CN108238396B - Mobile action command learning method of the transfer robot based on FPD card - Google Patents

Mobile action command learning method of the transfer robot based on FPD card Download PDF

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Publication number
CN108238396B
CN108238396B CN201810018738.9A CN201810018738A CN108238396B CN 108238396 B CN108238396 B CN 108238396B CN 201810018738 A CN201810018738 A CN 201810018738A CN 108238396 B CN108238396 B CN 108238396B
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CN
China
Prior art keywords
card
transfer robot
mobile
instruction
mobile transfer
Prior art date
Application number
CN201810018738.9A
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Chinese (zh)
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CN108238396A (en
Inventor
李瀚懿
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北京翰宁智能科技有限责任公司
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Priority to CN201810018738.9A priority Critical patent/CN108238396B/en
Priority to CN201711081485.1A priority patent/CN107720074B/en
Publication of CN108238396A publication Critical patent/CN108238396A/en
Application granted granted Critical
Publication of CN108238396B publication Critical patent/CN108238396B/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02Storage devices
    • B65G1/04Storage devices mechanical
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02Storage devices
    • B65G1/04Storage devices mechanical
    • B65G1/137Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses

Abstract

A kind of action command learning method the invention discloses mobile transfer robot based on FPD card, the following steps are included: according to the mobile movement to be completed of transfer robot, card is instructed required for selecting in the instruction card library of tablet computer, and is sequentially sorted;Scanner on mobile transfer robot is directed at tablet computer, plays in order selected instruction card picture using tablet computer, mobile transfer robot successively scans and obtains the card coding of each Zhang Zhiling card;After one card coding of every acquisition, the corresponding action command of present instruction card is obtained, and in the memory being stored in the control system of mobile transfer robot in order;All order card bridge queens have been read, the action command of preservation is sequentially successively taken out from memory and have executed corresponding movement.The present invention learns action command in the way of tablet computer switching command card, more convenient.

Description

Mobile action command learning method of the transfer robot based on FPD card
The application is the divisional application of Chinese invention patent application " a kind of mobile transfer robot and cargo rotation system ", Application number: 201711081485.1, the applying date: on November 7th, 2017.
Technical field
The present invention relates to intelligent robot technology fields, and in particular to a kind of mobile transfer robot is based on FPD card The action command learning method of board.
Background technique
At this stage, largely mobile transfer robot and intelligence system are introduced into logistic storage and sort home-delivery center, transhipment The occasions such as center, logistics warehouse, workshop.This application, greatly improves work efficiency, reduces cost of labor.But Existing intelligent mobile handling robot system has the following problems:
(1) installation and debugging of whole system are extremely complex, and the external of IT expert is needed to support, all modifications and It installs and requires to be planned by supplier or robot system manufacturer integrator, user can not independently execute all changes More.
(2) system while needing complicated external interface and software support for the particular/special requirement that has of technological infrastructure, A large amount of extra-pays are caused, for example wireless network and center control dispatching, warehouse management software.If wireless network is sent out Mistake occurs for raw suspension, or center control dispatching, and mobile handling robot system can terminate traveling or generate scheduling Mistake generates loss to production, the sorting dispatching of user.
(3) user's study is excessively difficult using robot system, needs expert training, some systems also need user to have volume Journey experience is programmed system by special software on computer.
(4) user be unable to test oneself idea and quick Optimizing Flow, need the prolonged planning stage, advise again The cost drawn is excessively high.
In view of this, being badly in need of improving existing intelligent mobile handling robot system, it may be implemented, without special Family, user oneself can simply install foundation and reconstructing system.And system is immediately available, without wireless network and center control And the external interface and software support of the technological infrastructure such as dispatching and warehouse management software and complexity, without skill The reliability of the dependence of art infrastructure and external interface and software, system will be improved.
Summary of the invention
It is complicated that the technical problem to be solved by the present invention is to intelligent mobile handling robot system arrangements, and be not easy to implement asks Topic.
In order to solve the above-mentioned technical problem, it is based on the technical scheme adopted by the invention is that providing a kind of mobile robot The action command learning method of FPD card card, comprising the following steps:
According to the mobile movement to be completed of transfer robot, required for being selected in the instruction card library of tablet computer Instruction card, and sequentially sort;
Scanner on mobile transfer robot is directed at tablet computer, plays in order selected finger using tablet computer Card picture is enabled, mobile transfer robot successively scans and obtains the card coding of each Zhang Zhiling card;
It is every obtain card coding after, encode that obtain present instruction card with the action command table of comparisons corresponding according to card An action command, and in the memory being stored in the control system of mobile transfer robot in order;
All order card bridge queens have been read, the action command of preservation is sequentially successively taken out from memory and have been held The corresponding movement of row.
In the above-mentioned methods, each described instruction card is encoded with unique card, and described instruction card is equipped with Identification code corresponding with card coding, card coding is preserved in the control system of the mobile transfer robot and movement refers to The correspondence table of order.
In the above-mentioned methods, first instruction card that mobile robot is read is to start card, last order card Board is to terminate card.
In the above-mentioned methods, described instruction card includes navigation card, positioning card and movement card.
In the above-mentioned methods, described instruction card includes robot self study card.
In the above-mentioned methods, described instruction card includes robot setting card.
In the above-mentioned methods, described instruction card includes mode setting card.
In the above-mentioned methods, described instruction card includes replying original state, empties learning Content card.
In the above-mentioned methods, described instruction card has a string of identical codes along its length, and the identification code is bar shaped Code, two dimensional code or square matrix code.
In the above-mentioned methods, the tablet computer is used to instruct the selection, sequence and broadcasting of card, and display divides into three A part;
Centre is that large-size screen monitors show broadcast area, for showing an instruction card or continuously being played;
Right side region is instruction card library, the thumbnail of card is instructed for the institute people in idsplay order card library, for user Selection;
Lower zone is sequence area, the thumbnail of the instruction card for being shown displayed across user's selection, and can drag change Sequentially.
The present invention does not need to issue action command by central control system, passes through instruction card or the group of instruction card Study is closed, and then according to the action command automatic running learnt, can easily modify at any time and need not modify and move The plug-in of mobile robot, very convenient arrangement implements and system debug.And utilize tablet computer switching command card Mode learns action command, more convenient.
Detailed description of the invention
Fig. 1 is the logistics of card or Workplace goods delivery system schematic based on instruction in the present invention;
Fig. 2 is mobile transfer robot schematic diagram in the present invention;
Fig. 3 is the discrepancy goods structural scheme of mechanism of mobile transfer robot in the present invention;
Fig. 4 is the mobile chassis schematic diagram of mobile transfer robot in the present invention;
Fig. 5 is to enter goods transfer station schematic diagram in the present invention;
Fig. 6 is that tongue schematic diagram is pressed in the present invention;
Fig. 7 is shipment transfer station schematic diagram in the present invention;
Fig. 8 is shipment bracket schematic diagram in the present invention;
Fig. 9 is that goods integration double-purpose transfer station schematic diagram is entered and left in the present invention;
Figure 10 is that the action command learning method card setting of mobile transfer robot card based on instruction in the present invention is shown It is intended to;
Figure 11-25 is the schematic diagram of different instruction card in the present invention;
The action command learning method flow chart of mobile transfer robot card based on instruction in Figure 26 present invention;
Figure 27 is mobile action command learning method schematic diagram of the transfer robot based on FPD card in the present invention;
Figure 28 is to generate the method stream for controlling the new card of mobile transfer robot in the present invention using existing card combinations Cheng Tu.
Specific embodiment
The present invention provides the logistics of card based on instruction or Workplace cargo intelligent distribution system, and it is mating with it The action command study side of the mobile transfer robot that uses, interchange point and mobile transfer robot card based on instruction Action command learning method based on FPD card of method, mobile transfer robot utilizes existing card combinations to generate control The method of the new card of mobile transfer robot.Method and system provided by the invention is controlled without central control computer and is moved The operation of dynamic transfer robot, can be implemented with rapid deployment, user (staff, operator) can oneself according to demand to logical Instruction card is crossed to modifying, it is easy to use, it is low to the reliability of technical specialist.Mobile transfer robot turns by cargo When fortune station, is moved downward by the telescoping mechanism on the dynamic upper body transport shelf of pressure lingual ribbon on interchange point and then stay cargo On entering shelf, or the cargo on interchange point is blocked automatically, it can be achieved that going out, storage full-automation, structure is simple, manufacture It is at low cost.The present invention is described in detail with specific embodiment with reference to the accompanying drawings of the specification.
As shown in Figure 1, the present invention is applied to logistics or Workplace cargo intelligently sorts delivery system, which includes cloth It sets colour band or magnetic stripe terrestrial reference in logistics or Workplace ground and carrying can be moved along what colour band or magnetic stripe terrestrial reference were run The quantity of robot, mobile transfer robot is not limited to one.Mobile transfer robot is equipped with visual sensor or electromagnetism passes Sensor, visual sensor can be used for reading the colour band information on mobile chassis shiftable haulage line, and electromagnetic sensor can incude on ground Magnetic strip information.Colour band or magnetic stripe terrestrial reference are pasted on the ground of logistics or Workplace, constitute the row of mobile transfer robot Path is sailed, using the colour band or magnetic stripe terrestrial reference in visual sensor or electromagnetic sensor induction ground, makes mobile transfer robot Along colour band or magnetic stripe terrestrial reference automatic running, cargo is transported.
Logistics or Workplace are disposed with cargo storage area, goods warehousing area and cargo and go out goods area.Wherein, cargo storage area Equipped with multiple groups fixed goods shelf 701, cargo is placed on fixed goods shelf 701.First passage 711 between two rows of fixed goods shelfs and It is the walking passageway for sorting staff 702 with the second channel 710 between row's fixed goods shelf, sorts staff 702 and only exist Walking in second channel 710, first passage 711 between fixed goods shelf.Goods warehousing area is equipped with into goods transfer station 706, cargo Goods area is equipped with shipment transfer station 705 out.
Be equipped in the side of fixed goods shelf and sort workspace 709, sort workspace 709 ground be equipped with annular colour band or The opposite place in the channel 711 between magnetic stripe terrestrial reference, the annular colour band or magnetic stripe terrestrial reference and every two rows of fixed goods shelfs is equipped with arc color The both ends of band or magnetic stripe terrestrial reference, arc colour band or magnetic stripe terrestrial reference are connected with annular colour band or magnetic stripe terrestrial reference respectively.Mobile carrying implement Device people 703 travels along colour band or magnetic stripe terrestrial reference, constitutes the sorting driving path 712 of mobile transfer robot.Sort workspace 709 Respectively by entering library work area and out library work area linking, enters and be also respectively equipped with annular colour band in library work area and out library work area Or magnetic stripe terrestrial reference, respectively constitute the storage driving path 713 and outbound driving path 714 of mobile transfer robot, storage traveling Path 713 and outbound driving path 714 are connected with driving path 712 is sorted, to realize that mobile transfer robot can go along storage It sails path 713, outbound driving path 714 and sorts the movement of driving path 712, realize storage, sorting and the outbound of cargo.
It puts on to be equipped with sorting arc colour band or the magnetic stripe of driving path 712 and sorts transfer station 704, be put in storage driving path 713 are equipped with into goods transfer station 706 in goods warehousing area 708, and outbound driving path 714 is equipped in cargo outbound area 707 Goods transfer station 705.
Mobile transfer robot is sorting transfer station 704, is entering goods transfer station 706 and shipment transfer station 705 realizes cargo Enter goods and shipment, that is, when entering goods, cargo thereon is placed on corresponding transfer station by mobile transfer robot, when shipment, is moved Cargo on corresponding rotation station is removed transport to other rotations and stood by dynamic transfer robot.
In the present embodiment, cargo storage divides into Zuo Qu and You Qu, and goods warehousing area and cargo shipment area are deposited positioned at cargo The ipsilateral of area is put, and is separated by the region of a convex shape, which forms the logical of mobile transfer robot traveling Road goes out goods area corresponding to cargo storage area, goods warehousing area and cargo, is respectively formed and sorts driving path 712, storage traveling road Diameter 713 and outbound driving path 714.
Working principle of the present invention is as follows:
Goods warehousing:
After cargo reaches goods warehousing area 708, cargo is removed and is placed on goods transfer station 706 by staff, is moved Dynamic transfer robot is passed by into goods transfer station 706, is loaded and is travelled along storage driving path 713, then travelled in storage Path 713 and the intersection for sorting driving path 712, drive into and sort driving path 712, reach and sort transfer station 704 accordingly Afterwards, it is discharged in and is sorted on transfer station 704, removed, be placed on fixed goods shelf by staff.
Cargo outbound:
Staff removes cargo on fixed goods shelf and is placed on nearest sorting transfer station 704 according to order, moves Dynamic transfer robot sorts transfer station 704, and loads cargo automatically, then along driving path 712 is sorted to outbound area traveling, arrives After up to the intersection of outbound driving path 714 and sorting driving path 712, outbound driving path 714 is driven into, and travel along outbound Path 714 travels, and reaches shipment transfer station 705, cargo is discharged in automatically on shipment transfer station 705, is removed by staff Entrucking.
As shown in Figure 2 and Figure 3, the mobile transfer robot in the present invention includes mobile chassis 502 and is fixed on mobile bottom Transport shelf on 502 top surface of disk.Transport shelf include upper body transport shelf and discrepancy cargo aircraft structure.
Upper body transports shelf and uses tower structure, including four supporting legs 501 being fixed on 502 top surface of mobile chassis, Four supporting legs 501 are vertical with the top surface of mobile chassis 502, and the top of upper body transport shelf, which has, is arranged at intervals with multiple brackets. The driving direction (front-rear direction) in gap and mobile chassis between bracket is consistent.
It is fixedly connected respectively by floor between two supporting legs 501 in left and right, the middle part difference of two floors of front and back arrangement If two pillars of correspondence and the top of supporting leg pass through stud 506 respectively and connect there are two spaced pillar, thus Form 4 brackets.
Entering and leaving cargo aircraft structure includes vertically disposed two levers 504, and two levers 504 are arranged by telescoping mechanism in upper body On the trailing flank for transporting shelf, lever 504 is set to retract or stretch out upwards bracket (stud downwards by pushing or unclamping telescoping mechanism 506) top surface.
Telescoping mechanism includes guide plate 509, last item 503 and the spring 507 for guiding lever 504 to move up and down.Lever 504 divides Not Tong Guo two guide plates 509 arranged up and down the upper and lower part of pillar, specifically, the trailing flank of each pillar are set Upper and lower part is respectively equipped with a guide plate 509, and guide plate 509 is equipped with pilot hole, and lever 504 is inserted into arranged up and down In pilot hole on two guide plates 509, and it can be moved up and down along pilot hole.
The both ends of last item 503 pass through stop collar respectively and are fixedly connected with two levers 504, and last item 503 can be relative to limit Position ring rotation, forms rolling shaft structure.Spring 507 is equipped between stop collar and the guide plate of lower section 509.In two levers 504 Portion is fixed with baffle ring,
Towing post is stretched out on the top of lever 504, presses last item, and last item drives two levers 504 to overcome the resistance of spring downward Movement, makes the height on the top of two levers 504 be lower than the height of towing post, and cargo can transport on shelf from upper body and be transferred to cargo On transfer station.
As shown in figure 4, in the present embodiment, for mobile chassis using 6 wheel mobile chassis, middle part sets that there are two differential gears 105, the rotation of zero turning radius may be implemented in each arrangement one in left and right, and front and back is respectively equipped with driven wheel 107, is symmetrical arranged.
3 main sensors are installed on mobile chassis, including obstacle avoidance sensor 102, visual sensor 103 and stop walking (Stop & Go) sensor 111.Obstacle avoidance sensor 102 can be infrared sensor, ultrasonic sensor or laser sensor, position In the front lower of mobile chassis, for detecting the obstacle in front, can actively stop avoiding barrier, keep the safety advanced away from From.The bottom surface of mobile chassis is arranged in visual sensor 103, can be video camera or scanner, is read by visual sensor 103 Take code blocks or the bar code information such as patch colour band information on the ground and two dimensional code, square matrix code and various types of bar codes; Can also the bottom surface of mobile chassis be arranged electromagnetic sensor, incude ground on magnetic strip information, if visual sensor 103 or Electromagnetic sensor can not find colour band, will continue to be automatically stopped traveling after travelling a certain distance (for example 20 centimetres), then show The warning lamp to report an error.Stop walking (Stop & Go) sensor 111 at the rear portion of mobile chassis, is removed for restarting movement after stopping Robot is transported, manual intervention is not necessarily to.Specific implementation is: stopping walking (Stop & Go) sensor 111 once detecting staff Foot it is mobile, system just issues mobile transfer robot enabling signal immediately, continues to travel.
Mobile transfer robot, can automatic charging or replacement battery using rechargeable battery powered.Battery case is arranged in movement The rear portion on chassis the rechargeable battery duration at least 8 hours, can connect external power supply by charge port and charge, can also More to renew battery.Battery case is equipped with the power supply indicator for being easy to observe.
The front and back of mobile transfer robot is respectively equipped with driving instruction lamp 108, and shifting can be shown by flashing Dynamic transfer robot turns left, turns right or keeps straight on.The front of mobile transfer robot is equipped with status indicator lamp 110, if flashing Or it is always on and represents following information:
First state indicator light shows mobile transfer robot software systems mistake or hardware error;
Second status indicator lamp shows that mobile transfer robot battery capacity is insufficient;
Third state indicator light shows that mobile transfer robot encounters barrier;
4th status indicator lamp shows that mobile transfer robot has current goal information;
The rear end of mobile transfer robot, which is equipped with, to be started switch, and two sides are equipped with scram button 109.
Upper body transport shelf, which are equipped with, to be started switch and for detecting the sensing with the presence or absence of turnover box or cargo thereon Device.
Mobile transfer robot enters goods and shipment by the cooperation realization that upper body transports shelf and transfer station automatically.Transfer station Including three kinds of structure types, individually enters goods transfer station, individual shipment transfer station and enters and leaves goods integration double-purpose transfer station, Enter goods transfer station and shipment transfer station can be used alone.
As shown in figure 5, entering goods transfer station includes into goods shelf and being fixed on and entering goods auxiliary goods frame into goods shelf side.
Enter goods shelf include it is left and right enter goods bracket and be parallel to each other in left-right direction it is spaced it is multiple enter goods bracket 606, enter roller bearing arranged side by side there are two setting on the top surface of goods bracket 606.It is left and right enter goods bracket between composition for movement remove The channel that passes through of fortune robot, it is left and right enter goods bracket rear end stretch out upwards, the upper end of extension end 601 is horizontal horizontal by entering goods Bar 602 is fixedly connected, enter goods horizontal cross bar 602 lower end surface be equipped with it is multiple it is vertical enter goods lever 605, enter goods bracket 606 Rear end is fixed with goods lever 605 is entered, and can be supported the cargo on mobile conveying robot upper part of human body transport shelf by entering goods lever 605 Gear is on the top surface for entering goods bracket 606.On the upper body transport shelf for entering the gap and mobile transfer robot between goods bracket 606 Bracket it is corresponding, the height of the bracket on the upper body transport shelf of mobile transfer robot is higher than the height into goods bracket 606, The gap respectively entered between goods lever 605 passes through for bracket, the proper motion for hindering mobile transfer robot is avoided, to guarantee to move Dynamic transfer robot can pass freely through.
The intermediate bottom surface for entering goods bracket 606 is equipped with pressure tongue 607, and pressure tongue 607 can guarantee and can push last item, and make to move Lever 504 on dynamic transfer robot moves down into the top surface of upper body transport shelf hereinafter, the outer end of pressure tongue 607 is cambered surface, certainly It is gradually decreased after forward direction away from ground level, as shown in Figure 6.
Entering goods auxiliary goods frame includes frame body, and the top surface of frame body is equipped with multiple roller bearings 603, and the top surface direction of frame body enters goods goods Frame direction tilts upwards, and the height direction for entering goods auxiliary goods frame enters goods shelf direction and gradually rises.It is auxiliary that staff can will enter goods It helps the cargo on shelf to shift on goods auxiliary goods frame, and slides into the other end into goods auxiliary goods frame along inclined-plane.Enter goods auxiliary Shelf are equipped with limit plate 604 far from the top surface of the one end for entering goods shelf, prevent cargo from skidded off on goods auxiliary goods frame from entering.
In use, when mobile transfer robot is by entering goods shelf, since the height of bracket 606 is lower than mobile carrying implement The height of the bracket of device people, mobile transfer robot lift cargo by bracket and advance in the top of bracket 606, at this time each bracket 606 and enter interlaced between goods lever 605 and lever 504, the end of pressure tongue 607 is contacted with last item, due to pressing tongue 607 End face is arc shape, and during mobile transfer robot is advanced, pressure tongue 607 gradually pushes the upper body of mobile transfer robot The last item 503 on shelf is transported, then last item 503 drives lever 504 to move down, and is retracted into upper body transport shelf downwards Hereinafter, keeping out lever 504 no longer in one end of cargo, mobile transfer robot is moved on for top surface, is entered goods lever 605 and is kept out Cargo simultaneously stays on bracket 606, and the cargo on upper body transport shelf is transferred on bracket 606, and is entered goods lever 605 and kept off Firmly, it completes once to enter goods.
As shown in fig. 7, shipment transfer station includes shipment shelf and the shipment auxiliary goods frame that shipment shelf side is arranged in.
Shipment shelf include left and right shipment bracket and the spaced multiple shipment brackets that are parallel to each other in left-right direction 612, shipment bracket 612 is equipped with roller bearing, as shown in Figure 8.It is formed between left and right shipment bracket logical for mobile transfer robot The rear end in the channel crossed, left and right shipment bracket is stretched out upwards, and the upper end of extension end is fixedly connected by shipment horizontal cross bar, out The lower end surface of goods horizontal cross bar is equipped with multiple vertical vertical bars, and rear end and the vertical bar of shipment bracket 612 are fixed, and vertical bar prevents cargo Deviate from from shipment shelf 612.Support on the upper body transport shelf in gap and mobile transfer robot between shipment bracket 612 Frame is corresponding, and the height of the bracket on the upper body transport shelf of mobile transfer robot is lower than the height of shipment bracket 612, each perpendicular Gap between bar passes through for bracket, avoids the proper motion for hindering mobile transfer robot, to guarantee mobile conveying robot People can pass freely through.
Shipment auxiliary goods frame includes shipment frame body, and the top surface of shipment frame body is equipped with multiple roller bearings, shipment auxiliary goods frame Top surface is tilted down towards shipment shelf direction.Staff can shift the cargo on shipment auxiliary goods frame onto shipment goods along inclined-plane On frame.
In use, when mobile transfer robot passes through shipment shelf, since the height of shipment bracket is higher than mobile carry The height of the bracket of robot, mobile transfer robot lift cargo by bracket and advance in the lower section of bracket, each shipment at this time Interlaced between bracket and vertical bar and lever 504, in mobile transfer robot forward movement, lever drives shipment goods Cargo on frame follows mobile transfer robot to move, so that cargo be made to be moved to the upper of mobile transfer robot from shipment bracket Body transports on shelf, completes a shipment.
As shown in figure 9, entering and leaving the shipment transfer station 630 and enter goods transfer station that goods integration double-purpose transfer station is arranged by front and back 620 compositions.Shipment transfer station and enter goods transfer station using above structure shipment transfer station and enter goods transfer station, and two It is fixedly connected between person by the connecting bracket 640 of a frame-type.
The present invention, the setting transport shelf on mobile chassis, transports and is set on shelf there are two lever, can will be gone out by lever Cargo on shelf is taken away, while lever is also connected with equipped with telescoping mechanism, and can be arranged on entering shelf can trigger the telescoping mechanism Pressure tongue telescoping mechanism is moved by pressure lingual ribbon and moves downward and then stays in cargo into goods when transporting shelf by going out shelf On frame, using simple mechanical structure, so that it may realize out, be put in storage full-automation, structure is simple, and manufacturing cost is low, highly It promotes and uses.
In the present invention, the automatic running of mobile transfer robot does not need central control computer, control mode be from It is inspired obtained in card games, mobile transfer robot can pass through the group of a variety of different instruction cards or different instruction card Conjunction carries out instruction study, and obtains corresponding action command, and user can very easily be carried using instruction card to mobile Robot issues action command and gives specific information.The invention mainly comprises the following aspects.
One, the logistics of card or Workplace goods delivery system based on instruction.
The system includes:
Colour band or magnetic stripe terrestrial reference, are arranged on the ground of logistics or Workplace, transport automatically as mobile transfer robot Capable travel route.
Mobile transfer robot, chassis are equipped with electromagnetic sensor, incude ground colour band or magnetic using electromagnetic sensor Terrestrial reference simultaneously can realize automatic running along colour band or the operation of magnetic stripe terrestrial reference.
Card is instructed, is respectively equipped in each instruction card and is encoded with its unique corresponding card, and encoded with card Corresponding identification code.
Card coding and the corresponding table of action command are preserved in the control system of mobile transfer robot.
Instruction card is pasted on the ground beside colour band or magnetic stripe terrestrial reference, and mobile transfer robot passes through scan instruction card Card coding on board obtains action command.
Specifically, the chassis of mobile transfer robot is equipped with scanner, and mobile transfer robot is along colour band or magnetic stripe Automatic running is marked, when by instructing card, the identification code in instruction card is read by scanner, which can be item Shape code, two dimensional code or square matrix code obtain card coding using identification code and encode table corresponding with action command by searching for card Corresponding action command is obtained, corresponding movement is then executed according to action command.
In a kind of specific embodiment as shown in Figure 10, the colour band or magnetic stripe terrestrial reference that ground on the scene is arranged include straight line Colour band 302 or straight line magnetic stripe and an arcuate limb 305 being connected with its middle part, straight line colour band 302 or straight line magnetic stripe and arc Branch 305 constitutes the travel route of mobile transfer robot 301, can be by straight line colour band 302 or straight line magnetic stripe and arc The mobile transfer robot 301 of setting instruction card control selects the travel route after joint in front of the joint of branch, such as Continue to travel along straight-line travelling or the arcuately branch 305 that turns.
Wherein 303 be navigation card, for example, mobile transfer robot can be notified to turn right or keep straight on, while Can tell mobile transfer robot here is fork road.Wherein 304,305 may be mobile carry for location information simultaneously Robot halt instruction card, mobile transfer robot are run to according to the instruction in card in the card, for example stop 30 seconds, 60 seconds, or directly stop and wait for staff and stop and walk (Stop & Go) sensing by the rear of mobile transfer robot Device, the movement of people's sensor detecting work personnel's foot is rear to provide device people's enabling signal of machine, and machine continues to run.
Such as: right-hand bend card is pasted on the ground beside colour band or magnetic stripe terrestrial reference in front of joint, then movement is removed When fortune robot 301 drives to herein, automatically scanning right-hand bend card obtains right-hand bend action command, then moves carrying implement Device people 301 is by that will turn right and drive into arcuate limb 305 after joint.If being not provided with right-hand bend card, move Transfer robot 301 after joint by continuing along straight-line travelling.
It can be pasted with and stop respectively in the terminal point of the terminal point and arcuate limb 305 of straight line colour band 302 or straight line magnetic stripe Only card 304 when mobile transfer robot 301 drives to terminal, stop card 304 by scanning, obtain instruction out of service, Then it moves transfer robot and stops at terminal.
Described above is a kind of simplest application mode, can be with for complicated travel route or control mode It is controlled by the way of multiple card combinations.
Such as: deceleration card and turning card are sequentially placed, then moving transfer robot can be carried out with slower speed Turning.Into after straight line, card can also be accelerated to give it the gun by setting again.
In the present invention, instruction card is designed using What You See Is What You Get, is not necessarily to the programming of user (staff, operator) Knowledge.In order to allow user to facilitate arrangement card, use four kinds of patterns of playing card as the mark for the arrangement concluded.Along colour band The card of path bonding, to provide related path layout, the information of target point and action command to mobile transfer robot.Together When card on have chart and explanatory note, facilitate user to understand the meaning of card.Instruction card can have following a few classes:
(1) navigation in path point, positioning and action command card.
Such instruction card pattern is diamond, for path layout, target point and operational order to be arranged,
For example: setting is turned left, and equal navigation instruction card of turning right is arranged anchor point and (refers to until staff gives Enabling can just move on) positioning instruction card, setting stops the action command card of specific time (for example stop one minute).
As shown in figure 11, wherein 202 be unique two dimensional code corresponding for each type card, arrangement in a strip shape.203 are Arrow represents the direction of card stickup on the ground, i.e. direction of the direction to the colour band stickup on landing ground. 204 be the unique number of card number, and for example D represents the classification of diamond pattern representative, and 00001 represents the card in the category The son number in face.205 explanatory notes and card name brief for card, user oneself can define, and 206 be the card Icon representation understands the meaning that the card represents convenient for user at a glance.207 be the pattern icon similar to playing card, just In user for card summarizing.208 be the further specific description of card, for example Target id 1.209 be to use the card The Business Name of board guarantees to obscure in this way, because some companies exist using the specific warehouse or construction number of the card There is specifically defined card inside different particular warehouses or factory.
Card is instructed shown in Figure 12, indicates to stop 30 seconds in the position.
Card is instructed shown in Figure 13, is indicated in traveling speed doublings.
Card is instructed shown in Figure 14, expression is turned right in the position.
Instruction card shown in figure 15, expression are turned left in the position.
(2) mobile transfer robot self study card.
Pattern is plum blossom, by the setting of card, mobile transfer robot can be allowed to learn the environmental information in entire place Deng, such as rotate the position at station, quantity etc..
Instruction card as shown in figure 16 indicates that the place has 18 rotation stations.
Instruction card as shown in figure 17 indicates that mobile transfer robot will stay on a Nr1 rotation station.
(3) card is arranged in mobile transfer robot.
Pattern is red heart, and for mobile transfer robot travel speed, turning speed to be set or adjusted, acceleration slows down Degree, it is enabled etc. into the speed of automatic transfer station and residence time or function.For example, it is possible to specify mobile conveying robot People opens or closes corresponding function, specifies the threshold values of mobile transfer robot charging, and if it opens alarm and promotes the tinkle of bells, and A series of other mobile transfer robot setting instructions.
Instruction card as shown in figure 18, expression travel speed are 0.8 meter per second.
Instruction card as shown in figure 19 indicates that acceleration is 1 meter per second square (1m/s2).
Instruction card as shown in figure 20 indicates to close alarm song.
Instruction card as shown in figure 21 indicates that order starts.
Instruction card as shown in figure 22 indicates that order terminates.
(4) mode setting card.
Pattern is spade, for operational mode of the mobile transfer robot under different application scenarios to be arranged, for example storehouse Storing stream mode, production logistics mode, the operating parameter of mode of quality testing etc., including under this mode travel speed, turn Curved speed etc..
Instruction card as shown in figure 23 indicates warehouse logistics mode, after mobile transfer robot reads the card, moves Dynamic transfer robot will enter logistic storage application model, and a series of speed reports an error, and the setting of stop will be assigned to the shifting Dynamic transfer robot.
(5) other special setting cards.
Pattern is clown's board, such as: original state is replied, learning Content etc. is emptied.
Card is instructed as of fig. 24, indicates to reply original state.
Instruction card as shown in figure 25, expression empty learning Content.
Along the instruction card of ribbon path bonding, the life of mobile transfer robot can also be provided by way of combination It enables.For example use multiplied by 2 cards, stopping card below, move in this way transfer robot rest on designated place when Between will become 2 double-lengths.
When mobile transfer robot is read or when study instruction card, mobile transfer robot can automatic reduction of speed, believe simultaneously Number indicator light can light, and notify staff, mobile transfer robot correctly reads and learn instruction, in case of wrong Accidentally, the false alarm indicator light of mobile transfer robot can light prompt staff.
The logistics of card or Workplace cargo intelligent distribution system based on instruction pass through instruction card or card combinations Action command, the running route and operation mould of the mobile transfer robot of rapid deployment can be assigned to mobile transfer robot Formula, without complicated central control system, staff can easily be realized.Also, staff can be referred to by setting Card is enabled to be described, be arranged and optimize the working map of existing mobile transfer robot, to obtain optimal route rule It draws.
Two, the action command learning method of mobile transfer robot card based on instruction.
Existing mobile transfer robot is typically based on the action command that central control system issues and realizes automatic fortune Row, and the present invention is based on the logistics or Workplace cargo intelligent distribution system of instruction card, propose a kind of mobile carrying implement The action command learning method of device people card based on instruction, does not need the action command issued by central control system, mobile Transfer robot can be ordered by the ensemble learning action command of instruction card or instruction card, and then according to the movement learnt Enable automatic running.
This method can be completed in mobile transfer robot operational process, can also first be learnt, then automatic fortune Row.As shown in Figure 10, Figure 26, Figure 27, method includes the following steps:
According to the movement that mobile transfer robot will be realized, selects corresponding instruction card or instruct the group of card It closes, and these instruction cards for controlling mobile machine operation is placed in order on the running route of mobile transfer robot;
Mobile transfer robot traveling passes by all instructions card put, and successively scans in order in the process of moving Obtain the card coding of each Zhang Zhiling card;
It is every obtain card coding after, encode that obtain present instruction card with the action command table of comparisons corresponding according to card An action command, and in the memory being stored in the control system of mobile transfer robot in order;
All order card bridge queens have been read, action command is sequentially successively taken out from memory and have been executed corresponding Movement.
Wherein, first instruction card that mobile transfer robot is read is to start card, last instruction card is Terminate card.
It is exemplified below:
Following card is put in order:
Order starts that -0.8 meter per second of speed-stops Nr1 transfer station-stopping 30 seconds -1.5 meter per second of speed-and stops Nr2 transfer station - Closing alarm song-order terminates.
Mobile transfer robot successively scans above-mentioned card, learns the instruction in card.
After the completion of study, mobile transfer robot is such as given an order, and is travelled with the speed of 0.8 meter per second, and enter Nr1 Transfer station is stopped 30 seconds in Nr1 transfer station, is then travelled with the speed of 1.5 meter per seconds, and carry out Nr2 transfer station, close alarm Sound simultaneously stops at Nr2 transfer station.
It is this to obtain operating instruction in such a way that card learns, it can easily modify and need not modify at any time Program, very convenient arrangement implements and system debug.
Three, mobile action command learning method of the transfer robot based on FPD card.
The action command learning method of above-mentioned mobile transfer robot card based on instruction, needs a variety of instruction card combinations It puts, it is very inconvenient, and it is easy error.For this purpose, moving transfer robot the invention proposes a kind of improved method Action command learning method based on FPD card learns movement life in the way of tablet computer switching command card It enables.Method includes the following steps:
According to the mobile movement to be completed of transfer robot, required for being selected in the instruction card library of tablet computer Instruction card, and sequentially sort;
Scanner on mobile transfer robot is directed at tablet computer, plays in order selected finger using tablet computer Card picture is enabled, mobile transfer robot successively scans and obtains the card coding of each Zhang Zhiling card;
It is every obtain card coding after, encode that obtain present instruction card with the action command table of comparisons corresponding according to card An action command, and in the memory being stored in the control system of mobile transfer robot in order;
All order card bridge queens have been read, the action command of preservation is sequentially successively taken out from memory and have been held The corresponding movement of row.
Tablet computer is used to instruct the selection, sequence and broadcasting of card.Wherein, three portions are divided into the display of tablet computer Point.
Centre is that large-size screen monitors show broadcast area, shows an instruction card or is continuously played.
Right side region is instruction card library, and people from institute in idsplay order card library instructs the thumbnail of card, select for user.
Lower zone is sequence area, is shown displayed across the thumbnail of the instruction card of user's selection, and can drag change sequence.
In use, user clicks order card board from the instruction card library of right side region, selected instruction card is shown in Centre display broadcast area, and be added in the sequence area of lower section simultaneously.
After the completion of selection, click play button, the then instruction card to sort in area successively exists according to the sequencing of selection Show that broadcast area plays.
User can change the sequence of instruction card in sequence area by way of dragging, be adjusted or debug.
Four, the method for the new card of combination producing of existing card is utilized.
In practical applications, the existing instruction card for controlling mobile conveying robot human action is unable to satisfy the need of user sometimes It asks, and makes that new instruction card is more complicated, and have stylish instruction card only disposable, to keep away Exempt to waste, improve efficiency, the invention proposes a kind of neocaines for generating the mobile transfer robot of control using existing card combinations The method of board, as shown in figure 28, method includes the following steps:
Step 1401: multiple the existing instruction cards that can be implemented in combination the movement are selected according to new action command;
Step 1402: mobile transfer robot reading order first starts card;
Step 1403: being successively read existing instruction card in order and encoded after every one card of acquisition encodes according to card The corresponding action command of present instruction card is obtained with the action command table of comparisons, and is saved in order;
Step 1404: mobile transfer robot has read existing order card bridge queen, then reads the instruction card an of blank, Obtain card number;
Step 1405: reading order terminates card;
Step 1406: sequentially successively each action command of preservation being taken out and is combined into a new element life It enables, the new element order and card number is added in card coding and the action command table of comparisons.
In this way, the instruction card of this blank is just provided with function possessed by existing combination card.
Action command content can be marked in this new command card.
The beneficial effects of the present invention are:
(1) entire system does not need to be integrated into the IT management system an of entirety, can independent arrangement, avoid a large amount of systems Integrated expense of uniting is paid.And can modification vehicle line as needed quick, flexible without complicated installation and Prepare.System is very flexible, can be customized according to specific requirements and be changed when needed.
(2) system can implement (Plug & Work/Plug & Play) immediately, not need to set up WLAN (WLAN) or cruise Control Module and scheduling and control software.
(3) system operatio is intuitive, and user does not need trained or Special Training.
(4) the card design for the What You See Is What You Get innovated, is not necessarily to the programming knowledge of user (staff, operator).For It allows user to facilitate arrangement card, has used four kinds of patterns of playing card as the mark for the arrangement concluded.Have in card simultaneously Chart and explanatory note facilitate user to understand the meaning of card.
(5) card has an endless combinations, user (staff, operator) can oneself according to demand to by card to shifting Dynamic handling robot system is modified.
(6) user can newly define card by the combination of old card, without upgrading the inside of mobile transfer robot Software, mobile transfer robot can learn new mode and instruction.
(7) card has the identical code-bar of string of code along its length, it is ensured that mobile transfer robot reads code Item, and navigate under driving mode in card, it is ensured that mobile transfer robot accurately stops on the last one code.
(8) mobile conveying robot upper part of human body bracket and transfer station proposed by the present invention, are all simple pure mechanic structure, do not have There are auxiliary electrical or pneumatic consumption, does not need to carry out wiring, it is non-maintaining.
(9) it is supported using the reading that the electronic ink screen plate of low-power consumption or ordinary flat can dynamically be shown, this Sample can dynamically give card, more convenient user's operation.
(10) user (staff, operator) oneself quickly through the use of card can change travel route and stop Point is supported without external.It easily can modify or be adapted to the vehicle line and anchor point of mobile transfer robot.Easily Addition and removal transfer station, connect goods yard and set, position of getting in stocks.
(11) whether mobile transfer robot can be has turnover box on the pallet of automatic sensing upper body bracket, by being mounted on The sensor (for example, photoelectric sensor) of the upper body bracket of special designing is identified.It is upper on mobile transfer robot simultaneously Another sensor (for example, photoelectric sensor) of body bracket may determine that on transfer station whether there is turnover box.
There is the ingehious design worked in coordination between (12) three kinds of brackets, wherein the upper body bracket for moving transfer robot is high Degree is higher than the L-type support bottom level into the bracket of goods transfer station, and is lower than shipment transfer station L-type support bottom level.It is mobile The plan-position of the upper body bracket of transfer robot and the L-type support bottom for entering goods and shipment transfer station successively intersects, and does not do mutually It relates to.
(13) special designing stop and walk (Stop & Go) sensor working efficiency can be improved.Stop and walks (Stop & Go) Sensor, can be by stopping and walking (Stop & after mobile transfer robot stops on the trailing flank of mobile transfer robot Go) sensor restarts mobile transfer robot, is not necessarily to manual intervention.Implementation are as follows: stop and walk (Stop & Go) sensing Device just provides mobile transfer robot enabling signal once detecting the movement of foot immediately, and machine can continue to travel.
(14) bracket on mobile transfer robot also provides button, and user does not need to bend over by positioned at mobile conveying robot Button on people.
(15) transfer station has several designs, individually enters goods transfer station, and individual shipment transfer station enters and leaves goods and integrally transports It stands, there are also double-deck or multilayer the transfer station designs.Transfer station can arrange in pairs or groups idler wheel simultaneously, can be accelerated by the gravity of the gradient Degree is realized unloads goods on automatic, provides storage efficiency.
(16) field division is picking staff service aisle, and mobile transfer robot special mobile channel, work people Member and mobile transfer robot not only guarantee safety but also can guarantee that mobile transfer robot high speed is moved in different channels operations It is dynamic.Mobile transfer robot does not enter inside the road of people's picking, and the driving path of mobile transfer robot is simply single.By turning The use at station is transported, mobile transfer robot can automatically take turnover box from transfer station, and can support to deposit on transfer station Multiple turnover boxes are taken, are greatly improved the efficiency.
The present invention is set there are two telescopic lever on the transport shelf on mobile chassis, when by interchange point, It is moved downward by the dynamic telescoping mechanism of pressure lingual ribbon on interchange point and then stays in cargo on shelf, or blocked automatically Cargo on interchange point, using simple mechanical structure, so that it may realize out, be put in storage full-automation, structure is simple, manufacture at This is low.
The present invention is not limited to above-mentioned preferred forms, and anyone should learn that the knots made under the inspiration of the present invention Structure variation, the technical schemes that are same or similar to the present invention are fallen within the scope of protection of the present invention.

Claims (8)

1. a kind of action command learning method of mobile transfer robot based on FPD card, which is characterized in that including with Lower step:
According to the mobile movement to be completed of transfer robot, required finger is selected in the instruction card library of tablet computer Card is enabled, and is sequentially sorted;
Scanner on mobile transfer robot is directed at tablet computer, plays in order selected order card using tablet computer Board picture, mobile transfer robot successively scan and obtain the card coding of each Zhang Zhiling card;
After one card coding of every acquisition, is encoded according to card and obtain present instruction card corresponding one with the action command table of comparisons Action command, and in the memory being stored in the control system of mobile transfer robot in order;
All order card bridge queens have been read, the action command of preservation is sequentially successively taken out from memory and have executed phase The movement answered;
Wherein, each described instruction card is encoded with unique card, and described instruction card is equipped with and encodes phase with card Corresponding identification code preserves the correspondence table of card coding and action command in the control system of the mobile transfer robot;
The tablet computer is used to instruct the selection, sequence and broadcasting of card, and three parts are divided into display;
Centre is that large-size screen monitors show broadcast area, for showing an instruction card or continuously being played;
Right side region is instruction card library, and the thumbnail of card is instructed for the institute people in idsplay order card library, is selected for user;
Lower zone is sequence area, the thumbnail of the instruction card for being shown displayed across user's selection, and can drag change sequence.
2. action command learning method of the mobile transfer robot according to claim 1 based on FPD card, It is characterized in that, first instruction card that mobile transfer robot is read is to start card, last instruction card is to terminate Card.
3. action command learning method of the mobile transfer robot according to claim 1 based on FPD card, It is characterized in that, described instruction card includes for navigation card, positioning card and the action command card in path point.
4. action command learning method of the mobile transfer robot according to claim 1 based on FPD card, It is characterized in that, described instruction card includes the self study card for moving transfer robot autonomous learning.
5. action command learning method of the mobile transfer robot according to claim 1 based on FPD card, It is characterized in that, described instruction card includes the setting card for mobile transfer robot operating parameter to be set or adjusted.
6. action command learning method of the mobile transfer robot according to claim 1 based on FPD card, It is characterized in that, described instruction card includes the operational mode for mobile transfer robot to be arranged under different application scenarios Mode setting card.
7. action command learning method of the mobile transfer robot according to claim 1 based on FPD card, It is characterized in that, described instruction card includes emptying learning Content card for be arranged that mobile transfer robot replys original state Board.
8. action command learning method of the mobile transfer robot according to claim 1 based on FPD card, It is characterized in that, described instruction card has a string of identical identification codes along its length, and the identification code is bar code, two dimensional code Or square matrix code.
CN201810018738.9A 2017-11-07 2017-11-07 Mobile action command learning method of the transfer robot based on FPD card CN108238396B (en)

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