CN107966991B - Addressable device and method for feeding and discharging robot - Google Patents
Addressable device and method for feeding and discharging robot Download PDFInfo
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- CN107966991B CN107966991B CN201711467993.3A CN201711467993A CN107966991B CN 107966991 B CN107966991 B CN 107966991B CN 201711467993 A CN201711467993 A CN 201711467993A CN 107966991 B CN107966991 B CN 107966991B
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- addressing
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000007599 discharging Methods 0.000 title description 5
- 239000000463 material Substances 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 206010063385 Intellectualisation Diseases 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 12
- 238000004590 computer program Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000004044 response Effects 0.000 description 4
- 230000004075 alteration Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03K—PULSE TECHNIQUE
- H03K17/00—Electronic switching or gating, i.e. not by contact-making and –breaking
- H03K17/51—Electronic switching or gating, i.e. not by contact-making and –breaking characterised by the components used
- H03K17/78—Electronic switching or gating, i.e. not by contact-making and –breaking characterised by the components used using opto-electronic devices, i.e. light-emitting and photoelectric devices electrically- or optically-coupled
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03K—PULSE TECHNIQUE
- H03K17/00—Electronic switching or gating, i.e. not by contact-making and –breaking
- H03K17/94—Electronic switching or gating, i.e. not by contact-making and –breaking characterised by the way in which the control signals are generated
- H03K17/945—Proximity switches
Abstract
The invention discloses an addressable device and method of a loading and unloading robot, and relates to the field of intellectualization. The device comprises: photoelectric addressing locator, identifying code chip; the photoelectric addressing positioner is arranged on the shuttle and comprises a pair of photoelectric switches and a plurality of proximity switches, the pair of photoelectric switches are arranged on the head of the shuttle and used for positioning the shuttle, and the plurality of proximity switches are arranged on one side of the shuttle and used for acquiring the codes of the cargo level; the code recognition chip is arranged on the cargo level, the code recognition chip is rectangular, the rectangle is divided into three rows, at least one coding hole is arranged in the first row, one positioning hole is arranged in the second row and one positioning hole is arranged in the third row, and an overlapping area exists between the two positioning holes in the projection direction; the two positioning holes are matched with a pair of photoelectric switches; the code hole is matched with the proximity switch, and the proximity switch confirms the code of the cargo level according to the code hole.
Description
Technical Field
The invention relates to the technical field of intellectualization, in particular to an addressable device and method of a loading and unloading robot.
Background
Robots are popular names for automatically controlled machines, which include all machines that simulate human behavior or ideas and simulate other living things. In the current industry, robots refer to man-made robotic devices capable of automatically performing tasks to replace or assist in human work. With the continuous development of industrial robot technology, the transport robot plays an important role in our industrial operation.
However, in actual operation, the response time of the transport robot is relatively long, and the addressing performance is poor, so that the problems of misoperation, undefined target object and the like are caused.
Disclosure of Invention
The embodiment of the invention provides an addressable device and method for a loading and unloading robot, which are used for solving the problems of misoperation, undefined target objects and the like caused by longer response time and poor addressing performance of the conventional transport robot.
The embodiment of the invention provides an addressable device of a loading and unloading robot, which comprises the following components: photoelectric addressing locator, identifying code chip;
the photoelectric addressing positioner is arranged on the shuttle and comprises a pair of photoelectric switches and a plurality of proximity switches, the pair of photoelectric switches are arranged on the head of the shuttle and used for positioning the shuttle, and the plurality of proximity switches are arranged on one side of the shuttle and used for acquiring codes of cargo levels;
the code recognition chip is arranged on the goods level, the code recognition chip is rectangular, the rectangle is divided into three rows, at least one coding hole is arranged in the first row, one positioning hole is arranged in the second row and the third row, and a superposition area exists between the two positioning holes in the projection direction; the two positioning holes are matched with the pair of photoelectric switches; the coded hole is matched with the proximity switch, and the proximity switch confirms the coding of the cargo level according to the coded hole.
Preferably, the two positioning holes have a superposition area in the projection direction, which specifically includes:
the two positioning holes have overlapping areas when projected from the second row to the third row; or alternatively
And the two positioning holes have overlapping areas when projected from the third row to the second row.
Preferably, the detection precision of the photoelectric switch is between 10 and 20 mm.
The embodiment of the invention also provides an addressable method of the feeding and discharging robot, which comprises the following steps:
the method comprises the steps of receiving address instruction information of an upper computer, and indicating a shuttle to operate according to the address instruction information;
and after the operation of the shuttle is stopped according to the address instruction information, acquiring an address tag of the current position, and if the address tag is matched with the address instruction information, confirming that the shuttle finishes addressing positioning.
Preferably, after the shuttle stops running according to the address instruction information, the method further includes:
if the address label is not matched with the address instruction information, the shuttle confirms that the addressing positioning fails, and the shuttle continues to operate according to the address instruction.
The embodiment of the invention provides an addressable device and a method for a loading and unloading robot, wherein the device comprises the following components: photoelectric addressing locator, identifying code chip; the photoelectric addressing positioner is arranged on the shuttle and comprises a pair of photoelectric switches and a plurality of proximity switches, the pair of photoelectric switches are arranged on the head of the shuttle and used for positioning the shuttle, and the plurality of proximity switches are arranged on one side of the shuttle and used for acquiring codes of cargo levels; the code recognition chip is arranged on the goods level, the code recognition chip is rectangular, the rectangle is divided into three rows, at least one coding hole is arranged in the first row, one positioning hole is arranged in the second row and the third row, and a superposition area exists between the two positioning holes in the projection direction; the two positioning holes are matched with the pair of photoelectric switches; the coded hole is matched with the proximity switch, and the proximity switch confirms the coding of the cargo level according to the coded hole. In the device, a pair of photoelectric switches arranged on a shuttle vehicle can detect positioning holes at the same time when the shuttle vehicle passes through a code recognition chip, and when the pair of photoelectric switches detect the positioning holes at the same time and the photoelectric switches can be overlapped with the positioning holes, the shuttle vehicle is confirmed to be at the position; and the code of the cargo level can be confirmed according to the position information of the proximity switch arranged on the shuttle. The device provided by the embodiment of the invention can solve the problems of misoperation, undefined target object and the like caused by longer response time and poor addressing performance of the conventional transport robot.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an electro-optical addressing positioning sensor according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a chip configuration according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of overlapping an electro-optical addressing positioning sensor and a code recognition chip according to an embodiment of the present invention;
fig. 4 is a schematic flow chart of an addressable method of a loading and unloading robot according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
FIG. 1 is a schematic diagram of an electro-optical addressing positioning sensor according to an embodiment of the present invention; fig. 2 is a schematic diagram of a chip configuration according to an embodiment of the present invention; fig. 3 is a schematic diagram illustrating superposition of an electro-optical addressing positioning sensor and a code recognition chip according to an embodiment of the present invention. The addressable device of the feeding and discharging robot provided by the embodiment of the invention mainly comprises: the optoelectronic addressing positions the sensor and the identification chip.
Specifically, as shown in fig. 1, the photoelectric addressing positioning sensor consists of a photoelectric switch and a proximity switch, wherein the pair of photoelectric switches are arranged on the head of the shuttle and are used for positioning the shuttle; a plurality of proximity switches are provided on one side of the shuttle for obtaining a code of the cargo level.
In practical application, P1 and P2 in the photoelectric addressing positioning sensor are photoelectric switches for positioning, and D0-D7 are used for obtaining codes of cargo level.
Specifically, as shown in fig. 2, the code recognition chip is arranged on the cargo level, the code recognition chip is rectangular, the rectangle is divided into three rows from top to bottom, at least one coding hole is arranged in the first row, and one positioning hole is arranged in each of the second row and the third row. In practical application, the two positioning holes have a superposition area in the projection direction, namely the following conditions can exist: the two positioning holes have overlapping areas when projected from the second row to the third row; or the two positioning holes have overlapping areas when projected from the third row to the second row. In the embodiment of the present invention, the projection direction is not particularly limited.
Further, the code hole arranged on the code recognition chip is matched with the proximity switch arranged on the photoelectric addressing positioning sensor, namely, when the distance between the proximity switch and the code hole is smaller than the test range of the proximity switch, the proximity switch can acquire the number of the code hole, and the number of the cargo level can be determined through the number.
In practical application, before the proximity switch determines the number of the code hole, the stop position of the shuttle needs to be determined according to a pair of photoelectric switches disposed on the shuttle, and specifically, since the two positioning holes disposed on the code piece only partially overlap in the projection direction, it can be confirmed that the two positioning holes on the code piece may exist in a region where the projection directions do not overlap. Because of these misaligned areas, a pair of photoelectric switches disposed in front of the shuttle are required to determine whether the shuttle needs to be stopped when it is running.
Specifically, as shown in fig. 3, when the shuttle is traveling through the recognition chip, P1 will first detect the positioning hole, but P2 will not detect the positioning hole, which means that the shuttle has not traveled to the cargo level, and then P1 and P2 will simultaneously detect the positioning hole, which means that the shuttle travels to the cargo level; if the shuttle is still advancing, P1 does not detect the pilot hole, and P2 throws away the pilot hole, indicating that the shuttle has passed the cargo level. That is, when the pair of photoelectric switches detects the positioning holes at the same time, it is indicated that the shuttle car has reached a certain cargo level, and the number of the cargo level can be obtained according to the number of the code hole obtained by the proximity switch. Here, the pair of photoelectric switches simultaneously detects the positioning holes, that is, the overlapping areas of the two positioning holes.
In practical application, the material of the chip may be steel or other materials, and in the embodiment of the present invention, the specific material of the human chip is not limited.
In practical applications, the error of the electro-optical addressing positioning mainly depends on the accuracy of the motor and the range of the interval in which the pair of electro-optical switches can detect the hole at the same time. In the embodiment of the invention, the detection precision of the photoelectric switch can be controlled between 10 and 20 mm.
In order to more clearly describe an addressing device of a loading and unloading robot provided by the embodiment of the invention, the addressing device is described again in the following way with reference to fig. 4 and an addressing method of the loading and unloading robot.
As shown in fig. 4, the addressable method of the feeding and discharging robot provided by the embodiment of the invention specifically includes the following steps:
step 101, receiving address instruction information of an upper computer, and indicating a shuttle to operate according to the address instruction information;
and 102, after the operation of the shuttle is stopped according to the address instruction information, acquiring an address tag of the current position, and if the address tag is matched with the address instruction information, confirming that the shuttle finishes addressing positioning.
After step 102, if the address tag does not match the address instruction information, the shuttle confirms that the addressing positioning fails, and the shuttle continues to operate according to the address instruction.
In summary, an embodiment of the present invention provides an addressable device and method for a loading and unloading robot, where the device includes: photoelectric addressing locator, identifying code chip; the photoelectric addressing positioner is arranged on the shuttle and comprises a pair of photoelectric switches and a plurality of proximity switches, the pair of photoelectric switches are arranged on the head of the shuttle and used for positioning the shuttle, and the plurality of proximity switches are arranged on one side of the shuttle and used for acquiring codes of cargo levels; the code recognition chip is arranged on the goods level, the code recognition chip is rectangular, the rectangle is divided into three rows, at least one coding hole is arranged in the first row, one positioning hole is arranged in the second row and the third row, and a superposition area exists between the two positioning holes in the projection direction; the two positioning holes are matched with the pair of photoelectric switches; the coded hole is matched with the proximity switch, and the proximity switch confirms the coding of the cargo level according to the coded hole. In the device, a pair of photoelectric switches arranged on a shuttle vehicle can detect positioning holes at the same time when the shuttle vehicle passes through a code recognition chip, and when the pair of photoelectric switches detect the positioning holes at the same time and the photoelectric switches can be overlapped with the positioning holes, the shuttle vehicle is confirmed to be at the position; and the code of the cargo level can be confirmed according to the position information of the proximity switch arranged on the shuttle. The device provided by the embodiment of the invention can solve the problems of misoperation, undefined target object and the like caused by longer response time and poor addressing performance of the conventional transport robot.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (3)
1. An addressable device of a loading and unloading robot, comprising: photoelectric addressing locator, identifying code chip;
the photoelectric addressing positioner is arranged on the shuttle and comprises a pair of photoelectric switches and a plurality of proximity switches, the pair of photoelectric switches are arranged on the head of the shuttle and used for positioning the shuttle, and the plurality of proximity switches are arranged on one side of the shuttle and used for acquiring codes of cargo levels;
the code recognition chip is arranged on the goods level, the code recognition chip is rectangular, the rectangle is divided into three rows, at least one coding hole is arranged in the first row, one positioning hole is arranged in the second row and the third row, and a superposition area exists between the two positioning holes in the projection direction; the two positioning holes are matched with the pair of photoelectric switches; the coded hole is matched with the proximity switch, and the proximity switch confirms the coding of the cargo level according to the coded hole; the overlapping area of the two positioning holes in the projection direction comprises an overlapping area of the two positioning holes when the two positioning holes are projected from the second row to the third row; or the two positioning holes have overlapping areas when projected from the third row to the second row; the detection precision of the photoelectric switch is between 10 and 20 mm.
2. An addressable method of a loading and unloading robot is characterized by comprising the following steps:
the method comprises the steps that an addressable device of an upper and lower feeding robot receives address instruction information of an upper computer, and a shuttle is instructed to operate according to the address instruction information; the device comprises a loading and unloading robot, a loading and unloading robot and a loading and unloading robot, wherein the loading and unloading robot comprises a photoelectric addressing positioner and a code recognition chip, the photoelectric addressing positioner is arranged on a shuttle, the photoelectric addressing positioner comprises a pair of photoelectric switches and a plurality of proximity switches, the pair of photoelectric switches are arranged on the head of the shuttle and are used for positioning the shuttle, and the plurality of proximity switches are arranged on one side of the shuttle and are used for acquiring codes of the material level of goods; the code recognition chip is arranged on the goods level, the code recognition chip is rectangular, the rectangle is divided into three rows, at least one coding hole is arranged in the first row, one positioning hole is arranged in the second row and the third row, and a superposition area exists between the two positioning holes in the projection direction; the two positioning holes are matched with the pair of photoelectric switches; the coded hole is matched with the proximity switch, and the proximity switch confirms the coding of the cargo level according to the coded hole;
and after the operation of the shuttle is stopped according to the address instruction information, acquiring an address tag of the current position, and if the address tag is matched with the address instruction information, confirming that the shuttle finishes addressing positioning.
3. The method of claim 2, wherein after the shuttle stops running according to the address instruction information and obtains the address tag of the current position, further comprising:
if the address label is not matched with the address instruction information, the shuttle confirms that the addressing positioning fails, and the shuttle continues to operate according to the address instruction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711467993.3A CN107966991B (en) | 2017-12-27 | 2017-12-27 | Addressable device and method for feeding and discharging robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711467993.3A CN107966991B (en) | 2017-12-27 | 2017-12-27 | Addressable device and method for feeding and discharging robot |
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| Publication Number | Publication Date |
|---|---|
| CN107966991A CN107966991A (en) | 2018-04-27 |
| CN107966991B true CN107966991B (en) | 2024-02-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711467993.3A Active CN107966991B (en) | 2017-12-27 | 2017-12-27 | Addressable device and method for feeding and discharging robot |
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