CN109814512A - A kind of mobile picking goods putting device and method - Google Patents
A kind of mobile picking goods putting device and method Download PDFInfo
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- CN109814512A CN109814512A CN201910169944.4A CN201910169944A CN109814512A CN 109814512 A CN109814512 A CN 109814512A CN 201910169944 A CN201910169944 A CN 201910169944A CN 109814512 A CN109814512 A CN 109814512A
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000003860 storage Methods 0.000 claims abstract description 39
- 230000033001 locomotion Effects 0.000 claims abstract description 14
- 238000012544 monitoring process Methods 0.000 claims abstract description 9
- 230000004888 barrier function Effects 0.000 claims description 8
- 239000000463 material Substances 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 5
- 238000009877 rendering Methods 0.000 claims description 3
- 230000001419 dependent effect Effects 0.000 claims description 2
- 230000000007 visual effect Effects 0.000 description 8
- 239000012636 effector Substances 0.000 description 7
- 238000007726 management method Methods 0.000 description 4
- 230000006399 behavior Effects 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000001746 injection moulding Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 235000004443 Ricinus communis Nutrition 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 210000002310 elbow joint Anatomy 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000005055 memory storage Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Classifications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
A kind of mobile picking goods putting device and method provided by the invention, by the mobile foundation with storage tank, for object and the movement of freighting；For at least one control arm of picking goods putting, control arm is connected to the mobile foundation with storage tank；For the one or more sensors of monitoring data, sensor is connected to the mobile foundation with storage tank and at least one control arm；Memory for storing data, memory are connected to multiple sensors；It is connected to one or more sensors/memory, mobile foundation with storage tank, with the processor of at least one control arm, the processor is for controlling the mobile foundation with storage tank and at least one control arm to provide path picking goods putting, to complete the instruction task of picking goods putting.
Description
Technical field
The present invention relates to the intelligent storage technical field of injection molding production, specially a kind of mobile picking goods putting device and side
Method.
Background technique
With the development of science and technology Injection Industry moves towards the intelligent epoch, importance of the intelligent storage in injection molding factory it is aobvious and
It is clear to.The picking goods putting workload in warehouse is huge, and intelligent processing is particularly important.
In the prior art, the artificial picking goods putting usually with fork truck, it is time-consuming and laborious, it is not smart enough.
Summary of the invention
In view of the deficiencies of the prior art, the purpose of the invention is to provide a kind of mobile picking goods putting device and method,
Cargo is rapidly completed using high-freedom degree control arm to pick up, and is placed in the storage tank on mobile foundation, mobile foundation is certainly leading
Boat movement, and goods putting is completed by control arm, time cost has been saved, worker's pressure is released.
In order to achieve the purpose that foregoing invention, a kind of mobile picking goods putting device and method that the embodiment of the present invention proposes is
It is achieved through the following technical solutions:
A kind of mobile picking goods putting device, comprising:
Mobile foundation with storage tank, for object and the movement of freighting；
For at least one of picking or goods putting control arm, control arm is connected to the mobile foundation with storage tank；
For the one or more sensors of monitoring data, sensor is connected to the mobile foundation with storage tank and at least one behaviour
Trailing arm；
Memory for storing data, memory are connected to multiple sensors；
It is connected to one or more sensors/memory, the processing with the mobile foundation of storage tank and at least one control arm
Device, processor is for controlling the mobile foundation with storage tank and at least one control arm to provide path picking or goods putting, with complete
At the instruction task of picking goods putting.
Further, the instruction task of picking goods putting includes at least at least one mark to be picked up, and/or arrangement of goods
Know, instruction task is issued by warehouse management system, client ordering system issues, and/or be manually entered sending.
Further, mark includes: shape, size, weight, color, material, and/or the bar code of cargo.
Further, it is specified that path is the position for waiting for picking goods putting cargo by the positional distance of mobile picking goods putting device
Initial path is formed, further according to barrier monitoring and the mode of the priority adjustment initial path of picking goods putting instruction task
It determines.
Further, sensor includes: 3D visual sensor, and/or the 3D rendering ability that can sense local environment
Any 3D equipment.
Further, control arm liftable and can 360 degree rotation, to increase, reduce, and/or rotate the control arm
To pick up cargo or put down cargo.
A kind of mobile picking goods putting method, comprising:
According to the shipment identifier in the instruction task of picking goods putting, the position to picking goods putting cargo is determined；
According to the position of mobile picking goods putting device and to the position of picking goods putting cargo, initial driving path is determined；
Mobile picking goods putting device is monitored according to barrier, initial driving path is adjusted, to provide path picking or goods putting；
When multiple mobile picking goods putting devices meet, the priority of task, the shifting of highest priority are indicated according to picking goods putting
Dynamic picking goods putting assembly first passes through.
Further, mark includes: shape, size, weight, color, material, and/or the bar code of cargo.
Further, the instruction task of picking goods putting be by warehouse management system issue, client ordering system issue,
And/or it is manually entered sending.
Further, priority include: indicate time parameter any information, and/or can influence picking goods putting its
Dependent variable.
A kind of mobile picking goods putting device and method provided by the invention, by the mobile foundation with storage tank, for filling
Cargo and movement；For at least one of picking or goods putting control arm, the control arm is connected to the mobile foundation with storage tank；
For the one or more sensors of monitoring data, the sensor is connected to the mobile foundation with storage tank and at least one behaviour
Trailing arm；Memory for storing data, the memory are connected to multiple sensors；Be connected to one or more sensors/
Memory, the processor with the mobile foundation of storage tank and at least one control arm, the processor is for controlling band storage tank
Mobile foundation and at least one control arm to provide path picking or goods putting, to complete the instruction task of picking goods putting.It uses
Pickup is rapidly completed in high-freedom degree control arm, and is placed in the storage tank on mobile foundation, and mobile foundation independent navigation is mobile, and
Picking goods putting is completed by control arm, time cost has been saved, has released worker's pressure.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of mobile picking goods putting device；
Fig. 2 is the flow chart of mobile picking goods putting method.
As shown in Figure 1, a kind of mobile picking goods putting device 100, comprising:
Mobile foundation 101 with storage tank, for object and the movement of freighting；
For at least one of picking or goods putting control arm 102, control arm is connected to the mobile foundation 101 with storage tank；
For the one or more sensors 103 of monitoring data, sensor is connected to the mobile foundation 101 with storage tank and at least
One control arm 102；
Memory 104 for storing data, memory are connected to multiple sensors 103；
It is connected to one or more sensors 103, memory 104, the mobile foundation 101 with storage tank and at least one manipulation
The processor 105 of arm 102, processor is for controlling the mobile foundation 101 with storage tank and at least one control arm 102 to provide
Path picking or goods putting, to complete the instruction task of picking goods putting, picking goods putting refers specifically to select target goods according to delivery order
Object and the movement for grabbing cargo, goods putting, which refers to, places shelf for cargo, and/or places the movement of storage tank.
Further, the instruction task of picking goods putting be by warehouse management system issue, client ordering system issue,
And/or it is manually entered sending.
In a particular embodiment, being manually entered the input equipment of the instruction task of picking goods putting, to can be touch screen defeated manually
Enter, and/or voice command inputs.More specifically, each mobile picking goods putting device can also have user interface comprising one
A display and input equipment.Input equipment can be touch screen, speech ciphering equipment, keyboard, times of input button or these equipment
Meaning combination.
Further, memory 104 can be disk, and the external memory storage of USB flash device or other forms is set
It is standby.This data identify (RFID) standard by adjacent communication technology such as near-field communication (NFC), bluetooth, and/or short range radio frequency
Transmission.
Further, unsafe signal warns when sensor is detected close to barrier, or detection, processor can control
The speed of mobile picking goods putting device, emergency braking turn direction with avoiding obstacles.
In a particular embodiment, mobile picking goods putting device may be fitted with security warning feature: one or more peace
Full lamp, warning light, loudspeaker, and/or emergency stop button are mentioned for showing whether be in the state worked normally, turning to
It wakes up, abnormality alarm, manually force emergency braking.Wherein the mountable worker nearby of emergency stop button facilitates the place of arrival.
Further, mark includes: shape, size, weight, color, material, and/or the bar code of cargo.
In a particular embodiment, mark may include the size, shape, 3D shape, product weight of cargo, the number such as appearance
Accordingly and SKU (Stock Keeping Unit) flag code, bar code etc..
Further, sensor includes: 3D visual sensor, and/or the 3D rendering ability that can sense local environment
Any 3D equipment, such as 3D depth camera, color camera, gray scale camera, Laser Distance Measuring Equipment, radar equipment or combinations thereof produce
Product.Specifically, sensor model number can be TriSpector3D visual sensor: TriSpector1008 low coverage,
The visual field, three kinds of the big visual field TriSpector1060 model in TriSpector1030 can cover different application, and low coverage is for examining
Product itself is looked into, the middle visual field is for checking product external packaging, and the big visual field is for checking transport case and storage box.
Further, control arm liftable and can 360 degree rotation, to increase, reduce, and/or rotate the control arm
To pick up cargo or arrangement of goods.
In a particular embodiment, spherical coordinates formula control arm, articulated type control arm, Cartesian coordinate type manipulation can be used in control arm
Arm, and/or cylindrical coordinate type control arm.Wherein, the characteristics of spherical coordinates formula control arm is by arm on pivot, and pivot fills again
On forked frame, arc-shaped or more pitching motion can be done in vertical plane, is more suitable for 3-D scanning；The characteristics of articulated type control arm
It is to have elbow joint as manpower, multiple degrees of freedom may be implemented, is suitble to the Space-Work in relatively narrower；Cartesian coordinate type control arm
Feature is scalable, left and right and moves up and down, and is moved, is suitable for by the straight line in 3 directions of Cartesian form x, y, z
A kind of control arm that operating position arrangement in a row or conveyer belt are used cooperatively.
Further, the part of control arm crawl cargo can be clip, sucker, electricity adherency end effector, and/or magnetic
Property end effector.
In a preferred embodiment, the part of control arm crawl cargo can be sucker, the vacuum suction of sucker band
Valve, such as: the double-deck corrugated vacuum sucker PJ.TS of Booka production.Processor 105 control vacuum suction valve button opening with
It closes, and vacuum force degree is calculated according to cargo size, the weight to be grabbed, this, which largely avoided, directly grabs answering for needs
Miscellaneous calculating.
In other embodiments, the part of control arm crawl cargo can be the clamper of mechanical braking (such as by MG995
The clamper of steering engine control), electricity adherency end effector, magnetic end effector.Wherein, end effector is adhered to using electricity
, the electromagnet of opposite magnetic fields, permanent magnet or magnet array are provided；Using magnetic end effector, reversible electrostatic adherency is led to
Crossing releasedly will be on goods stick to end effector using magnetic force.
In a particular embodiment, mobile picking goods putting device can also include battery, and/or a charging port, be used for
Charging.
Further, control arm has high-freedom degree, can be arranged multiple joints along control arm, guarantee move freely and
Hingedly.
Further, memory includes warehouse map storing data, specifically, including warehouse frame essential information: such as put
Frame size (width, depth and height), individual shelf level height, shelf face width, and/or col width.Warehouse frame is believed substantially
Breath, which can be, to be manually entered or some embodiments are put from the load of data with existing file or some embodiments by moving picking
The mapping data that goods device is collected automatically.
Further, mobile foundation includes main part, the processor being set on main part 105, storage tank, one or more
A sensor 103 and driving motor.Sensor 103 collects moving equilibrium state, and is sent to processor 105；Processor 105
After analyzing and processing data, driving motor is sent commands to；Driving motor drives mobile foundation mobile.There are two mobile foundation can have
Main drive wheel, respectively by a motor driven, each driving wheel, which can have, provides the encoder of motion feedback, is used for accurately
Control and estimate speed, the rotation and translation speed of each wheel.In another embodiment, mobile foundation can also use quilt
Driving wheel, such as castor are used for stability and distribution of weight.The model of mobile foundation has Neobotix MPO-700, Neobotix
MPO-500, Neobotix MP-500 etc..
Further, it is specified that path is the position for waiting for picking goods putting cargo by the positional distance of mobile picking goods putting device
Initial path is formed, further according to barrier monitoring and the mode of the priority adjustment initial path of picking goods putting instruction task
It determines.Specific embodiment is to be modeled using Grid Method, Visual Graph method and free-space Method based on environmental map, is picked according to movement
The positional distance of goods goods putting device waits for that the position of picking goods putting cargo forms initial path；Monitoring based on sensor to barrier
The priority of information and picking goods putting instruction task, is adjusted just using Artificial Potential Field Method, obstacle Grid Method, fuzzy logic method
Beginning path.
In a kind of specific embodiment of the invention, processor 105 is embedded-type ARM chip or asic chip, is suitble to
Information Mobile Service robot categorical data is handled, monitors number for analyzing processing picking goods putting instruction task data and sensor
According to, and then the mobile foundation 101 with storage tank and at least one control arm 102 are controlled to provide path picking or goods putting, with complete
At the instruction task of picking goods putting.
As shown in Fig. 2, a kind of mobile picking goods putting method, comprising:
S1 determines the position to picking goods putting cargo according to the shipment identifier in the instruction task of picking goods putting；
S2 determines initial driving path according to the position of mobile picking goods putting device and to the position of picking goods putting cargo；
The mobile picking goods putting device of S3 is monitored according to barrier, initial driving path is adjusted, to provide path picking goods putting；
S4 indicates the priority of task according to picking goods putting when multiple mobile picking goods putting devices meet, highest priority
Mobile picking goods putting assembly first passes through.
In a particular embodiment, picking goods putting, driving path require calibration data, could complete accurate grab and take, put
Lower movement and accessible traveling.Specifically, according to the data of the sensor acquisition on mobile picking goods putting device, number is calibrated
According to, adjustment braking driving parameter, and braking adjusted driving parameter is saved in memory, to complete autonomous learning
Process.
Further, mark includes: shape, size, weight, color, material, and/or the bar code of cargo.
Further, the instruction task of picking goods putting be by warehouse management system issue, client ordering system issue,
And/or it is manually entered sending.
Further, priority include: indicate time parameter any information, or can influence picking goods putting other
Variable.
A kind of mobile picking goods putting device and method provided by the invention, by the mobile foundation with storage tank, for filling
Cargo and movement；For at least one of picking or goods putting control arm, the control arm is connected to the mobile foundation with storage tank；
For the one or more sensors of monitoring data, the sensor is connected to the mobile foundation with storage tank and at least one behaviour
Trailing arm；Memory for storing data, the memory are connected to multiple sensors；Be connected to one or more sensors/
Memory, the processor with the mobile foundation of storage tank and at least one control arm, the processor is for controlling band storage tank
Mobile foundation and at least one control arm to provide path picking or goods putting, to complete the instruction task of picking goods putting.It uses
Pickup is rapidly completed in high-freedom degree control arm, and is placed in the storage tank on mobile foundation, and mobile foundation independent navigation is mobile, and
Picking goods putting is completed by control arm, time cost has been saved, has released worker's pressure.
It is of the art it will be recognized by the skilled artisan that above embodiments of the present invention are only of the invention preferred
One of embodiment limits for length, cannot enumerate all embodiments one by one here, any to embody the claims in the present invention
The implementation of technical solution, all within the scope of the present invention.
It should be noted that the above content is combine specific embodiment made for the present invention further specifically
It is bright, and it cannot be said that a specific embodiment of the invention is only limitted to this, under above-mentioned guidance of the invention, those skilled in the art can
To carry out various improvement and deformations on the basis of the above embodiments, and these are improved or deformation falls in protection model of the invention
In enclosing.
Claims (10)
1. a kind of mobile picking goods putting device characterized by comprising
Mobile foundation with storage tank, for object and the movement of freighting；
For at least one of picking or goods putting control arm, the control arm is connected to the mobile foundation with storage tank；
For the one or more sensors of monitoring data, the sensor is connected to the mobile foundation with storage tank and at least one
A control arm；
Memory for storing data, the memory are connected to multiple sensors；
It is connected to one or more sensors/memory, the processing with the mobile foundation of storage tank and at least one control arm
Device, the processor for control the mobile foundation with storage tank and at least one control arm to provide path picking or goods putting,
To complete the instruction task of picking goods putting.
2. mobile picking goods putting device according to claim 1, which is characterized in that the instruction task of the picking goods putting is extremely
Less comprising at least one mark to be picked up, and/or cargo to be placed, the instruction task by warehouse management system sending,
Client ordering system issues, and/or is manually entered sending.
3. mobile picking goods putting device according to claim 2, which is characterized in that it is described mark include: cargo shape,
Size, weight, color, material, and/or bar code.
4. mobile picking goods putting device according to claim 1, which is characterized in that the regulation path is picked by movement
The positional distance of goods goods putting device waits for that the position of picking goods putting cargo forms initial path, monitors further according to barrier, and pick
Goods goods putting indicates that the mode of the priority adjustment initial path of task determines.
5. mobile picking goods putting device according to claim 1, which is characterized in that the sensor includes: that 3D vision passes
Sensor, and/or can sense local environment 3D rendering ability any 3D equipment.
6. mobile picking goods putting device according to claim 1, which is characterized in that the control arm liftable simultaneously can 360
Degree rotation, to increase, reduce, and/or rotate the control arm to pick up cargo or arrangement of goods.
7. a kind of mobile picking goods putting method characterized by comprising
According to the shipment identifier in the instruction task of picking goods putting, the position to picking goods putting cargo is determined；
According to the position of mobile picking goods putting device and to the position of picking goods putting cargo, initial driving path is determined；
Mobile picking goods putting device is monitored according to barrier, initial driving path is adjusted, to provide path picking goods putting；
When multiple mobile picking goods putting devices meet, the priority of task, the shifting of highest priority are indicated according to picking goods putting
Dynamic picking goods putting assembly first passes through.
8. mobile picking goods putting method according to claim 7, which is characterized in that it is described mark include: cargo shape,
Size, weight, color, material, and/or bar code.
9. mobile picking goods putting method according to claim 7, which is characterized in that the instruction task of the picking goods putting is
It is issued by warehouse management system, client ordering system issues, and/or be manually entered sending.
10. mobile picking goods putting method according to claim 7, which is characterized in that the priority includes: to indicate the time
Any information of parameter, and/or its dependent variable that picking goods putting can be influenced.
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| CN201910169944.4A CN109814512A (en) | 2019-03-07 | 2019-03-07 | A kind of mobile picking goods putting device and method |
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| CN201910169944.4A CN109814512A (en) | 2019-03-07 | 2019-03-07 | A kind of mobile picking goods putting device and method |
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