CN108908361A - A kind of warehouse patrol robot system and its inspection method - Google Patents
A kind of warehouse patrol robot system and its inspection method Download PDFInfo
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- CN108908361A CN108908361A CN201810798339.9A CN201810798339A CN108908361A CN 108908361 A CN108908361 A CN 108908361A CN 201810798339 A CN201810798339 A CN 201810798339A CN 108908361 A CN108908361 A CN 108908361A
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000007689 inspection Methods 0.000 title claims description 20
- 230000005540 biological transmission Effects 0.000 claims abstract description 22
- 230000003028 elevating effect Effects 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 4
- 239000003550 marker Substances 0.000 claims description 4
- 238000012163 sequencing technique Methods 0.000 claims description 4
- 235000013399 edible fruits Nutrition 0.000 claims 1
- 230000000630 rising effect Effects 0.000 claims 1
- 238000007726 management method Methods 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000003331 infrared imaging Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Robotics (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Aviation & Aerospace Engineering (AREA)
- Electromagnetism (AREA)
- Multimedia (AREA)
- Warehouses Or Storage Devices (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of warehouse patrol robot systems, it is related to storehouse management field, including infrared obstacle avoidance module, shooting module, charging module, camera cradle head, server, transmission module and processor, the infrared obstacle avoidance module realizes auto-steering and evacuation for detecting road automatically in line walking；The shooting module：For carrying out shooting video or photo to cargo；The camera cradle head：Shooting module is driven to be rotated and gone up and down；The server：The operating of Background control robot sends corresponding instruction to robot；The transmission module：Realize advance, retrogressing and the steering of robot；The processor：Robot is operated according to the instruction of server control, store the information uploaded, the track route of recorder people and the position of shelf, the planning of realizing route and the drafting of map, this method carries out line walking to warehouse by robot, can patrol all cargos.
Description
Technical field
The present invention relates to storehouse management fields, and in particular to a kind of warehouse patrol robot system and its inspection method.
Background technique：
In logistics warehouse, when needing to check state of the cargo in storage, mainly cloth is more in warehouse in the prior art
A Still camera realizes (grid-shaped arrangement) that the program is on the one hand more because of arrangement camera quantity, thus cost compared with
Height, in addition there is also certain observation dead angles for the program, therefore in order to solve this drawback, are patrolled using robot to warehouse
Line.
Such as application No. is CN201510374850.2 to disclose coil inserting apparatus and patrolling equipped with it on a kind of inspection robot
Linear system is united up and down for line robot, including：Hanging basket is equipped with hanging basket guide rail for supporting inspection robot；Lifting device, with hanging basket
Connection；Guiding device, including guiding rail, guiding rail are offered with hanging basket guide rail to interface.Above-mentioned line walking machine
The upper coil inserting apparatus of people, lifting device drive hanging basket to rise to guiding rail position, hanging basket guide rail and guidance along overhead line structures
Guide rail docking, inspection robot can be moved to guiding rail from hanging basket guide rail, so be moved to by guiding rail make somebody a mere figurehead it is defeated
Electric line ground wire completes automatic wire charging.It is hung alternatively, inspection robot is moved to by guiding rail from overhead transmission line ground wire
Basket guide rail is completed automatic offline.In this way, climbing up overhead line structures without operator hangs on overhead transmission line for inspection robot
Ground wire removes inspection robot from overhead transmission line ground wire, so that installation effectiveness is accelerated, but this kind of robot is simultaneously
The undisclosed method that effective line walking is carried out to article in warehouse.
Such as application No. is CN200910273513.9 to disclose a kind of air navigation aid, more particularly, to a kind of inspection robot
GIS-GPS air navigation aid.In order to realize the independent navigation of global lines road, invention introduces advanced GPS-GIS technologies.Base
Establish ultra-high-tension power transmission line information system in GIS technology, by the specific location of GPS positioning system real-time monitoring robot,
Relative to the distance of front and back shaft tower and barrier, the line walking planning of robot is determined, while according to depositing in GIS line information system
The shaft tower of storage and the autonomous inspection global structure environmental information guidance visible image capturing and infrared imaging system of route carry out inspection,
But this kind of robot navigation method does not disclose the method for carrying out effective line walking to article in warehouse.
Summary of the invention
The purpose of the present invention is to provide a kind of warehouse patrol robot system and its inspection methods, to solve the prior art
In caused above-mentioned defects.
A kind of warehouse patrol robot system, including infrared obstacle avoidance module, shooting module, charging module, camera cradle head, clothes
Be engaged in device, transmission module and processor, the infrared obstacle avoidance module for detected automatically in line walking road realize auto-steering and
Evacuation；The shooting module：For carrying out shooting video or photo to cargo；The camera cradle head：Drive shooting module into
Row rotation and lifting；The server：The operating of Background control robot sends corresponding instruction to robot；The transmission
Module：Realize advance, retrogressing and the steering of robot；The processor：Robot is transported according to the instruction of server control
Turn, stores the information of upload, the track route of recorder people and the position of shelf, the planning of realizing route and map
It draws, the inspection method of the patrol robot has following steps：
S1：Advanced by infrared facility automatic running on transmisson line, draw line map in systems, according to original internal behind first outside
Then line walking forward；
S2：When detecting branch road during line walking, W1 is identified at this point, advance is continued thereafter with, in way forward
It is upper that W2 is labeled as if detecting branch road again, and so on；
S3:After outside line line walking, be A by the line marker, and return to starting point, along first time route after
Continue line walking forward and line walking is successively carried out to branch road according to the sequencing of branch road label, until meeting with route A and without it
Backtracking again when his branch road, and this branch road is labeled as a1, during the line walking of branch road if encountering new branch road after
Other branch roads are marked if being overlapped with other branch roads label and are zeroed by continuous label；
S4:After backtracking to branch road origin, continue the line walking of next label W2 along A route, and repeats step
S3；
S5：The land occupation information and shape of real-time mark shelf during line walking, and the shelf of detection are successively carried out
Number B1, B2；
S6:According to the scale bar and corner size of the kinematic parameter conversion map of transmission module and actual track, and it is right
Route is uploaded to server after being stored and is saved；
S7：When needing line walking, optimal line walking route is cooked up according to the instruction of server and carries out line walking and shooting, and
Shooting result is stored and uploaded.
Preferably, the infrared obstacle avoidance module can detect the surrounding of robot, thus accurate judgement robot
The practical specification of specific location and warehouse, is conducive to the layout of roads of robot.
Preferably, the charging module is set at corner, and charge position can be marked on map, guarantees the electric power of robot
Abundance, the charging modes of the charging module can be contact charging or wireless charging.
Preferably, the camera cradle head includes elevating lever and turntable, and turntable is able to drive shooting module and is controlled
360 degree of rotation, elevating lever can drive shooting module to be shot from ground to shelf highest point.
It preferably, include the gear set and traveling wheel of special ratios inside the transmission module, the processor is according to tooth
Wheel group or the turnning circle of traveling wheel calculate come the ratio of convert actual path and map according to the rotational angle of traveling wheel
Corner size.
Preferably, in the step S2 when branch road marks, arrow to the left is marked if being to the left if branch road, if to the right
The arrow of label to the right, then marks crisscross arrows if cross branch road.
The advantage of the invention is that：This kind of warehouse patrol robot system and its inspection method, by robot to warehouse
Carry out line walking, patrol shelf, can be avoided traditional camera due to there are problems that dead angle can not to all cargos into
Row inspection, ensure that and check the cargo on each shelf, and can arrange route without artificial excessive interference automatically.
Detailed description of the invention
Fig. 1 is flow diagram of the invention.
Specific embodiment
To be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below with reference to
Specific embodiment, the present invention is further explained.
Embodiment 1
As shown in Figure 1, a kind of warehouse patrol robot system, including infrared obstacle avoidance module, shooting module, charging module,
Camera cradle head, server, transmission module and processor, the infrared obstacle avoidance module for detecting road realization in line walking automatically
Auto-steering and evacuation；The shooting module：For carrying out shooting video or photo to cargo；The camera cradle head：It drives
Shooting module is rotated and is gone up and down；The server：The operating of Background control robot sends corresponding instruction to machine
People；The transmission module：Realize advance, retrogressing and the steering of robot；The processor：It is controlled according to the instruction of server
Robot is operated, the information of upload, the track route of recorder people and the position of shelf, the planning of realizing route are stored
And the drafting of map, the inspection method of the patrol robot have following steps：
S1：Advanced by infrared facility automatic running on transmisson line, draw line map in systems, according to original internal behind first outside
Then line walking forward；
S2：When detecting branch road during line walking, W1 is identified at this point, advance is continued thereafter with, in way forward
It is upper that W2 is labeled as if detecting branch road again, and so on；
S3:After outside line line walking, be A by the line marker, and return to starting point, along first time route after
Continue line walking forward and line walking is successively carried out to branch road according to the sequencing of branch road label, until meeting with route A and without it
Backtracking again when his branch road, and this branch road is labeled as a1, during the line walking of branch road if encountering new branch road after
Other branch roads are marked if being overlapped with other branch roads label and are zeroed by continuous label；
S4:After backtracking to branch road origin, continue the line walking of next label W2 along A route, and repeats step
S3；
S5：The land occupation information and shape of real-time mark shelf during line walking, and the shelf of detection are successively carried out
Number B1, B2；
S6:According to the scale bar and corner size of the kinematic parameter conversion map of transmission module and actual track, and it is right
Route is uploaded to server after being stored and is saved；
S7：When needing line walking, optimal line walking route is cooked up according to the instruction of server and carries out line walking and shooting, and
Shooting result is stored and uploaded.
It is worth noting that, the charging module is set at corner, charge position can be marked on map, guarantee robot
Electric power it is sufficient, the charging modes of the charging module can be contact charging or wireless charging.
It in the present embodiment, include the gear set and traveling wheel of special ratios, the processor inside the transmission module
According to the turnning circle of gear set or traveling wheel come the ratio of convert actual path and map, according to the rotational angle of traveling wheel
To calculate corner size.
In addition, arrow to the left is marked if being to the left if branch road, if marking to the right in the step S2 when branch road is marked
The arrow of note to the right, then marks crisscross arrows if cross branch road.
Embodiment 2
As shown in Figure 1, a kind of warehouse patrol robot system, including infrared obstacle avoidance module, shooting module, charging module,
Camera cradle head, server, transmission module and processor, the infrared obstacle avoidance module for detecting road realization in line walking automatically
Auto-steering and evacuation；The shooting module：For carrying out shooting video or photo to cargo；The camera cradle head：It drives
Shooting module is rotated and is gone up and down；The server：The operating of Background control robot sends corresponding instruction to machine
People；The transmission module：Realize advance, retrogressing and the steering of robot；The processor：It is controlled according to the instruction of server
Robot is operated, the information of upload, the track route of recorder people and the position of shelf, the planning of realizing route are stored
And the drafting of map, the inspection method of the patrol robot have following steps：
S1：Advanced by infrared facility automatic running on transmisson line, draw line map in systems, according to original internal behind first outside
Then line walking forward；
S2：When detecting branch road during line walking, W1 is identified at this point, advance is continued thereafter with, in way forward
It is upper that W2 is labeled as if detecting branch road again, and so on；
S3:After outside line line walking, be A by the line marker, and return to starting point, along first time route after
Continue line walking forward and line walking is successively carried out to branch road according to the sequencing of branch road label, until meeting with route A and without it
Backtracking again when his branch road, and this branch road is labeled as a1, during the line walking of branch road if encountering new branch road after
Other branch roads are marked if being overlapped with other branch roads label and are zeroed by continuous label；
S4:After backtracking to branch road origin, continue the line walking of next label W2 along A route, and repeats step
S3；
S5：The land occupation information and shape of real-time mark shelf during line walking, and the shelf of detection are successively carried out
Number B1, B2；
S6:According to the scale bar and corner size of the kinematic parameter conversion map of transmission module and actual track, and it is right
Route is uploaded to server after being stored and is saved；
S7：When needing line walking, optimal line walking route is cooked up according to the instruction of server and carries out line walking and shooting, and
Shooting result is stored and uploaded.
It is worth noting that, the infrared obstacle avoidance module can detect the surrounding of robot, thus accurate judgement machine
The specific location of device people and the practical specification in warehouse, are conducive to the layout of roads of robot.
In the present embodiment, the charging module is set at corner, and charge position can be marked on map, guarantees robot
Electric power it is sufficient, the charging modes of the charging module can be contact charging or wireless charging.
In the present embodiment, the camera cradle head includes elevating lever and turntable, turntable be able to drive shooting module into
The rotation of 360 degree of row left and right, elevating lever can drive shooting module to be shot from ground to shelf highest point.
It in the present embodiment, include the gear set and traveling wheel of special ratios, the processor inside the transmission module
According to the turnning circle of gear set or traveling wheel come the ratio of convert actual path and map, according to the rotational angle of traveling wheel
To calculate corner size.
In addition, arrow to the left is marked if being to the left if branch road, if marking to the right in the step S2 when branch road is marked
The arrow of note to the right, then marks crisscross arrows if cross branch road.
Based on above-mentioned, this kind of warehouse patrol robot system and its inspection method, line walking is carried out to warehouse by robot,
It patrols shelf, can be avoided traditional camera due to there are problems that dead angle can not patrol to all cargos, protect
It has demonstrate,proved and the cargo on each shelf has been checked, and can arrange route without artificial excessive interference automatically.
As known by the technical knowledge, the present invention can pass through the embodiment party of other essence without departing from its spirit or essential feature
Case is realized.Therefore, embodiment disclosed above, in all respects are merely illustrative, not the only.Institute
Have within the scope of the present invention or is included in the invention in the change being equal in the scope of the present invention.
Claims (6)
1. a kind of warehouse patrol robot system, including infrared obstacle avoidance module, shooting module, charging module, camera cradle head, service
Device, transmission module and processor, which is characterized in that the infrared obstacle avoidance module is realized certainly for detecting road automatically in line walking
Turn to and evacuation；The shooting module：For carrying out shooting video or photo to cargo；The camera cradle head：It drives and claps
Module is taken the photograph to be rotated and gone up and down；The server：The operating of Background control robot sends corresponding instruction to robot；
The transmission module：Realize advance, retrogressing and the steering of robot；The processor：Just according to the instruction of server control
Robot operating, stores the information of upload, the track route of recorder people and the position of shelf, the planning of realizing route with
And the drafting of map, the inspection method of the patrol robot have following steps：
S1：Advanced by infrared facility automatic running on transmisson line, draw line map in systems, according to principle internal behind first outside to
Preceding line walking；
S2：When detecting branch road during line walking, W1 is identified at this point, continues thereafter with advance, on way forward such as
Fruit detects that branch road is then labeled as W2 again, and so on；
S3:After outside line line walking, be A by the line marker, and return to starting point, along the route of first time continue to
Preceding line walking and according to branch road label sequencing successively to branch road carry out line walking, until meet with route A and without other trouble
Lu Shizai backtracking, and this branch road is labeled as a1, continue to mark if encountering new branch road during the line walking of branch road
Other branch roads are marked if being overlapped with other branch roads label and are zeroed by note；
S4:After backtracking to branch road origin, continue the line walking of next label W2 along A route, and repeats step S3；
S5：The land occupation information and shape of real-time mark shelf during line walking, and the shelf of detection are successively numbered
B1,B2；
S6:According to the scale bar and corner size of the kinematic parameter conversion map of transmission module and actual track, and to route
Server is uploaded to after being stored to be saved；
S7：When needing line walking, optimal line walking route is cooked up according to the instruction of server and carries out line walking and shooting, and will be clapped
Result is taken the photograph to be stored and uploaded.
2. a kind of warehouse patrol robot system according to claim 1, it is characterised in that：The infrared obstacle avoidance module can
The surrounding of robot is detected, so that the practical specification of the specific location of accurate judgement robot and warehouse, is conducive to
The layout of roads of robot.
3. a kind of warehouse patrol robot system according to claim 1, it is characterised in that：The charging module is set to wall
At angle, charge position can be marked on map, guarantee that the electric power of robot is sufficient, the charging modes of the charging module can be
Contact charging or wireless charging.
4. a kind of warehouse patrol robot system according to claim 1, it is characterised in that：The camera cradle head includes rising
Bar and turntable drop, and turntable is able to drive the rotation that shooting module carries out 360 degree of left and right, and elevating lever can drive shooting module
It is shot from ground to shelf highest point.
5. a kind of warehouse patrol robot system according to claim 1, it is characterised in that：Packet inside the transmission module
The gear set and traveling wheel of special ratios are included, the processor is according to the turnning circle of gear set or traveling wheel come the reality that converts
The ratio of route and map calculates corner size according to the rotational angle of traveling wheel.
6. a kind of warehouse patrol robot system according to claim 1, it is characterised in that：In branch road in the step S2
When label, arrow to the left is marked to mark if marking arrow to the right to the right if cross branch road if being to the left if branch road
Crisscross arrows.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810798339.9A CN108908361B (en) | 2018-07-19 | 2018-07-19 | Warehouse patrol robot system and patrol method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810798339.9A CN108908361B (en) | 2018-07-19 | 2018-07-19 | Warehouse patrol robot system and patrol method thereof |
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| CN108908361A true CN108908361A (en) | 2018-11-30 |
| CN108908361B CN108908361B (en) | 2020-09-22 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109579848A (en) * | 2018-12-27 | 2019-04-05 | 武汉大学 | A kind of middle plan method of robot under holding global path |
| CN110716549A (en) * | 2019-11-04 | 2020-01-21 | 中国船舶重工集团公司第七一六研究所 | Autonomous navigation robot system for map-free area patrol and navigation method thereof |
| CN110757476A (en) * | 2019-10-22 | 2020-02-07 | 北京深醒科技有限公司 | Workshop safety protection patrol robot system and patrol method thereof |
| CN111660278A (en) * | 2020-07-06 | 2020-09-15 | 苏淼 | Self-tidying robot |
| CN113325850A (en) * | 2021-06-01 | 2021-08-31 | 武汉商学院 | Autonomous cruise system and method for cloud tour guide robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109579848A (en) * | 2018-12-27 | 2019-04-05 | 武汉大学 | A kind of middle plan method of robot under holding global path |
| CN110757476A (en) * | 2019-10-22 | 2020-02-07 | 北京深醒科技有限公司 | Workshop safety protection patrol robot system and patrol method thereof |
| CN110716549A (en) * | 2019-11-04 | 2020-01-21 | 中国船舶重工集团公司第七一六研究所 | Autonomous navigation robot system for map-free area patrol and navigation method thereof |
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| CN113325850A (en) * | 2021-06-01 | 2021-08-31 | 武汉商学院 | Autonomous cruise system and method for cloud tour guide robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108908361B (en) | 2020-09-22 |
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Denomination of invention: A Warehouse Patrol Robot System and Its Inspection Method Granted publication date: 20200922 Pledgee: Wuhu Renmin Road sub branch of Huishang Bank Co.,Ltd. Pledgor: ANHUI GONGSHENG LOGISTICS TECHNOLOGY CO.,LTD. Registration number: Y2024980011979 |