CN107992061A - A kind of the wisdom laboratory machine people means of delivery and system - Google Patents
A kind of the wisdom laboratory machine people means of delivery and system Download PDFInfo
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- CN107992061A CN107992061A CN201810063043.2A CN201810063043A CN107992061A CN 107992061 A CN107992061 A CN 107992061A CN 201810063043 A CN201810063043 A CN 201810063043A CN 107992061 A CN107992061 A CN 107992061A
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- 238000000034 method Methods 0.000 claims abstract description 14
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- 238000012423 maintenance Methods 0.000 claims description 5
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- 230000004888 barrier function Effects 0.000 claims 1
- 230000032258 transport Effects 0.000 abstract description 33
- 230000008859 change Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000005389 magnetism Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Automation & Control Theory (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of wisdom laboratory machine people means of delivery and system, this method to comprise the following steps：Step 1：Ground guide is set between the workbench where shipping point of origin and terminal, a desktop guide rail is set on the table；Step 2：Thing designated position is taken to capture object on thing workbench from taking positioned at the desktop machine people of thing workbench is taken；Step 3：Mobile robot moves along ground guide and captures object and transports to another workbench；Step 4：After the desktop machine people for putting thing workbench captures object, be moved to put thing workbench put thing designated position, complete transport of the object between workbench.Timing, the fixed point transport of automated laboratory object are completed by the collaboration of desktop machine people and mobile robot, wherein desktop machine people is responsible for that object is short-range to be picked and placeed, mobile robot completes the long-distance transportation of object using guide rail and terrestrial reference, coordinate the setting of charged area, realize the round-the-clock transport of automated laboratory.
Description
Technical field
The invention belongs to robotic conveyance field, more particularly to a kind of the wisdom laboratory machine people means of delivery and system.
Background technology
For reply new round scientific and technological revolution and industry transformation, China proposes to realize made in China 2025.In face of domestic and international
" intelligence manufacture " is used as a main direction by keen competition environment, China, but is all substantially at laboratory research and development rank at present
Section.Automatic industrial laboratory has many advantages that the personnel that can save perform the iterative task time, ensure security, reduce
Staffs training demand, reduce mistake and increase productivity and experimental precision.
The automation of industrial laboratories is a relatively new field, it develops the huge change for causing workflow
Change.In current change, in order to complete relatively easy, repeated big but high required precision task in automated laboratory, move
Mobile robot is paid special attention to.In the lab, independent navigation of the mobile robot in carrying task process is performed is most
Number is passage path planning to complete.But the unstability that has of path planning in itself and route randomness are the one of this method
Big defect.Meanwhile in the lab, mobile robot breaks down when performing transport task, and transport task majority can only interrupt.
The content of the invention
It is an object of the invention to propose a kind of the wisdom laboratory machine people means of delivery and system, pass through desktop machine people
The timing of automated laboratory object, fixed point transport are completed in collaboration with mobile robot, and wherein desktop machine people is responsible for object
Short-range to pick and place, mobile robot completes the long-distance transportation of object using guide rail and terrestrial reference, coordinates guide rail and charging zone
The setting in domain, realizes the round-the-clock transport of automated laboratory.
A kind of wisdom laboratory machine people's means of delivery, comprise the following steps：
Step 1：Ground guide is set between the workbench where shipping point of origin and terminal, sets one on the table
Desktop guide rail, take thing designated position, temporarily take object location and put thing designated position, is sent using remote controllers and takes thing to refer to
Order；
Being sent using remote controllers to mobile robot and desktop control takes thing to instruct, and makes mobile robot be moved to
Thing workbench is taken, makes desktop machine people be moved to and takes thing designated position to start to take thing task；
The desktop guide rail is arranged among workbench, described to take thing designated position, temporarily take object location and put thing and refer to
The both sides that are arranged on workbench are put in positioning, described to take thing designated position, temporarily take object location and put and be all provided with thing designated position
Photosensitive sensor is equipped with, and the photosensitive sensor is connected with the desktop control on workbench；
The workbench temporarily takes object location edge and is equipped with ranging sensing receiver；
It is described to take thing instruction to refer to object putting thing designated position from taking thing designated position to be transported to；
Step 2：Thing is taken to instruct positioned at taking the desktop machine people of thing workbench to receive, along desktop guide rail according to photosensitive sensor
The signal of collection from take on thing workbench take thing designated position crawl object after, put to take the first of thing workbench temporarily put it is specified
Position；
Step 3：Mobile robot, which receives, takes thing to instruct, and is moved to along ground guide and takes thing workbench temporarily to put designated position
Edge, when take the distance signal that the distance measuring sensor of thing workbench measures to meet to grab thing apart from when, mobile robot crawl object；
It is moved to along ground guide and puts the second of the thing workbench edge for temporarily putting designated position, when the ranging for putting thing workbench
Distance signal that sensor measures meet to put thing apart from when, the object of crawl is put to put thing workbench second and temporarily puts specific bit
Put；
Step 4：Being received positioned at the desktop machine people for putting thing workbench takes thing to instruct, and is moved to along desktop guide rail and puts thing work
The second of platform temporarily puts designated position, and after capturing object, the signal according to photosensitive sensor collection, which is moved to, puts putting for thing workbench
Thing designated position, completes transport of the object between workbench.
Further, the terrestrial reference with unique ID according to mobile robot by spaced set on ground guide, sentences
Whether offset mobile robot breaks down, and detailed process is as follows：
Mobile robot will return to remote controllers by the landmark information of ground guide in real time, work as mobile robot
After the information for passing back through terrestrial reference a, if not at the appointed time in the range of when passing back through the information of next terrestrial reference a+1, remotely
Controller judges that current mobile robot breaks down, and according to the position of terrestrial reference a and next terrestrial reference a+1, judges to be out of order
Position where mobile robot.
Further, when mobile robot breaks down in ground rail, remote controllers send track switch open command,
Track switch on ground rail is opened, and sends traction instruction and is extremely located at same ground rail with the mobile robot to break down
Spare moving robot, make spare moving robot be moved to the mobile robot position region broken down, start
The electromagnetic attraction device of spare moving robot base, adsorbs the mobile robot to break down, the moving machine that will be broken down
Device people is drawn to mobile robot region to be repaired along ground guide by track switch；
Automatically controlled track switch is equipped between adjacent ground guide, and is set between mobile robot region to be repaired and ground guide
It is equipped with automatically controlled track switch；
The spare moving robot is located at standby machine people's waiting area, and the standby machine people waiting area is positioned at fortune
Defeated task starting point, and connected with ground guide.
Further, when spare moving robot reaches last terrestrial reference a of the mobile robot process to break down
Afterwards, open the vehicle-mounted binocular camera ZED of spare moving robot, between the mobile robot measured and broken down away from
From according to measured distance, making spare moving robot close to the mobile robot to break down.
Further, when perform transport task mobile robot break down, while being towed to maintenance area, far
The standby machine people in idle condition that range controller sends instructions to same track replaces failed machines people to perform transport times
Business.
Further, charging guide rail is set between transport task Origin And Destination, and the guide rail that charges connects with ground guide
It is logical, mobile robot charged area is set on charging guide rail；
After mobile robot completes a transport task, mobile robot is made with making policy decision according to self electric quantity：
If mobile robot electricity is more than 25%, along ground guide backtracking, transport task next time is waited；
If mobile robot electricity is less than or equal to 25%, mobile robot is moved on charging guide rail along ground guide,
Reach the progress of mobile robot charged area, and charge information is fed back into remote controllers.
Further, mobile robot region to be repaired is connected with charging guide rail, to be repaired positioned at mobile robot
If the standby machine people electricity in region is less than 25%, charge along charging guide rail into mobile robot charged area, otherwise,
Enter standby machine people's waiting area positioned at transport task starting point along charging guide rail.
A kind of wisdom laboratory machine people's delivery system, including desktop machine people, desktop control, mobile robot, lead
Rail and remote controllers；
The guide rail includes desktop guide rail and ground guide, and automatically controlled track switch, and ground are equipped between adjacent ground guide
The terrestrial reference with unique ID is arranged at intervals with guide rail；
Automatically controlled track switch on the desktop control, mobile robot and guide rail is led to the remote controllers
Letter；
The desktop machine people is arranged on workbench, is controlled by desktop control, is moved along the desktop guide rail on workbench
It is dynamic, the fixed object location that takes, puts is provided with workbench, and take, put object location and be equipped with photosensitive sensor, the light sensor
Device is connected with desktop control；
Workbench is equipped with the fixed side for taking, putting object location and is provided with ranging sensing receiver；
The mobile robot is equipped with distance measuring sensor, is arranged at ground, is moved along the ground guide on ground.
Further, mobile robot charged area and standby machine people's waiting area are further included；
The mobile robot charged area is arranged at the charging guide rail between transport task initial position and end position
On, the charging guide rail is connected with standby machine people's waiting area guide rail, and the standby machine people waiting area guide rail and ground
Face guide rail connection.
Further, mobile robot region to be repaired is further included, the mobile robot region to be repaired is led with ground
Automatically controlled track switch is provided between rail, and earth magnetism suction device and vehicle-mounted binocular camera ZED, institute are provided with mobile robot pedestal
Vehicle-mounted binocular ZED is stated to be arranged on above the pedestal of robot.
Beneficial effect
The present invention provides a kind of wisdom laboratory machine people means of delivery and system, pass through desktop machine people and moving machine
The timing of automated laboratory object, fixed point transport are completed in the collaboration of device people, and wherein it is short-range to be responsible for object by desktop machine people
Pick and place, mobile robot completes the long-distance transportation of object using guide rail and terrestrial reference, coordinates the setting of charged area, realizes certainly
The round-the-clock transport in dynamicization laboratory, can efficiently and accurately complete many tasks in the scientific research of laboratory.Relative to the prior art
For, has the following advantages：
(1) mobile robot realizes the remote orientation transport of object using guide rail, avoids the path planning of complexity
The unstability of algorithm and its algorithm, improves the Stability and veracity of transport；
(2) multiclass humanoid robot cooperates, and the division of labor is clear and definite, and desktop machine people is responsible for that object is short-range to be picked and placeed, mobile
The long-distance transportation of the responsible object of robot profit, substantially increases the efficiency of transport.
(3) using the combination of ground guide and terrestrial reference, position and transport task to mobile robot carry out it is simple and
Effectively monitor in real time, guarantee is provided for smoothly completing for transport task.
Brief description of the drawings
Fig. 1 is the flow diagram of the method for the invention；
Fig. 2 is the structure diagram of mobile robot of the present invention；
Fig. 3 is transit domain middle orbit distribution schematic diagram in the present invention；
Fig. 4 is delivery system figure in laboratory of the present invention.
Embodiment
The present invention is described further below in conjunction with drawings and examples.
As shown in Figure 1, a kind of wisdom laboratory machine people's means of delivery, comprise the following steps：
Step 1：Ground guide is set between the workbench where shipping point of origin and terminal, sets one on the table
Desktop guide rail, take thing designated position, temporarily take object location and put thing designated position, is sent using remote controllers and takes thing to refer to
Order；
Being sent using remote controllers to mobile robot and desktop control takes thing to instruct, and makes mobile robot be moved to
Thing workbench is taken, makes desktop machine people be moved to and takes thing designated position to start to take thing task；
The desktop guide rail is arranged among workbench, described to take thing designated position, temporarily take object location and put thing and refer to
The both sides that are arranged on workbench are put in positioning, described to take thing designated position, temporarily take object location and put and be all provided with thing designated position
Photosensitive sensor is equipped with, and the photosensitive sensor is connected with the desktop control on workbench；
The workbench temporarily takes object location edge and is equipped with ranging sensing receiver；
It is described to take thing instruction to refer to object putting thing designated position from taking thing designated position to be transported to；
Step 2：Thing is taken to instruct positioned at taking the desktop machine people of thing workbench to receive, along desktop guide rail according to photosensitive sensor
The signal of collection from take on thing workbench take thing designated position crawl object after, put to take the first of thing workbench temporarily put it is specified
Position；
Step 3：Mobile robot, which receives, takes thing to instruct, and is moved to along ground guide and takes thing workbench temporarily to put designated position
Edge, when take the distance signal that the distance measuring sensor of thing workbench measures to meet to grab thing apart from when, mobile robot crawl object；
It is moved to along ground guide and puts the second of the thing workbench edge for temporarily putting designated position, when the ranging for putting thing workbench
Distance signal that sensor measures meet to put thing apart from when, the object of crawl is put to put thing workbench second and temporarily puts specific bit
Put；
Step 4：Being received positioned at the desktop machine people for putting thing workbench takes thing to instruct, and is moved to along desktop guide rail and puts thing work
The second of platform temporarily puts designated position, and after capturing object, the signal according to photosensitive sensor collection, which is moved to, puts putting for thing workbench
Thing designated position, completes transport of the object between workbench.
During thing is taken, the ground with unique ID according to mobile robot by spaced set on ground guide
Mark, judges whether mobile robot breaks down, detailed process is as follows：
Mobile robot will return to remote controllers by the landmark information of ground guide in real time, work as mobile robot
After the information for passing back through terrestrial reference a, if not at the appointed time in the range of when passing back through the information of next terrestrial reference a+1, remotely
Controller judges that current mobile robot breaks down, and according to the position of terrestrial reference a and next terrestrial reference a+1, judges to be out of order
Position where mobile robot.
When mobile robot breaks down in ground rail, remote controllers send track switch open command, by ground rail
Track switch on road is opened, and sends traction instruction to the spare shifting for being located at same ground rail with the mobile robot to break down
Mobile robot, makes spare moving robot be moved to the mobile robot position region broken down, and starts spare moving
The electromagnetic attraction device of robot base, adsorbs the mobile robot to break down, by the mobile robot to break down edge ground
Face guide rail is drawn to mobile robot region to be repaired by track switch；
Automatically controlled track switch is equipped between adjacent ground guide, and is set between mobile robot region to be repaired and ground guide
It is equipped with automatically controlled track switch；
The spare moving robot is located at standby machine people's waiting area, and the standby machine people waiting area is positioned at fortune
Defeated task starting point, and connected with ground guide.
When spare moving robot reach the mobile robot that breaks down by last terrestrial reference a after, open standby
With the vehicle-mounted binocular camera ZED of mobile robot, the distance between mobile robot measured and broken down, foundation is surveyed
The distance obtained, makes spare moving robot close to the mobile robot to break down.
When perform transport task mobile robot break down, while being towed to maintenance area, remote controllers
The standby machine people in idle condition for sending instructions to same track replaces failed machines people to perform transport task.
Robot on different tracks is numbered, the mobile robot on track 1 is named as 1A, in spare moving
The spare moving robot of robot waiting area is named as 1B, 1C, 1D, 1E, 1F；Mobile robot on track 2 is named as
2A, the standby machine people in spare moving robot waiting area are named as 2B, 2C, 2D, 2E, 2F, track 3 and so on.
If remote server finds that mobile robot 1A breaks down when performing transport task, send instructions to and be in
Traction failed machines people is gone before spare moving robot 1B on same track.
It is long-range to after maintenance area, sending instructions to that failure mobile robot 1A is successfully drawn in spare moving robot 1B
Server.After remote server receives instruction, then same track spare moving robot 1C is ordered to replace mobile robot 1A, weight
It is new to start transport task.
Spare moving robot 1B returns to spare moving robot waiting area and awaits orders according to self electric quantity.
Charging guide rail is set between transport task Origin And Destination, and the guide rail that charges is connected with ground guide, is being charged
Mobile robot charged area is set on guide rail；
After mobile robot completes a transport task, mobile robot is made with making policy decision according to self electric quantity：
If mobile robot electricity is more than 25%, along ground guide backtracking, transport task next time is waited；
If mobile robot electricity is less than or equal to 25%, mobile robot is moved on charging guide rail along ground guide,
Reach the progress of mobile robot charged area, and charge information is fed back into remote controllers.
The mobile robot region to be repaired is connected with charging guide rail, standby in mobile robot region to be repaired
If being less than 25% with robot electric quantity, charge along charging guide rail into mobile robot charged area, otherwise, along charging guide rail
Into standby machine people's waiting area positioned at transport task starting point.
A kind of wisdom laboratory machine people's delivery system, as shown in figure 4, including desktop machine people, desktop control, movement
Robot, guide rail and remote controllers；
As shown in figure 3, the guide rail includes desktop guide rail and ground guide, automatically controlled road is equipped between adjacent ground guide
Trouble, and the terrestrial reference with unique ID is arranged at intervals with ground guide；
Automatically controlled track switch on the desktop control, mobile robot and guide rail is led to the remote controllers
Letter；
The desktop machine people is arranged on workbench, is controlled by desktop control, is moved along the desktop guide rail on workbench
It is dynamic, the fixed object location that takes, puts is provided with workbench, and take, put object location and be equipped with photosensitive sensor, the light sensor
Device is connected with desktop control；
Workbench is equipped with the fixed side for taking, putting object location and is provided with ranging sensing receiver；
The mobile robot is equipped with distance measuring sensor, is arranged at ground, is moved along the ground guide on ground.
Mobile robot charged area, standby machine people's waiting area are additionally provided with transit domain, mobile robot is treated
Maintenance area；
The mobile robot charged area is arranged at the charging guide rail between transport task initial position and end position
On, the charging guide rail is connected with standby machine people's waiting area guide rail, and the standby machine people waiting area guide rail and ground
Face guide rail connection.
Automatically controlled track switch, and mobile robot pedestal are provided between mobile robot region to be repaired and ground guide
On be provided with earth magnetism suction device and vehicle-mounted binocular camera ZED, as shown in Fig. 2, the vehicle-mounted binocular ZED is arranged on robot
Above pedestal.
The present invention is described in detail above in association with specific embodiment, these not form the limitation to invention.
Without departing from the principles of the present invention, those skilled in the art can also make many modification and improvement, these also should
Belong to protection scope of the present invention.
Claims (10)
1. a kind of wisdom laboratory machine people's means of delivery, it is characterised in that comprise the following steps：
Step 1：Ground guide is set between the workbench where shipping point of origin and terminal, a desktop is set on the table
Guide rail, take thing designated position, temporarily take object location and put thing designated position, is sent using remote controllers and takes thing to instruct；
The desktop guide rail is arranged among workbench, described to take thing designated position, temporarily take object location and put thing specific bit
Put the both sides for being arranged on workbench, it is described to take thing designated position, temporarily take object location and put and be both provided with thing designated position
Photosensitive sensor, and the photosensitive sensor is connected with the desktop control on workbench；
The workbench temporarily takes object location edge and is equipped with ranging sensing receiver；
It is described to take thing instruction to refer to object putting thing designated position from taking thing designated position to be transported to；
Step 2：Take thing to instruct positioned at taking the desktop machine people of thing workbench to receive, gathered along desktop guide rail according to photosensitive sensor
Signal from take on thing workbench take thing designated position crawl object after, put to taking the first of thing workbench temporarily to put specific bit
Put；
Step 3：Mobile robot, which receives, takes thing to instruct, and the side for taking thing workbench temporarily to put designated position is moved to along ground guide
Edge, when take the distance signal that the distance measuring sensor of thing workbench measures to meet to grab thing apart from when, mobile robot crawl object；
It is moved to along ground guide and puts the second of the thing workbench edge for temporarily putting designated position, when the ranging for putting thing workbench senses
Distance signal that device measures meet to put thing apart from when, the object of crawl is put to put thing workbench second and temporarily puts designated position；
Step 4：Being received positioned at the desktop machine people for putting thing workbench takes thing to instruct, and is moved to along desktop guide rail and puts thing workbench
Second temporarily puts designated position, and after capturing object, the signal according to photosensitive sensor collection, which is moved to, to be put the thing of putting of thing workbench and refer to
Positioning is put, and completes transport of the object between workbench.
2. according to the method described in claim 1, it is characterized in that, according to mobile robot by equidistantly being set on ground guide
The terrestrial reference with unique ID put, judges whether mobile robot breaks down, detailed process is as follows：
Mobile robot will return to remote controllers by the landmark information of ground guide in real time, when mobile robot returns
After information by terrestrial reference a, if not at the appointed time in the range of when passing back through the information of next terrestrial reference a+1, remote control
Device judges that current mobile robot breaks down, and according to the position of terrestrial reference a and next terrestrial reference a+1, judges movement of being out of order
Position where robot.
3. according to the method described in claim 2, it is characterized in that, when mobile robot breaks down in ground rail, far
Range controller sends track switch open command, and the track switch on ground rail is opened, and sends traction instruction to breaking down
Mobile robot is located at the spare moving robot of same ground rail, makes spare moving robot be moved to the shifting broken down
Mobile robot position region, starts the electromagnetic attraction device of spare moving robot base, adsorbs the movement broken down
Robot, the mobile robot to break down is drawn to mobile robot region to be repaired along ground guide by track switch；
Automatically controlled track switch is equipped between adjacent ground guide, and is provided between mobile robot region to be repaired and ground guide
Automatically controlled track switch；
The spare moving robot is located at standby machine people's waiting area, and the standby machine people waiting area is appointed positioned at transport
Business starting point, and connected with ground guide.
4. according to the method described in claim 3, it is characterized in that, when spare moving robot reaches the moving machine to break down
Device people by last terrestrial reference a after, open the vehicle-mounted binocular camera ZED of spare moving robot, measure with occur therefore
The distance between mobile robot of barrier, according to measured distance, makes spare moving robot close to the movement broken down
Robot.
5. according to the method described in claim 3, it is characterized in that, when perform transport task mobile robot break down,
While being towed to maintenance area, remote controllers send instructions to the standby machine people in idle condition of same track
Transport task is performed instead of failed machines people.
6. according to claim 1-5 any one of them methods, it is characterised in that set between transport task Origin And Destination
Charge guide rail, and the guide rail that charges is connected with ground guide, and mobile robot charged area is set on charging guide rail；
After mobile robot completes a transport task, mobile robot is made with making policy decision according to self electric quantity：
If mobile robot electricity is more than 25%, along ground guide backtracking, transport task next time is waited；
If mobile robot electricity is less than or equal to 25%, mobile robot is moved on charging guide rail along ground guide, is reached
Mobile robot charged area carries out, and charge information is fed back to remote controllers.
7. according to the method described in claim 6, it is characterized in that, mobile robot region to be repaired connects with charging guide rail
It is logical, if the standby machine people electricity in mobile robot region to be repaired is less than 25%, enters along charging guide rail and move
Robot charged area charging, otherwise, standby machine people's waiting area positioned at transport task starting point is entered along charging guide rail.
8. a kind of wisdom laboratory machine people's delivery system, it is characterised in that including desktop machine people, desktop control, movement
Robot, guide rail and remote controllers；
The guide rail includes desktop guide rail and ground guide, and automatically controlled track switch, and ground guide are equipped between adjacent ground guide
On be arranged at intervals with the terrestrial reference with unique ID；
Automatically controlled track switch on the desktop control, mobile robot and guide rail communicates with the remote controllers；
The desktop machine people is arranged on workbench, is controlled by desktop control, is moved along the desktop guide rail on workbench, work
Make to be provided with the fixed object location that takes, puts on platform, and take, put object location and be equipped with photosensitive sensor, the photosensitive sensor with
Desktop control is connected；
Workbench is equipped with the fixed side for taking, putting object location and is provided with ranging sensing receiver；
The mobile robot is equipped with distance measuring sensor, is arranged at ground, is moved along the ground guide on ground.
9. system according to claim 8, it is characterised in that further include mobile robot charged area and standby machine people
Waiting area；
The mobile robot charged area is arranged on the charging guide rail between transport task initial position and end position, institute
Charging guide rail is stated to connect with standby machine people's waiting area guide rail, and the standby machine people waiting area guide rail and ground guide
Connection.
10. system according to claim 9, it is characterised in that further include mobile robot region to be repaired, the movement
Automatically controlled track switch is provided between robot region to be repaired and ground guide, and ground magnetic attachment is provided with mobile robot pedestal
Device and vehicle-mounted binocular camera ZED, the vehicle-mounted binocular ZED are arranged on above the pedestal of robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810063043.2A CN107992061B (en) | 2018-01-23 | 2018-01-23 | A kind of wisdom laboratory machine people means of delivery and system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810063043.2A CN107992061B (en) | 2018-01-23 | 2018-01-23 | A kind of wisdom laboratory machine people means of delivery and system |
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| Publication Number | Publication Date |
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| CN107992061A true CN107992061A (en) | 2018-05-04 |
| CN107992061B CN107992061B (en) | 2019-09-27 |
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| CN201810063043.2A Active CN107992061B (en) | 2018-01-23 | 2018-01-23 | A kind of wisdom laboratory machine people means of delivery and system |
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