to the edge charging port of the area to be operated to be charged.
5. The method of operating a split robot of claim 1, further comprising:
and detecting whether the electric quantity of the transportation equipment is lower than a preset electric quantity, if so, the transportation equipment which is lack of power autonomously moves to a charging position to be charged.
6. The operation method of the split robot according to claim 1, wherein the step of moving the transportation device to the target area of the area to be operated is specifically:
and controlling the transportation equipment to move towards the area to be operated, and stopping moving when the carrier platform of the transportation equipment moves to the target area of the area to be operated.
7. The operation method of the split robot according to claim 1, wherein the step of placing the operation devices on the transportation device on the area to be operated in sequence specifically comprises:
acquiring position information of operating equipment on the transportation equipment, and acquiring the adjusting displacement and/or the adjusting angle of the operating equipment needing to move according to the initial operating area of the area to be operated;
and controlling a carrying mechanism on the transportation equipment to start, and moving the operation equipment to an initial operation area of the area to be operated according to the adjusting displacement and/or the adjusting angle.
8. The method for operating a split robot according to any one of claims 1 to 7, wherein the step "the operating device performs the operation independently" is specifically:
the operating equipment enters an operating state and moves according to a preset operating path; and when the operation equipment finishes walking the preset operation path, stopping moving, and sending the stop position information to the transportation equipment so as to wait for the transportation equipment to take back the operation equipment.
9. The operation method of the split robot according to claim 8, wherein the preset operation path is specifically:
and the operation device generates a preset operation path according to the current environment parameters.
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| CN113478480B (en) * | 2021-06-22 | 2022-03-25 | 中建三局集团有限公司 | Trajectory planning method for transverse arm material distributing machine |
| CN114193425B (en) * | 2022-02-18 | 2022-05-17 | 浙江博城机器人科技有限公司 | Inspection device and method based on visual detection |
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| JP4958608B2 (en) * | 2007-04-06 | 2012-06-20 | 三菱電機株式会社 | Robot control device, robot control method, and robot transfer device |
| CN205772105U (en) * | 2016-06-25 | 2016-12-07 | 佛山隆深机器人有限公司 | Movable goods device |
| CN106345781B (en) * | 2016-11-17 | 2019-08-16 | 浙江国自机器人技术有限公司 | A kind of photovoltaic array straddle cleaning method and device |
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