CN110597270A - Use method of following robot trolley - Google Patents
Use method of following robot trolley Download PDFInfo
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- CN110597270A CN110597270A CN201910961035.4A CN201910961035A CN110597270A CN 110597270 A CN110597270 A CN 110597270A CN 201910961035 A CN201910961035 A CN 201910961035A CN 110597270 A CN110597270 A CN 110597270A
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- 238000000034 method Methods 0.000 title claims description 10
- 230000007306 turnover Effects 0.000 claims abstract description 13
- 230000002457 bidirectional effect Effects 0.000 claims description 18
- 230000001105 regulatory effect Effects 0.000 claims description 18
- 230000008054 signal transmission Effects 0.000 claims description 15
- 229910000838 Al alloy Inorganic materials 0.000 claims description 9
- 239000000463 material Substances 0.000 claims description 4
- 238000001746 injection moulding Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000002994 raw material Substances 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
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- Aviation & Aerospace Engineering (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Manipulator (AREA)
Abstract
Before the robot trolley is transported in a turnover mode, an STM32F103 main control board and a logic control module are started through a 12V control circuit direct-current power supply, then a bracelet label or a mobile phone APP is started, the logic control module carries out positioning search and automatically stores code data of the bracelet label or the mobile phone APP through UWB signals of an A base station, a B base station and a C base station, and the bracelet label or the mobile phone APP guides the robot trolley to walk straight or turn and retreat to walk through PMW signal debugging; the arm of a worker wears a bracelet label or a handheld mobile phone APP to a place where the worker walks to unload the article, and the bracelet label or the handheld mobile phone APP guides the robot trolley to walk on one side of the worker while the worker walks to the place where the worker unloads the article; according to the invention, the walking is guided by the bracelet label or the mobile phone APP, the article turnover in the logistics of workshops and supermarkets is simple and portable, and the working quality of workers is improved.
Description
Technical Field
The invention relates to a turnover trolley for products and articles, in particular to a use method of a following robot trolley.
Background
At present, the transportation of the warehouse logistics of most enterprise workshops and large supermarkets in China and the transportation of books in public libraries, such as production lines, assembly lines, conveying lines and the like, realize the transportation of raw materials, conveying tools adopt various types for conveying, the design data of most conveying tools is the bearing capacity, and no professional conveying tool or trolley exists; because some enterprise production workshops, warehouse logistics of large supermarkets and turnover of articles in public libraries still depend on carrying by staffs, the carrying labor intensity is high, the staffs are hard to bear, the manual use and expenditure are increased, and the hands are liberated for saving manpower; for the reasons mentioned above, a method for using a following robot car is proposed.
Disclosure of Invention
The invention aims to overcome the defects that the transportation of most of enterprise production workshops and warehouse logistics of large supermarkets in China and the transportation of book circulation systems, production lines, assembly lines, conveying lines and the like of public libraries in China realize the transportation of raw materials, conveying tools adopt various types for conveying, the design data of most of conveying tools is the bearing capacity, and no professional conveying tools or trolleys exist; because some enterprise production workshops, warehouse logistics of large supermarkets and turnover of articles in public libraries still depend on carrying by workers through a manual trolley, the carrying labor intensity is high, the workers are difficult to bear, the manual use and expenditure are increased, and both hands are liberated for saving manpower; the robot trolley of the invention guides to walk and load and unload articles through a bracelet label or a mobile phone APP, a logic control module in the robot trolley instructs a TIMER first module and a TIMER second module to respectively control a first motor driver and a second motor driver through PMW signals to respectively drive a left motor, a right motor and a driving wheel to carry out straight-going or steering and retreat to load and unload the articles for transportation and turnover; according to the invention, the robot trolley is guided to follow and walk through the bracelet label or the mobile phone APP through the PMW signal, the robot trolley is not required to be carried by a manual trolley, the labor intensity is reduced, the manual use is reduced, the turnover of articles in the warehouse logistics of an enterprise workshop and a large supermarket is simple and portable, and the working quality of workers is improved.
In order to achieve the purpose, the following technical scheme is adopted, and the use method of the following robot trolley comprises the robot trolley, a carrying frame, a universal wheel frame, universal wheels, a base baffle, a handle, a driving wheel, a bolt support, a bidirectional speed regulating motor, an STM32F103 main control board, a logic control module, a serial port, an A base station, a B base station, a C base station, a bracelet label, a mobile phone APP, a 12V control circuit direct current power supply, a TIMER first module, a TIMER second module, a 24V direct current power supply, a first motor driver, a second motor driver, a left motor and a right motor; a carrying frame is arranged on the robot trolley, the carrying frame is a mesh plate body formed by injection molding of ABS + PC materials, and a pair of handles is symmetrically arranged above two ends of the carrying frame; the upper side and the lower side of the robot trolley are correspondingly provided with two aluminum alloy plates, the upper aluminum alloy plate is provided with a carriage plate, the lower aluminum alloy plate is provided with a vehicle bottom plate, bolt supporting columns are uniformly distributed between the carriage plate and the periphery of the vehicle bottom plate, and a cavity is formed between the carriage plate and the vehicle bottom plate;
four corners of a bottom plate of the robot trolley are reserved as wheel carrier spaces respectively, a pair of bidirectional speed regulating motors are symmetrically arranged on two sides of the top plate of the wheel carrier space at the front end, motor bases are arranged below the bidirectional speed regulating motors respectively, opposite through screw holes are correspondingly formed between the motor bases and the bottom plate respectively, and fastening bolts are arranged in the opposite through screw holes; a pair of bolt supports are symmetrically arranged on two sides of the pair of bidirectional speed regulating motors, an upper cross beam of the motor is arranged between the pair of bolt supports, driving shafts of the pair of bidirectional speed regulating motors are symmetrically arranged outwards, and driving wheels are respectively arranged on the driving shafts of the pair of bidirectional speed regulating motors; a pair of universal wheel frames are symmetrically arranged on two sides below the carriage plate of the wheel frame space at the rear end, and universal wheels are respectively arranged in the pair of universal wheel frames; a pair of frame power supplies are symmetrically reserved on the upper surfaces of the vehicle bottom plates at two sides of the robot trolley, a pair of 24V direct current power supplies are respectively arranged above the pair of frame power supplies, and base baffles are respectively arranged on the outer sides of the pair of 24V direct current power supplies;
a pair of main control board mounting slot frames are arranged below a carriage board between the 24V direct current power supply and the universal wheel frame, and an STM32F103 main control board is arranged in the pair of main control board mounting slot frames; a base station A and a base station B are symmetrically arranged on two sides of the lower surface of a carriage plate at the front end of the robot trolley, and a base station C is arranged on the lower surface of the carriage plate in the middle of the rear end of the robot trolley;
a 12V control circuit direct-current power supply is arranged on one side of the STM32F103 main control board, and a power supply circuit is arranged between the 12V control circuit direct-current power supply and the STM32F103 main control board; the middle part of the STM32F103 main control board is provided with a logic control module, one side of the logic control module is respectively provided with a serial port, and a signal transmission line is arranged between the serial port and the logic control module; at least three interfaces are reserved in the serial port, the at least three interfaces are respectively and correspondingly provided with an A base station, a B base station and a C base station, and signal transmission lines are respectively arranged among the at least three interfaces, the A base station, the B base station and the C base station; the base station A, the base station B and the base station C are provided with a bracelet label or a mobile phone APP in a matching way; UWB signals are arranged between the base station A, the base station B and the base station C and the bracelet label or the mobile phone APP in a matching mode respectively; the bracelet label or the mobile phone APP is provided with a touch screen display respectively;
a TIMER first module and a TIMER second module are respectively arranged on the other side of the logic control module, and signal transmission lines are respectively arranged between the logic control module and the TIMER first module and between the logic control module and the TIMER second module;
one side of an STM32F103 main control board is provided with a 24V direct current power supply, one side of the 24V direct current power supply is respectively provided with a left motor and a right motor, a power circuit is arranged between the 24V direct current power supply and the left motor and between the 24V direct current power supply and the right motor, one end of each of the left motor and the right motor is respectively provided with a first motor driver and a second motor driver, and PMW signal transmission lines are arranged between the first motor driver and the second motor driver and a TIMER first module and between the first motor driver and the second motor driver and a TIMER second module;
before the robot trolley is used for transporting articles in a turnover mode, the robot trolley needs to be started and debugged, an STM32F103 main control board and a logic control module are started through a 12V control circuit direct-current power supply, then a bracelet label or a mobile phone APP is started, the logic control module carries out positioning search through UWB signals of an A base station, a B base station and a C base station and automatically stores code data of the bracelet label or the mobile phone APP, the bracelet label or the mobile phone APP sets the motor to be high-speed, medium-speed, low-speed and turning through a touch screen display, the tracking range and the tracking distance between the robot trolley and the bracelet label or the mobile phone APP are within a range from meters to meters, and the starting and debugging between the robot trolley and the bracelet label or the mobile phone APP are completed after the tracking distance is from meters to meters; bracelet label or cell-phone APP lead the robot dolly through the PMW signal debugging and walk straight or turn to, retreat.
After the robot trolley is debugged with bracelet label or cell-phone APP, when using the robot trolley, put the robot trolley subaerial loading article, pack into the article that need transport and carry the thing frame, wear bracelet label or handheld cell-phone APP on the staff arm and move towards the place of uninstalling article, when the staff moves towards the place of uninstalling article, bracelet label or handheld cell-phone APP guide robot trolley walks in staff one side.
During the walking process of tracking the bracelet label or the handheld mobile phone APP by the robot trolley, after the bracelet label searched by the UWB through the A base station, the B base station and the C base station or the logic control module sent by the position signal of the handheld mobile phone APP in real time, the logic control module is sent by the position of the bracelet label or the handheld mobile phone APP in time.
The logic control module instructs the TIMER first module and the TIMER second module to control a first motor driver and a second motor driver respectively through a PMW signal transmission line, and the first motor driver and the second motor driver respectively drive a left motor, a right motor and a driving wheel to walk in a straight line or to turn and retreat; the dolly of robot stops when walking to the discharge position, takes out the article completion discharge back that carries in the thing frame, wears bracelet label or handheld cell-phone APP on the staff arm and returns to the place of loading article and load article again, so the article transportation, the turnover of going on of going back and forth.
Has the advantages that: the robot trolley is guided to walk and load and unload articles through a bracelet label or a mobile phone APP, a logic control module in the robot trolley instructs a TIMER first module and a TIMER second module to respectively control a first motor driver and a second motor driver through PMW signals so as to respectively drive a left motor, a right motor and a driving wheel to go straight or turn and retreat to load and unload the articles for transportation and turnover; according to the invention, the robot trolley is guided to follow and walk through the bracelet label or the mobile phone APP through the PMW signal, the robot trolley is not required to be carried by a manual trolley, the labor intensity is reduced, the manual use is reduced, the turnover of articles in the warehouse logistics of an enterprise workshop and a large supermarket is simple and portable, and the working quality of workers is improved.
The UWB (Ultra-Wide Band) is a carrier-free communication technology, and uses nanosecond to microsecond non-sine wave narrow pulses to transmit data. By transmitting very low power signals over a wide frequency spectrum, UWB can achieve data transmission rates of hundreds of Mbit/s to Gbit/s over a range of about 10 meters. The anti-interference performance is strong, the transmission rate is high, the system capacity is large, and the transmission power is very small, so that the working time of a system power supply is greatly prolonged. And the transmitting power is low, the influence of electromagnetic wave radiation on human bodies is small, and the application range is wide.
The driving wheel and the universal wheel are respectively arranged on different plates, so that the integral load can be distributed to the two plates, the load of a single plate is reduced, and the selection of lighter materials is facilitated. If the driving wheel and the universal wheel are arranged on the same plate, the strength requirement on the plate is high, and the weight of the plate is inevitably increased to meet the requirement. From the light-weight perspective, the driving wheels and the universal wheels are arranged on different plates, so that the overall weight can be effectively reduced.
Drawings
The invention will be further described with reference to the accompanying drawings in which:
FIG. 1 is a schematic view of the assembly structure;
FIG. 2 is a schematic view of the robotic cart frame structure of FIG. 1;
FIG. 3 is a schematic view of the carrier frame of FIG. 1;
FIG. 4 is a schematic view of the robotic cart of FIG. 1;
FIG. 5 is a schematic diagram of the master control panel structure of FIG. 1;
FIG. 6 is a schematic diagram of the base station layout of FIG. 1;
in fig. 1, 2, 3, 4, 5, 6: the robot comprises a robot trolley 1, an object carrying frame 2, a universal wheel frame 3, universal wheels 4, a base baffle plate 5, a handle 6, a driving wheel 7, a bolt support 8, a bidirectional speed regulating motor 9, an STM32F103 main control board 10, a logic control module 11, a serial port 12, a base station A13, a base station B13-1, a base station C13-2, a bracelet label 14, a mobile phone APP14-1, a 12V control circuit direct current power supply 15, a TIMER first module 16, a TIMER second module 17, a 24V direct current power supply 18, a first motor driver 19, a second motor driver 20, a left motor 21 and a right motor 22.
Detailed Description
The present invention will be described in further detail with reference to the following examples and embodiments:
example 1
The robot trolley 1 is provided with a carrying frame 2, the carrying frame 2 is a mesh plate body made of ABS + PC materials through injection molding, and a pair of handles 6 are symmetrically arranged above two ends of the carrying frame 2; the upper surface and the lower surface of the robot trolley 1 are correspondingly provided with two aluminum alloy plates, the upper aluminum alloy plate is provided with a carriage plate, the lower aluminum alloy plate is provided with a vehicle bottom plate, bolt supporting columns 8 are uniformly distributed between the carriage plate and the periphery of the vehicle bottom plate, and a cavity is formed between the carriage plate and the vehicle bottom plate;
four corners of a vehicle bottom plate of the robot trolley 1 are reserved as wheel carrier spaces respectively, a pair of bidirectional speed regulating motors 9 are symmetrically arranged on two sides of the vehicle bottom plate of the wheel carrier space at the front end, motor bases are arranged below the pair of bidirectional speed regulating motors 9 respectively, opposite through screw holes are correspondingly arranged between the motor bases and the vehicle bottom plate respectively, and fastening bolts are arranged in the opposite through screw holes; a pair of bolt supports 8 are symmetrically arranged on two sides of the pair of bidirectional speed regulating motors 9, an upper cross beam of the motor is arranged between the pair of bolt supports 8, driving shafts of the pair of bidirectional speed regulating motors 9 are symmetrically arranged outwards, and driving wheels 7 are respectively arranged on the driving shafts of the pair of bidirectional speed regulating motors 9; a pair of universal wheel frames 3 are symmetrically arranged on two sides below the carriage plate of the wheel frame space at the rear end, and universal wheels 4 are respectively arranged in the pair of universal wheel frames 3; a pair of frame power supplies are symmetrically reserved on the upper surfaces of the vehicle bottom plates at two sides of the robot trolley 1, a pair of 24V direct current power supplies 18 are respectively arranged above the pair of frame power supplies, and base baffles 5 are respectively arranged on the outer sides of the pair of 24V direct current power supplies 18;
a pair of main control board mounting slot frames are arranged below a carriage board between the 24V direct current power supply 18 and the universal wheel carrier 3, and STM32F103 main control boards 10 are arranged in the pair of main control board mounting slot frames; base stations A13 and base stations B13-1 are symmetrically arranged on two sides of the lower surface of a carriage plate at the front end of the robot trolley 1, and a base station C13-2 is arranged on the lower surface of the carriage plate in the middle of the rear end of the robot trolley 1;
a 12V control circuit direct-current power supply 15 is arranged on one side of the STM32F103 main control board 10, and a power supply circuit is arranged between the 12V control circuit direct-current power supply 15 and the STM32F103 main control board 10; the middle part of the STM32F103 main control board 10 is provided with a logic control module 11, one side of the logic control module 11 is respectively provided with a serial port 12, and a signal transmission line is arranged between the serial port 12 and the logic control module 11; at least three interfaces are reserved in the serial port 12 and are respectively provided with an A base station 13, a B base station 13-1 and a C base station 13-2, and signal transmission lines are arranged among the at least three interfaces, the A base station 13, the B base station 13-1 and the C base station 13-2; the A base station 13, the B base station 13-1 and the C base station 13-2 are provided with a bracelet label 14 or a mobile phone APP14-1 in a matching way; UWB signals are arranged between the base station A13, the base station B13-1 and the base station C13-2 and the bracelet label 14 or the mobile phone APP14-1 in a matched mode respectively; the bracelet label 14 or the mobile phone APP14-1 are respectively provided with a touch screen display;
a TIMER first module 16 and a TIMER second module 17 are respectively arranged on the other side of the logic control module 11, and signal transmission lines are respectively arranged between the logic control module 11 and the TIMER first module 16 and between the logic control module 11 and the TIMER second module 17;
a 24V direct-current power supply 18 is arranged on one side of an STM32F103 main control board 10, a left motor 21 and a right motor 22 are respectively arranged on one side of the 24V direct-current power supply 18, a power supply circuit is respectively arranged between the 24V direct-current power supply 18 and the left motor 21 and between the 24V direct-current power supply 18 and the right motor 22, a first motor driver 19 and a second motor driver 20 are respectively arranged at one end of the left motor 21 and one end of the right motor 22, and PMW signal transmission lines are respectively arranged between the first motor driver 19 and the second motor driver 20 and between the TIMER first module 16 and the TIMER second module 17;
before the robot trolley 1 carries out article turnover transportation, the robot trolley 1 needs to be started and debugged, an STM32F103 main control board 10 and a logic control module 11 are started through a 12V control circuit direct-current power supply 15, then, starting a bracelet tag 14 or a mobile phone APP14-1, performing positioning search and automatically storing code data of the bracelet tag 14 or the mobile phone APP by a logic control module 11 through UWB signals of an a base station 13, a B base station 13-1 and a C base station 13-2, setting the speed of a motor to be high speed, medium speed, low speed and turning by the bracelet tag 14 or the mobile phone APP through a touch screen display, and completing starting and debugging between the robot trolley 1 and the bracelet tag 14 or the mobile phone APP after the tracking range and the distance between the robot trolley 1 and the bracelet tag 14 or the mobile phone APP, the radius of the tracking range is 5 meters to 10 meters, and the tracking distance is 0.5 meters to 1.5 meters; bracelet label 14 or cell-phone APP through the PMW signal debugging guide robot dolly 1 walk straight line or turn to, retreat and walk.
Example 2
After robot trolley 1 and bracelet label 14 or cell-phone APP debugging are accomplished, when using robot trolley 1, put robot trolley 1 subaerial loading article, pack into the article that needs transported and carry thing frame 2, wear bracelet label 14 or handheld cell-phone APP14-1 on the staff arm and move towards the place of uninstalling article, when the staff moved towards the place of uninstalling article, bracelet label 14 or handheld cell-phone APP14-1 guide robot trolley 1 walked in staff one side.
Example 3
In the walking process that the robot trolley 1 tracks the bracelet label 14 or the handheld mobile phone APP14-1, after the bracelet label 14 searched by the UWB through the A base station 13, the B base station 13-1 and the C base station 13-2 or the logic control module 11 sent by the position signal of the handheld mobile phone APP14-1 in real time, the position of the bracelet label 14 or the handheld mobile phone APP14-1 sends the logic control module 11 in time.
Example 4
The logic control module 11 instructs the TIMER first module 16 and the TIMER second module 17 to control a first motor driver 19 and a second motor driver 20 through PMW signal transmission lines respectively, and the first motor driver 19 and the second motor driver 20 drive a left motor 21, a right motor 22 and a driving wheel 7 to walk in a straight line or to turn and retreat respectively; the robot trolley 1 stops when walking to the unloading position, after the goods in the carrying frame 2 are taken out and unloaded, the worker wears the bracelet label 14 on the arm or returns to the place for loading the goods by the handheld mobile phone APP14-1 to load the goods again, and the goods are transported and circulated in such a way.
Claims (4)
1. A use method of a following robot trolley is provided, the following robot trolley, the device comprises a robot trolley (1), an object carrying frame (2), a universal wheel frame (3), universal wheels (4), a base baffle plate (5), a handle (6), a driving wheel (7), a bolt support (8), a bidirectional speed regulating motor (9), an STM32F103 main control board (10), a logic control module (11), a serial port (12), an A base station (13), a B base station (13-1), a C base station (13-2), a bracelet label (14), a mobile phone APP (14-1), a 12V control circuit direct current power supply (15), a TIMER first module (16), a TIMER second module (17), a 24V direct current power supply (18), a first motor driver (19), a second motor driver (20), a left motor (21) and a right motor (22); the method is characterized in that: the robot trolley (1) is provided with a carrying frame (2), the carrying frame (2) is a mesh plate body made of ABS + PC materials through injection molding, and a pair of handles (6) are symmetrically arranged above two ends of the carrying frame (2); the upper surface and the lower surface of the robot trolley (1) are correspondingly provided with two aluminum alloy plates, the upper aluminum alloy plate is provided with a carriage plate, the lower aluminum alloy plate is provided with a vehicle bottom plate, bolt supporting columns (8) are uniformly distributed between the carriage plate and the periphery of the vehicle bottom plate, and a cavity is formed between the carriage plate and the vehicle bottom plate;
four corners of a vehicle bottom plate of the robot trolley (1) are reserved as wheel carrier spaces respectively, a pair of bidirectional speed regulating motors (9) are symmetrically arranged on two sides of the vehicle bottom plate of the wheel carrier space at the front end, motor bases are arranged below the pair of bidirectional speed regulating motors (9) respectively, opposite through screw holes are correspondingly formed between the motor bases and the vehicle bottom plate respectively, and fastening bolts are arranged in the opposite through screw holes; a pair of bolt supports (8) are symmetrically arranged on two sides of the pair of bidirectional speed regulating motors (9), an upper cross beam of the motors is arranged between the pair of bolt supports (8), driving shafts of the pair of bidirectional speed regulating motors (9) are symmetrically arranged outwards, and driving wheels (7) are respectively arranged on the driving shafts of the pair of bidirectional speed regulating motors (9); a pair of universal wheel frames (3) are symmetrically arranged on two sides below the carriage plate of the wheel frame space at the rear end, and universal wheels (4) are respectively arranged in the pair of universal wheel frames (3); a pair of frame power supplies are symmetrically reserved on the upper surfaces of the vehicle bottom plates at two sides of the robot trolley (1), a pair of 24V direct current power supplies (18) are respectively arranged above the pair of frame power supplies, and base baffles (5) are respectively arranged at the outer sides of the pair of 24V direct current power supplies (18);
a pair of main control board mounting slot frames are arranged below a carriage board between the 24V direct current power supply (18) and the universal wheel carrier (3), and STM32F103 main control boards (10) are arranged in the pair of main control board mounting slot frames; a base station (13) and a B base station (13-1) are symmetrically arranged on two sides of the lower surface of a carriage plate at the front end of the robot trolley (1), and a C base station (13-2) is arranged on the lower surface of the carriage plate in the middle of the rear end of the robot trolley (1);
a 12V control circuit direct-current power supply (15) is arranged on one side of an STM32F103 main control board (10), and a power supply circuit is arranged between the 12V control circuit direct-current power supply (15) and the STM32F103 main control board (10); the middle part of an STM32F103 main control board (10) is provided with a logic control module (11), one side of the logic control module (11) is respectively provided with a serial port (12), and a signal transmission line is arranged between the serial port (12) and the logic control module (11); at least three interfaces are reserved in the serial port (12) and are respectively provided, the at least three interfaces are respectively and correspondingly provided with an A base station (13), a B base station (13-1) and a C base station (13-2), and signal transmission lines are respectively arranged among the at least three interfaces, the A base station (13), the B base station (13-1) and the C base station (13-2); the A base station (13), the B base station (13-1) and the C base station (13-2) are provided with a bracelet label (14) or a mobile phone APP (14-1) in a matching manner; UWB signals are arranged between the base station A (13), the base station B (13-1) and the base station C (13-2) and the bracelet label (14) or the mobile phone APP (14-1) in a matched mode; the bracelet label (14) or the mobile phone APP (14-1) is respectively provided with a touch screen display;
a TIMER first module (16) and a TIMER second module (17) are respectively arranged on the other side of the logic control module (11), and signal transmission lines are respectively arranged between the logic control module (11) and the TIMER first module (16) and between the logic control module and the TIMER second module (17);
the STM32F103 main control board (10) one side sets up 24V direct current power supply (18), 24V direct current power supply (18) one side sets up left motor (21), right motor (22) respectively, 24V direct current power supply (18) set up power supply circuit respectively with left motor (21), right motor (22) between, the one end of left motor (21), right motor (22) sets up first motor driver (19), second motor driver (20) respectively, set up PMW signal transmission line respectively between first motor driver (19), second motor driver (20) and TIMER first module (16), TIMER second module (17);
before the robot trolley (1) carries out article turnover transportation, the robot trolley (1) needs to be started and debugged, a 12V control circuit direct current power supply (15) is used for starting an STM32F103 main control board (10) and a logic control module (11), then a bracelet label (14) or a mobile phone APP (14-1) is started, the logic control module (11) carries out positioning search and automatically stores code data of the bracelet label (14) or the mobile phone APP (14-1) through UWB signals of an A base station (13), a B base station (13-1) and a C base station (13-2), the speed of a motor is set to be high speed, medium speed, low speed and turning through a touch screen display, the tracking range and the tracking distance between the robot trolley (1) and the bracelet label (14) or the mobile phone APP (14-1), the radius of the tracking range is 5-10 m, and after the tracking distance is 0.5-1.5 m, starting and debugging between the robot trolley (1) and the bracelet label (14) or the mobile phone APP (14-1) are completed; the bracelet label (14) or the mobile phone APP (14-1) can guide the robot trolley (1) to walk straight or turn and retreat to walk through PMW signal debugging.
2. Use of a follow-up robotic trolley according to claim 1, characterised in that: after the robot trolley (1) and a bracelet tag (14) or a mobile phone APP (14-1) are debugged, when the robot trolley (1) is used, the robot trolley (1) is placed on the ground for loading articles, the articles to be conveyed are loaded into an article loading frame (2), the bracelet tag (14) or the handheld mobile phone APP (14-1) is worn on the arm of a worker and moves to the place for unloading the articles, and when the worker moves to the place for unloading the articles, the bracelet tag (14) or the handheld mobile phone APP (14-1) guides the robot trolley (1) to walk on one side of the worker.
3. Use of a follow-up robotic trolley according to claim 1, characterised in that: in the walking process of tracking the bracelet label (14) or the handheld mobile phone APP (14-1) by the robot trolley (1), after the bracelet label (14) searched by the base station A (13), the base station B (13-1) and the base station C (13-2) through UWB or the logic control module (11) sent by the position signal of the handheld mobile phone APP (14-1) in real time, the position of the bracelet label (14) or the handheld mobile phone APP (14-1) sends the logic control module (11) in time.
4. Use of a follow-up robotic trolley according to claim 1, characterised in that: the logic control module (11) instructs the TIMER first module (16) and the TIMER second module (17) to control a first motor driver (19) and a second motor driver (20) through a PMW signal transmission line respectively, and the first motor driver (19) and the second motor driver (20) drive a left motor (21), a right motor (22) and a driving wheel (7) to walk in a straight line or turn and retreat; the robot trolley (1) stops when walking to the unloading position, after the goods in the carrying frame (2) are taken out and unloaded, the worker wears the bracelet label (14) or the handheld mobile phone APP (14-1) on the arm to return to the place for loading the goods and loads the goods again, and the goods are transported and circulated repeatedly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910961035.4A CN110597270A (en) | 2019-10-11 | 2019-10-11 | Use method of following robot trolley |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910961035.4A CN110597270A (en) | 2019-10-11 | 2019-10-11 | Use method of following robot trolley |
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| CN110597270A true CN110597270A (en) | 2019-12-20 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113838223A (en) * | 2021-10-08 | 2021-12-24 | 联想新视界(南昌)人工智能工研院有限公司 | Wisdom garden personnel management system based on palm vein discernment and ultra wide band location |
| WO2022237369A1 (en) * | 2021-05-12 | 2022-11-17 | 长城汽车股份有限公司 | Automatic following method and system for carrier vehicle, and carrier vehicle |
-
2019
- 2019-10-11 CN CN201910961035.4A patent/CN110597270A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022237369A1 (en) * | 2021-05-12 | 2022-11-17 | 长城汽车股份有限公司 | Automatic following method and system for carrier vehicle, and carrier vehicle |
| CN113838223A (en) * | 2021-10-08 | 2021-12-24 | 联想新视界(南昌)人工智能工研院有限公司 | Wisdom garden personnel management system based on palm vein discernment and ultra wide band location |
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