CN108375980A - Transfer robot and its operation method and handling system - Google Patents
Transfer robot and its operation method and handling system Download PDFInfo
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- CN108375980A CN108375980A CN201810142124.1A CN201810142124A CN108375980A CN 108375980 A CN108375980 A CN 108375980A CN 201810142124 A CN201810142124 A CN 201810142124A CN 108375980 A CN108375980 A CN 108375980A
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- 238000012546 transfer Methods 0.000 title claims abstract description 87
- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000001514 detection method Methods 0.000 claims abstract description 126
- 230000004888 barrier function Effects 0.000 claims abstract description 24
- 235000004443 Ricinus communis Nutrition 0.000 claims description 95
- 240000000528 Ricinus communis Species 0.000 claims description 29
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- 238000010586 diagram Methods 0.000 description 39
- 238000013461 design Methods 0.000 description 6
- 238000005259 measurement Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000005347 demagnetization 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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Abstract
The invention discloses a kind of transfer robot and its operation method and handling system, which includes：Mode selection module, detection module, control module and operation module, detection module and control module may be contained in operation module；Mode selection module for generating corresponding operational mode information according to the user's choice；Detection module is used for the obstacle information according to the barrier around operational mode infomation detection transfer robot；Control module is used to control operation module according to obstacle information and be run.It can be adapted for the carrying work of different scenes to transfer robot provided by the invention, and be not necessarily to manual operation in the handling process, and manpower is greatly saved, improves the convenience of handling process, and greatly reduces the generation of carrying accident.
Description
Technical field
The present invention relates to technical field of automatic control, more particularly to a kind of transfer robot and its operation method and carrying
System.
Background technology
Currently, most of seven layers of building below are all fitted without elevator, also without manned loading it is upper downstairs
Walking-replacing tool, removal of home just at everybody problem is perplexed, especially for the family for lacking labour in the elderly and family, are made
At greatly inconvenient and unnecessary manpower financial capacity consumption.
In daily removal of home, the trucking expenses of refrigerator, the big part such as washing machine is very high, especially it is high-rise it is walk-up live
Family, if 2-3 times of the removal charge low layer of electrical part.Meanwhile the resettlement of big part electric appliance is removed there is prodigious security risk
Personnel are moved in the case that careless, it is most likely that safety accident occurs.
Invention content
The present invention is directed at least solve one of the technical problems existing in the prior art, it is proposed that a kind of transfer robot and
Its operation method and handling system
To achieve the above object, the present invention provides a kind of transfer robots, including：Mode selection module, detection module,
Control module and operation module, the detection module and the control module may be contained in the operation module；
The mode selection module for generating corresponding operational mode information according to the user's choice；
The detection module is used for according to the barrier around transfer robot described in the operational mode infomation detection
Obstacle information；
The control module is used to control the operation module according to the obstacle information and be run.
Optionally, the operation module includes：Multiple objects fixing device, multiple telescopic supporting rods, multiple castors and extremely
A few sliding rail；
The part object fixing device is set on the sliding rail, and the first end of the part telescopic supporting rod is set to
In the sliding slot of the sliding rail bottom；
The first end of telescopic supporting rod described in another part is set in object fixing device described in another part；
Each castor may be contained within the second end of the corresponding telescopic supporting rod；
The corresponding detection module is both provided on the holder of each castor.
Optionally, the operational mode information includes：Threshold crossing pattern, pattern of going upstairs, pattern of going downstairs, warehouse entry mould
Formula.
Optionally, when the operational mode information is the threshold crossing pattern, the barrier is threshold, the barrier
Hinder first level distance of the object information between the detection module and the threshold；
The detection module includes：First detection unit, the first detection unit for detect its own with positioned at it
First level distance between the threshold in front；
The control module includes：First judging unit and the first control unit；
First judging unit for judge first level distance whether be less than or equal to the first preset level away from
From；
First control unit is used to judge that the first level distance is less than or waits when first judging unit
In first preset level apart from when, it is corresponding to control corresponding with the first detection unit telescopic supporting rod drive
Castor the first preset length of retraction, and control other castors and roll the first default forward travel distance forwards, and complete to roll
The telescopic supporting rod of the control in the first preset length state of retracting carries out stretching operation afterwards, until with the telescopic supporting rod
The castor of connection contacts ground.
Optionally, when the operational mode information goes upstairs pattern for described in, the barrier is a upper ladder, described
Second horizontal distance of the obstacle information between the detection module and a upper ladder；
The detection module includes：Second detection unit, the second detection unit for detect its own with positioned at it
The second horizontal distance between a upper ladder in front；
The control module includes：Second judgment unit and the second control unit；
The second judgment unit for judge second horizontal distance whether be less than or equal to the second preset level away from
From；
Second control unit is used to judge that second horizontal distance is less than or waits when the second judgment unit
In second preset level apart from when, it is corresponding to control corresponding with the second detection unit telescopic supporting rod drive
Castor the second preset length of retraction, and control other castors and roll the second default forward travel distance forwards, and complete to roll
The telescopic supporting rod of the control in the second preset length state of retracting carries out stretching operation afterwards, until with the telescopic supporting rod
The castor of connection contacts ground.
Optionally, when the operational mode information goes downstairs pattern for described in, the barrier is next ladder, described
The first vertical distance between stepped surfaces of the obstacle information for the detection module and immediately below it；
The detection module includes：Third detection unit, the third detection unit for detect its own with positioned at just
The first vertical distance between the stepped surfaces of lower section；
The control module includes：Third judging unit and third control unit；
The third judging unit for judge first vertical distance whether be greater than or equal to first it is default vertically away from
From；
The third control unit is used to judge that first vertical distance is more than or waits when the third judging unit
When the first default vertical distance, control other castors in addition to castor corresponding with third detection unit described in this to
Front rolls third and presets forward travel distance, and control flexible branch corresponding with third detection unit described in this after completing to roll
Strut carries out stretching operation, until the castor contact ground being connect with the telescopic supporting rod.
Optionally, when the operational mode information is the warehouse entry pattern, the barrier is freight house, the barrier
The second vertical distance between ground or freight house supporting surface of the information for the detection module and immediately below it；
The detection module includes：4th detection unit, the 4th detection unit for detect its own with positioned at just
The second vertical distance between the ground or freight house supporting surface of lower section；
The control module includes：4th judging unit and the 4th control unit；
4th judging unit for judge second vertical distance whether be less than or equal to second it is default vertically away from
From；
4th control unit is used to judge that second vertical distance is less than or waits when the 4th judging unit
When the second default vertical distance, control other castors in addition to castor corresponding with the 4th detection unit described in this to
Front rolls the 4th default forward travel distance, and control flexible branch corresponding with the 4th detection unit described in this after completing to roll
Strut carries out stretching operation, until the castor contact freight house supporting surface being connect with the telescopic supporting rod.
Optionally, the detection unit in the detection module is infrared distance sensor.
To achieve the above object, the present invention also provides a kind of handling systems, including：Transfer robot, the carrying implement
Device people uses above-mentioned transfer robot.
To achieve the above object, the present invention also provides a kind of operation method of transfer robot, the transfer robots
Using above-mentioned transfer robot, the operation method includes：
The mode selection module generates corresponding operational mode information according to the user's choice；
The detection module is according to the obstacle of the barrier around transfer robot described in the operational mode infomation detection
Object information；
The control module controls the operation module according to the obstacle information and is run.
The invention has the advantages that：
The present invention provides a kind of transfer robot and its operation method and handling system, which includes：Mould
Formula selecting module, detection module, control module and operation module, detection module and control module may be contained in operation module；
Mode selection module for generating corresponding operational mode information according to the user's choice；Detection module is used for according to operational mode
The obstacle information of barrier around infomation detection transfer robot；Control module is used to be controlled according to obstacle information and run
Module is run.It can be adapted for the carrying work of different scenes to transfer robot provided by the invention, and carry
It is not necessarily to manual operation in journey, manpower is greatly saved, improves the convenience of handling process, and greatly reduces carrying accident
Occur.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram for transfer robot that the embodiment of the present invention one provides；
Fig. 2 is the front schematic view that module is run in Fig. 1；
Fig. 3 is the side schematic view that module is run in Fig. 1；
Fig. 4 is the vertical view that module is run in Fig. 1；
Fig. 5 is the stereoscopic schematic diagram that module is run in Fig. 1；
Fig. 6 is the structural schematic diagram of castor in the present invention；
Fig. 7 is the structural schematic diagram of one mode selecting module in the present invention；
Fig. 8 a are first schematic diagram of the transfer robot across threshold；
Fig. 8 b are second schematic diagram of the transfer robot across threshold；
Fig. 8 c are third schematic diagram of the transfer robot across threshold；
Fig. 8 d are fourth schematic diagram of the transfer robot across threshold；
Fig. 9 a are the first schematic diagram of conveying robot person to go upstairs；
Fig. 9 b are the second schematic diagram of conveying robot person to go upstairs；
Fig. 9 c are the third schematic diagram of conveying robot person to go upstairs；
Fig. 9 d are the 4th schematic diagram of conveying robot person to go upstairs；
Fig. 9 e are the 5th schematic diagram of conveying robot person to go upstairs；
Fig. 9 f are the 6th schematic diagram of conveying robot person to go upstairs；
Figure 10 a are the first schematic diagram that transfer robot is gone downstairs；
Figure 10 b are the second schematic diagram that transfer robot is gone downstairs；
Figure 10 c are the third schematic diagram that transfer robot is gone downstairs；
Figure 10 d are the 4th schematic diagram that transfer robot is gone downstairs；
Figure 10 e are the 5th schematic diagram that transfer robot is gone downstairs；
Figure 11 a are the first schematic diagram of transfer robot warehouse entry；
Figure 11 b are the second schematic diagram of transfer robot warehouse entry,
Figure 11 c are the third schematic diagram of transfer robot warehouse entry；
Figure 12 is a kind of flow chart of the operation method for transfer robot that the embodiment of the present invention three provides.
Specific implementation mode
To make those skilled in the art more fully understand technical scheme of the present invention, the present invention is carried below in conjunction with the accompanying drawings
A kind of transfer robot and its operation method and handling system supplied is described in detail.
Fig. 1 is a kind of structural schematic diagram for transfer robot that the embodiment of the present invention one provides, as shown in Figure 1, the carrying
Robot includes：Mode selection module 1, detection module 2, control module 3 and operation module 4, detection module 2 and control module 3
It may be contained in operation module 4；
Mode selection module 1 for generating corresponding operational mode information according to the user's choice；
Detection module 2 is used for the obstacle information according to the barrier around operational mode infomation detection transfer robot；
Control module 3 is used to control operation module 4 according to obstacle information and be run.
In the present embodiment, user can be according to actual needs by mode selection module 1 come the fortune of selection transportation robot
Row pattern, it can carry out automatic running to transfer robot according to the selected operational mode of user, and operational process is without artificial dry
In advance, manpower can be greatlyd save.
It should be noted that the mode selection module 1 in the present invention, which is specifically as follows one, has several selection keys
The equipment such as equipment, such as mobile phone, remote control, can by way of wire communication/wireless communication with detection module 2, control mould
Block 3 is communicated.
Control module 3 is specifically as follows electronic control unit (Electronic Control Unit abbreviation ECU), connects
The obstacle information that detection module 2 is sent is received, and controls operation module 4 and is operated accordingly, control module 3 may be disposed at fortune
It is integrated in same equipment in row module 4 or with mode selection module 1.In the present embodiment, it is preferable that control module 3 is arranged
In in operation module 4.
Fig. 2 is the front schematic view that module 4 is run in Fig. 1, and Fig. 3 is the side schematic view that module 4 is run in Fig. 1, and Fig. 4 is
The vertical view of module 4 is run in Fig. 1, Fig. 5 is the stereoscopic schematic diagram that module 4 is run in Fig. 1, as shown in Fig. 2 to 5, the operation mould
Block 4 includes：Multiple objects fixing device 8, multiple telescopic supporting rods, multiple castors 6 and at least one sliding rail 7；Fractional object is solid
Determine device 8 to be set on sliding rail 7, the first end of part telescopic supporting rod is set in the sliding slot of 7 bottom of sliding rail；Another part is stretched
The first end of contracting supporting rod is set in another part object fixing device 8；Each castor 6 may be contained within corresponding retractable support
The second end of bar；It is both provided with corresponding detection module 2 on the holder 601 of each castor 6.In the present invention, a telescopic supporting rod
A corresponding castor 6 and a detection module 2.
In the present embodiment, with the quantity of sliding rail 7 for 2, the quantity of object fixing device 8 is 6, telescopic supporting rod, foot
Wheel 6, the quantity of detection module 2 are to carry out exemplary description for 6.Wherein, two sliding rails 7 are oppositely arranged, each sliding rail
The first end of two telescopic supporting rods is provided in the sliding slot of 7 bottoms, the inside of each sliding rail 7 is provided with 2 objects and fixes dress
Set 8.When in use, 2 sliding rails 7 are fixed on to the opposite sides of object 9 to be handled by corresponding fixing device 8, in addition 2
Fixing device 8 is individually fixed in another opposite sides of object 9 to be handled.Two telescopic supporting rods in same sliding rail 7 it
Between distance can by sliding be adjusted.
Optionally, fixing device 8 is magnechuck.Magnechuck is a kind of electromagnetic principle, by keeping Inside coil logical
Electricity generates magnetic force, by magnetic conduction panel, contact is tightly sucked in the object to be handled 9 of panel surface, passes through coil blackout, magnetic
Power, which disappears, realizes demagnetization, removes workpiece object 9 to be handled.
Optionally, which further includes power module (not shown), and power module is each mould of transfer robot
Block is powered.
In the present invention, fixed mode is adsorbed using side and is carried, is applicable not only to the carrying of small size object, together
Sample is also applied for the carrying of large scale object.
Fig. 6 is the structural schematic diagram of castor 6 in the present invention, and shown in Fig. 6, each castor 6 includes：Idler wheel 602 and holder
601, the present invention in idler wheel 602 be specifically as follows universal wheel.Detection module 2 is located on corresponding holder 601, telescopic supporting rod
Second end and holder 601 fix.
Telescopic supporting rod is hydraulically extensible supporting rod, which may include multistage hydraulic bar, for example, liquid
Pressure telescopic rod may include three-level hydraulic stem.Change the series of hydraulic stem, adjusting control height, to adapt to the object of different height
Carrying and adapt to different staircase designs.Specifically, by controlling hydraulic pump (not shown) high-voltage oil liquid is provided for hydraulic stem
Amount, to the telescopic level of controllable hydraulically extensible supporting rod.
Below in conjunction with example come the operational process to transfer robot provided by the invention under different operational modes into
Row detailed description.
In the present embodiment optionally, operational mode information includes：Threshold crossing pattern, pattern of going upstairs, pattern of going downstairs,
Warehouse entry pattern.
Fig. 6 is that structural schematic diagram Fig. 7 of castor 6 in the present invention is that the structure of one mode selecting module 1 in the present invention is shown
It is intended to, as shown in fig. 7, for selecting module 1 is a remote control in mode, there are 6 different buttons, respectively：" ON/OFF "
Key, " brake " key, " threshold crossing " key, " going upstairs " key, " going downstairs " key, " warehouse entry " key.User can be according to different applications
Scene is come by different cases.
Wherein, " ON/OFF " key is for controlling being turned on and off for transfer robot；" brake " key is for controlling operation module
Idler wheel 602 in 4 brakes；" threshold crossing " key executes across threshold operation for controlling transfer robot；" going upstairs " key
Operation of going upstairs is executed for controlling transfer robot；" going downstairs " key executes operation of going downstairs for controlling transfer robot；
" warehouse entry " key executes warehouse entry operation for controlling transfer robot.
There are when threshold in front of transfer robot, user can press " threshold crossing " key on mode selection module 1, remove
Fortune robot enters threshold crossing pattern.At this point, barrier is threshold, obstacle information is between detection module 2 and threshold
First level distance.
Detection module 2 includes：First detection unit 201, first detection unit 201 for detect its own with before it
First level distance between the threshold of side.
Control module 3 includes：First judging unit 301 and the first control unit 302；First judging unit 301 is for sentencing
Whether disconnected first level distance is less than or equal to the first preset level distance；First control unit 302 is used to judge list when first
Member 301 judge first level distance be less than or equal to the first preset level apart from when, control it is corresponding with first detection unit 201
Telescopic supporting rod drive corresponding castor 6 to retract the first preset length, and control other castors 6 and roll first forwards in advance
If forward travel distance, and telescopic supporting rod of the control in the first preset length state of retracting carries out stretching behaviour after completing to roll
Make, until the castor 6 being connect with the telescopic supporting rod contacts ground.
Fig. 8 a are first schematic diagram of the transfer robot across threshold；Fig. 8 b are second signal of the transfer robot across threshold
Figure；Fig. 8 c are third schematic diagram of the transfer robot across threshold；Fig. 8 d are fourth schematic diagram of the transfer robot across threshold；Such as figure
Shown in 8a~8d, when transfer robot is in across threshold pattern, whole castors 6 drives whole service module 4 and to be handled
Object 9 is moved towards threshold.
First detection unit 201 on each castor 6 detects itself first level distance between threshold in real time.Referring to
Shown in Fig. 8 a, the first level distance being located between the first detection unit 201 and threshold of forefront is default less than or equal to first
When horizontal distance (the general radius for being slightly larger than idler wheel 602), the first control unit 302 controls whole castors 6 and brakes；
Shown in Fig. 8 b, then, telescopic supporting rod of the first control unit 302 control positioned at forefront drives corresponding castor 6 to contract
The first preset length is returned, wherein the first preset length need to be more than the height of threshold, occurrence can carry out accordingly according to actual needs
Design；Shown in Fig. 8 c, followed by, the first control unit 302 control each castor 6 execute rolls forward first it is default advance away from
From.Wherein, the first default forward travel distance need to be more than the sum of the first preset level distance, threshold width, 602 radius three of idler wheel,
Occurrence can carry out respective design according to actual needs；In the process since the castor 6 positioned at forefront leaves ground,
The castor 6 dallies.Shown in Fig. 8 d, then, the control of the first control unit 302 is in the first preset length state of retracting
Telescopic supporting rod execute stretch out operation, until connect with the telescopic supporting rod castor 6 contact ground (bottoming out operation)；It is located at
The castor 6 of forefront is completed across threshold.
Other castors 6 execute above-mentioned identical process, are sequentially completed across threshold operation；Wait for that whole castors 6 are completed across door
After sill operation, across the threshold operation of the transfer robot terminates.
It should be noted that first detection unit 201 is specifically as follows infrared distance sensor, and measurement direction is level
Forward.
In front of transfer robot there are staircase step and when needing to go upstairs, user can be by mode selection module 1
" going upstairs " key, transfer robot, which enters, goes upstairs pattern.At this point, barrier is a upper ladder, obstacle information is detection
The second horizontal distance between module 2 and a upper ladder.
Detection module 2 includes：Second detection unit 202, second detection unit 202 for detect its own with before it
The second horizontal distance between a upper ladder for side.
Control module 3 includes：Second judgment unit 303 and the second control unit 304；Second judgment unit 303 is for sentencing
Whether disconnected second horizontal distance is less than or equal to the second preset level distance；Second control unit 304 is used to judge list when second
Member 303 judge the second horizontal distance be less than or equal to the second preset level apart from when, control it is corresponding with second detection unit 202
Telescopic supporting rod drive corresponding castor 6 to retract the second preset length, and control other castors 6 and roll second forwards in advance
If forward travel distance, and telescopic supporting rod of the control in the second preset length state of retracting carries out stretching behaviour after completing to roll
Make, until the castor 6 being connect with the telescopic supporting rod contacts ground.
Fig. 9 a are the first schematic diagram of conveying robot person to go upstairs；Fig. 9 b are the second signal of conveying robot person to go upstairs
Figure；Fig. 9 c are the third schematic diagram of conveying robot person to go upstairs；Fig. 9 d are the 4th schematic diagram of conveying robot person to go upstairs；Such as figure
Shown in 9a~9d, when transfer robot, which is in, goes upstairs pattern, whole castors 6 drives whole service module 4 and to be handled
Object 9 is moved towards stair.
Second detection unit 202 on each castor 6 detects itself with a upper ladder (when transfer robot does not reach in real time
When at stair, a upper ladder be the first rank ladder) between the second horizontal distance.Shown in Fig. 9 a, it is located at the of forefront
The second horizontal distance between two detection units 202 and a upper ladder is less than or equal to the second preset level distance and (is generally slightly larger than
The radius of idler wheel 602) when, the second control unit 304 controls whole castors 6 and brakes；Shown in Fig. 9 b, then,
Telescopic supporting rod of second control unit 304 control positioned at forefront drives second preset length of the corresponding retraction of castor 6, wherein
Second preset length need to be more than the height of a upper ladder, and occurrence can carry out respective design according to actual needs；Referring to Fig. 9 c institutes
Show, followed by the second control unit 304 controls the execution rolls forward second of each castor 6 and presets forward travel distance.Wherein, second is pre-
If forward travel distance need to be more than the second preset level distance, occurrence can carry out respective design according to actual needs；In the process
Since the castor 6 positioned at forefront leaves bottom surface, which dallies.Shown in Fig. 9 d, then, the second control
Telescopic supporting rod of the control of unit 304 in the second preset length state of retracting, which executes, stretches out operation, until with the retractable support
The castor 6 of bar connection contacts ground (bottoming out operation)；Castor 6 positioned at forefront reaches the first rank stepped surfaces.
Based on above-mentioned principle, each castor 6 is terraced stepwise climb, until whole castors 6 reach highest single order ladder
Surface, the process of going upstairs terminate.It should be noted that during going upstairs, to ensure the steady of object 9 to be handled, at most
It exists simultaneously two castors 6 and climbs corresponding upper single order ladder.
Fig. 9 e are the 5th schematic diagram of conveying robot person to go upstairs；Fig. 9 f are the 6th signal of conveying robot person to go upstairs
Figure；It is terraced when climb stepwise in each castor 6 as shown in Fig. 9 e and Fig. 9 f, when the lift supporting rod 5 positioned at forefront reaches
When minimum extension elongation, then the second control unit 304 can control whole lift supporting rods 5 while the certain length that contracts, to be handled
Object 9 increases certain altitude.
It should be noted that second detection unit 202 is specifically as follows infrared distance sensor, and measurement direction is level
Forward.First detection unit 201 and second detection unit 202 in the present invention can be same detection unit.
In front of transfer robot there are staircase step and when needing to go downstairs, user can be by mode selection module 1
" going downstairs " key, transfer robot, which enters, goes downstairs pattern.At this point, barrier is next ladder, obstacle information is detection
The first vertical distance between module 2 and stepped surfaces immediately below it.
Detection module 2 includes：Third detection unit 203, third detection unit 203 for detect its own under just
The first vertical distance between the stepped surfaces of side.
Control module 3 includes：Third judging unit 305 and third control unit 306；Third judging unit 305 is for sentencing
Whether disconnected first vertical distance is greater than or equal to the first default vertical distance；Third control unit 306 is used to judge list when third
When member 305 judges that the first vertical distance is greater than or equal to the first default vertical distance, control removes and the third detection unit 203
Other castors 6 except corresponding castor 6 roll third and preset forward travel distance forwards, and after completing to roll control with this
Three detection units 203 correspond to telescopic supporting rod and carry out stretching operation, until the castor 6 being connect with the telescopic supporting rod is contiguously
Face.
Figure 10 a are the first schematic diagram that transfer robot is gone downstairs；Figure 10 b are the second signal that transfer robot is gone downstairs
Figure；Figure 10 c are the third schematic diagram that transfer robot is gone downstairs；As shown in Figure 10 a~10c, when transfer robot is in downstairs
When terraced pattern, whole castors 6 drives whole service module 4 and object to be handled 9 to be moved towards stair.
Third detection unit 203 on each castor 6 detects itself first between the stepped surfaces of underface in real time
Vertical distance.The castor 6 positioned at forefront move to the edge of highest single order ladder before, be located at forefront third examine
It surveys the first vertical distance that unit 203 detects and is equal to third detection unit 203 at a distance from the upper surface of highest single order ladder
(vertical distance i.e. between 602 bottom of third detection unit 203 and idler wheel).Shown in Figure 10 a, it is located at the castor 6 in front
The edge for running to highest single order ladder when, first detected positioned at the third detection unit 203 of forefront is vertical
Distance is its own at a distance from the upper surface of the second high ladder (the first vertical distance saltus step is a higher value), and third judges
Unit 305 judges that the first vertical distance is more than or equal to the first default vertical distance and (is more than third detection unit 203 and idler wheel
Vertical distance between 602 bottoms), third control unit 306 controls whole castors 6 and brakes；Shown in Figure 10 b, connect
It, third control unit 306 controls each castor 6 and executes the default forward travel distance of rolls forward third；Wherein third it is default advance away from
From the radius more than idler wheel 602, occurrence can carry out respective design according to actual needs.In the process due to being located at most
The castor 6 in front leaves ground, therefore the castor 6 dallies.Shown in Figure 10 c, controlled followed by third control unit 306
Lift supporting rod 5 of the system positioned at forefront, which executes, stretches out operation, until the castor 6 being connect with the telescopic supporting rod contacts ground；
Castor 6 positioned at forefront reaches the second high stepped surfaces.
Based on above-mentioned principle, the terraced carry out test stepwise of each castor 6, until whole castors 6 reach the bottommost of stair,
The process of going downstairs terminates.It should be noted that during going downstairs, to ensure the steady of object 9 to be handled, at most deposit simultaneously
In the corresponding lower single order ladder of two 6 tests of castor.
Figure 10 d are the 4th schematic diagram that transfer robot is gone downstairs；Figure 10 e are the 5th signal that transfer robot is gone downstairs
Figure；As shown in Figure 10 d and Figure 10 e, when the lift supporting rod 5 positioned at forefront reaches maximum extension elongation, then third controls
Unit 306 can control whole lift supporting rods 5 and retract at the same time certain length, and object 9 to be handled declines certain altitude therewith.
It should be noted that third detection unit 203 is specifically as follows infrared distance sensor, and measurement direction is vertical
Downwards.
When the front of transfer robot is freight house, user can press " warehouse entry " key on mode selection module 1, conveying robot
People enters warehouse entry pattern.At this point, barrier is freight house, obstacle information be detection module 2 with immediately below it ground or
The second vertical distance between freight house supporting surface.
Detection module 2 includes：4th detection unit 204, the 4th detection unit 204 for detect its own under just
The second vertical distance between the ground or freight house supporting surface of side.
Control module 3 includes：4th judging unit 307 and the 4th control unit 308；4th judging unit 307 is for sentencing
Whether disconnected second vertical distance is less than or equal to the second default vertical distance；4th control unit 308 is used to judge list when the 4th
When member 307 judges that the second vertical distance is less than or equal to the second default vertical distance, control removes and the 4th detection unit 204
Other castors 6 except corresponding castor 6 roll the 4th default forward travel distance forwards, and after completing to roll control with this
Four detection units 204 correspond to telescopic supporting rod and carry out stretching operation, until the castor 6 being connect with the telescopic supporting rod contacts freight house
Supporting surface.
Figure 11 a are the first schematic diagram of transfer robot warehouse entry；Figure 11 b are the second schematic diagram of transfer robot warehouse entry,
Figure 11 c are the third schematic diagram of transfer robot warehouse entry；As shown in Figure 11 a~11c, after user presses " warehouse entry " key, the 4th control
Telescopic supporting rod of the control of unit 308 processed positioned at forefront is retracted to minimum length, and other lift supporting rods 5 extend out to maximum
Length, whole castors 6 are moved towards cargo hold, and each 4th unit detects itself and ground located directly below or freight house supporting surface
Between the second vertical distance.
The castor 6 positioned at forefront move to the edge of cargo hold before, be located at forefront the 4th detection unit 204
The second vertical distance detected is equal to the distance between itself and ground.Shown in Figure 11 a, it is located at the fortune of the castor 6 in front
When row arrives the edge of cargo hold, the second vertical distance detected positioned at the 4th detection unit 204 of forefront is its own
With at a distance from cargo hold surface (the second vertical distance saltus step be a smaller value, show the 4th detection unit 204 enter freight house),
4th judging unit 307 judges that the second vertical distance is less than or equal to the second default vertical distance, wherein second it is default vertically away from
From can be designed according to actual needs.4th control unit 308 controls whole castors 6 and brakes；Shown in Figure 11 b,
Then, telescopic supporting rod of the 4th control unit 308 control positioned at forefront, which executes, stretches out operation, until with the telescopic supporting rod
The castor 6 of connection contacts freight house supporting surface；Castor 6 positioned at forefront enters freight house.Shown in Figure 11 c, it is located at forefront
Castor 6 contact freight house supporting surface after, the nearest telescopic supporting rod (front second of 308 command range freight house of the 4th control unit
A telescopic supporting rod) it is retracted to minimum length.
Based on above-mentioned principle, each castor 6 serially enters freight house and is contacted with freight house supporting surface.Whole castors 6 enter goods
Storehouse and after being contacted with freight house supporting surface, warehouse entry operation terminates.
It should be noted that the 4th detection unit 204 is specifically as follows infrared distance sensor, and measurement direction is vertical
Downwards.Third detection unit 203 and the 4th detection unit 204 in the present invention can be same detection unit.
The embodiment of the present invention one provides a kind of transfer robot, can be adapted for the carrying work of different scenes, and
It is not necessarily to manual operation in the handling process, manpower is greatly saved, improves the convenience of handling process, and greatly reduces and removes
The generation of fortune accident.
The embodiment of the present invention two additionally provides a kind of handling system, which includes transfer robot, the carrying implement
Device people uses the transfer robot in above-described embodiment one, can be found in previous embodiment one to the specific descriptions of the transfer robot
In content, details are not described herein again.
Figure 12 is a kind of flow chart of the operation method for transfer robot that the embodiment of the present invention three provides, such as Figure 12 institutes
Show, which includes using the transfer robot provided in above-described embodiment one, the operation method：
Step S1, mode selection module generates corresponding operational mode information according to the user's choice.
Step S2, detection module is believed according to the barrier of the barrier around operational mode infomation detection transfer robot
Breath.
Step S3, control module controls operation module according to obstacle information and is run.
For the specific descriptions of step S1~step S3, reference can be made to corresponding contents in above-described embodiment one, no longer superfluous herein
It states.
It is understood that the principle that embodiment of above is intended to be merely illustrative of the present and the exemplary implementation that uses
Mode, however the present invention is not limited thereto.For those skilled in the art, in the essence for not departing from the present invention
In the case of refreshing and essence, various changes and modifications can be made therein, these variations and modifications are also considered as protection scope of the present invention.
Claims (10)
1. a kind of transfer robot, which is characterized in that including：Mode selection module, detection module, control module and operation mould
Block, the detection module and the control module may be contained in the operation module；
The mode selection module for generating corresponding operational mode information according to the user's choice；
The detection module is used for the obstacle according to the barrier around transfer robot described in the operational mode infomation detection
Object information；
The control module is used to control the operation module according to the obstacle information and be run.
2. transfer robot according to claim 1, which is characterized in that the operation module includes：Multiple objects are fixed
Device, multiple telescopic supporting rods, multiple castors and at least one sliding rail；
The part object fixing device is set on the sliding rail, and the first end of the part telescopic supporting rod is set to described
In the sliding slot of sliding rail bottom；
The first end of telescopic supporting rod described in another part is set in object fixing device described in another part；
Each castor may be contained within the second end of the corresponding telescopic supporting rod；
The corresponding detection module is both provided on the holder of each castor.
3. transfer robot according to claim 2, which is characterized in that the operational mode information includes：Threshold crossing
Pattern, pattern of going upstairs, pattern of going downstairs, warehouse entry pattern.
4. transfer robot according to claim 3, which is characterized in that when the operational mode information crosses over door to be described
When sill pattern, the barrier is threshold, first water of the obstacle information between the detection module and the threshold
Flat distance；
The detection module includes：First detection unit, the first detection unit for detect its own with positioned at its front
Threshold between first level distance；
The control module includes：First judging unit and the first control unit；
First judging unit is for judging whether the first level distance is less than or equal to the first preset level distance；
First control unit is used to judge that the first level distance is less than or equal to institute when first judging unit
State the first preset level apart from when, the corresponding castor of the control telescopic supporting rod drive corresponding with the first detection unit
It retracts the first preset length, and controls other castors and roll the first default forward travel distance forwards, and controlled after completing to roll
The telescopic supporting rod of the system in the first preset length state of retracting carries out stretching operation, until being connect with the telescopic supporting rod
Castor contact ground.
5. transfer robot according to claim 3, which is characterized in that when the operational mode information is described go upstairs
When pattern, the barrier is a upper ladder, and the obstacle information is between the detection module and a upper ladder
Second horizontal distance；
The detection module includes：Second detection unit, the second detection unit for detect its own with positioned at its front
A upper ladder between the second horizontal distance；
The control module includes：Second judgment unit and the second control unit；
The second judgment unit is for judging whether second horizontal distance is less than or equal to the second preset level distance；
Second control unit is used to judge that second horizontal distance is less than or equal to institute when the second judgment unit
State the second preset level apart from when, the corresponding castor of the control telescopic supporting rod drive corresponding with the second detection unit
It retracts the second preset length, and controls other castors and roll the second default forward travel distance forwards, and controlled after completing to roll
The telescopic supporting rod of the system in the second preset length state of retracting carries out stretching operation, until being connect with the telescopic supporting rod
Castor contact ground.
6. transfer robot according to claim 3, which is characterized in that when the operational mode information is described go downstairs
When pattern, the barrier is next ladder, and the obstacle information is the detection module and the ladder immediately below it
The first vertical distance between surface；
The detection module includes：Third detection unit, the third detection unit for detect its own with it is located directly below
Stepped surfaces between the first vertical distance；
The control module includes：Third judging unit and third control unit；
The third judging unit is for judging whether first vertical distance is greater than or equal to the first default vertical distance；
The third control unit is used to judge that first vertical distance is greater than or equal to institute when the third judging unit
When stating the first default vertical distance, other castors of control in addition to castor corresponding with third detection unit described in this are forwards
It rolls third and presets forward travel distance, and control telescopic supporting rod corresponding with third detection unit described in this after completing to roll
Stretching operation is carried out, until the castor contact ground being connect with the telescopic supporting rod.
7. transfer robot according to claim 3, which is characterized in that when the operational mode information is the warehouse entry mould
When formula, the barrier is freight house, and the obstacle information is the detection module and the ground immediately below it or freight house
The second vertical distance between supporting surface；
The detection module includes：4th detection unit, the 4th detection unit for detect its own with it is located directly below
Ground or freight house supporting surface between the second vertical distance；
The control module includes：4th judging unit and the 4th control unit；
4th judging unit is for judging whether second vertical distance is less than or equal to the second default vertical distance；
4th control unit is used to judge that second vertical distance is less than or equal to institute when the 4th judging unit
When stating the second default vertical distance, other castors of control in addition to castor corresponding with the 4th detection unit described in this are forwards
Roll the 4th default forward travel distance, and control telescopic supporting rod corresponding with the 4th detection unit described in this after completing to roll
Stretching operation is carried out, until the castor contact freight house supporting surface being connect with the telescopic supporting rod.
8. according to any transfer robot in claim 4 to 7, which is characterized in that the detection in the detection module
Unit is infrared distance sensor.
9. a kind of handling system, which is characterized in that including：Any transfer robot in claim 1 to 8.
10. a kind of operation method of transfer robot, which is characterized in that the transfer robot uses the claims 1 to 8
In any transfer robot, the operation method includes：
The mode selection module generates corresponding operational mode information according to the user's choice；
The detection module is believed according to the barrier of the barrier around transfer robot described in the operational mode infomation detection
Breath；
The control module controls the operation module according to the obstacle information and is run.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810142124.1A CN108375980A (en) | 2018-02-11 | 2018-02-11 | Transfer robot and its operation method and handling system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810142124.1A CN108375980A (en) | 2018-02-11 | 2018-02-11 | Transfer robot and its operation method and handling system |
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| Publication Number | Publication Date |
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| CN108375980A true CN108375980A (en) | 2018-08-07 |
Family
ID=63017736
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810142124.1A Pending CN108375980A (en) | 2018-02-11 | 2018-02-11 | Transfer robot and its operation method and handling system |
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| US6145524A (en) * | 1998-05-08 | 2000-11-14 | Li; Tianfu | Stair climbing walker |
| CN2723136Y (en) * | 2004-03-19 | 2005-09-07 | 黄亚红 | Stair climbing robot |
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