CN110817228A - Unmanned storage carrier - Google Patents

Unmanned storage carrier Download PDF

Info

Publication number
CN110817228A
CN110817228A CN201911263090.2A CN201911263090A CN110817228A CN 110817228 A CN110817228 A CN 110817228A CN 201911263090 A CN201911263090 A CN 201911263090A CN 110817228 A CN110817228 A CN 110817228A
Authority
CN
China
Prior art keywords
carrier
main control
control unit
steering engine
motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201911263090.2A
Other languages
Chinese (zh)
Inventor
杜毅豪
刘鹏宇
宋若薇
朱玉平
骆明霞
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nanjing University of Posts and Telecommunications
Original Assignee
Nanjing University of Posts and Telecommunications
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nanjing University of Posts and Telecommunications filed Critical Nanjing University of Posts and Telecommunications
Priority to CN201911263090.2A priority Critical patent/CN110817228A/en
Publication of CN110817228A publication Critical patent/CN110817228A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02Storage devices
    • B65G1/04Storage devices mechanical
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02Storage devices
    • B65G1/04Storage devices mechanical
    • B65G1/0492Storage devices mechanical with cars adapted to travel in storage aisles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02Storage devices
    • B65G1/04Storage devices mechanical
    • B65G1/137Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses

Abstract

The invention discloses an unmanned storage carrier which comprises a carrier body, mechanical arms arranged on the carrier body, a power supply, wheels and a motor, wherein the carrier body is provided with a sensor and a main control unit, the sensor is used for scanning grid lines on the ground, and the main control unit is used for calculating and judging the cross points of the grid lines so as to realize the positioning and the movement of the carrier. The sensors are arranged around the vehicle body. The invention can realize indoor autonomous positioning and driving, perform operations such as cargo identification, classification, carrying and the like, and can replace manpower to perform operations such as cargo sorting, stacking, loading and unloading and the like in places such as warehouses, courier stations, factories and the like; the labor consumption is greatly reduced, the efficiency is high, the error rate is low, and the productivity can be greatly improved.

Description

Unmanned storage carrier
Technical Field
The invention relates to a carrier, in particular to an unmanned storage carrier.
Background
In recent years, with the development of economy, the e-commerce and express logistics industry also develop rapidly, and the network shopping and logistics express industry is deeply integrated into the production and life of people, but a series of problems are brought along with the deep integration of the network shopping and logistics express industry: the method has the advantages of large cargo quantity, low sorting efficiency, long time consumption, high error rate and easy problem generation, and needs to consume huge manpower and material resources.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide an unmanned storage carrier which can realize low-cost positioning, goods identification, grabbing, sorting and carrying.
The technical scheme is as follows: the invention discloses an unmanned storage carrier which comprises a carrier body, mechanical arms arranged on the carrier body, a power supply, wheels and a motor, wherein a sensor and a main control unit are arranged on the carrier body, the sensor is used for scanning grid lines on the ground, and the intersection points of the grid lines are calculated and judged through the main control unit so as to realize the positioning and the movement of the carrier. The sensors are arranged on the periphery of the vehicle body and at least four sensors are arranged.
The sensor is a camera, a CCD or a 7-channel digital gray sensor.
The vehicle body is provided with a communication unit, and a carrier local area network is constructed through the communication unit.
The communication unit adopts Wifi or ZigBee protocol.
The mechanical arm comprises a holder, a paw, an arm, a connecting piece and at least three steering engines; the gripper can complete the grabbing action under the control of the first steering engine; the arm is connected to a second steering engine through a connecting piece and is controlled by the steering engine to stretch and rotate; the cradle head rotates under the control of the third steering engine.
The motor is connected to the main control unit through a motor driving device.
The main control unit controls the motor and the steering engine, so that the motor can realize forward and reverse rotation, braking and stopping functions, control the rotation angle, speed and torque of the steering engine, and read feedback data of the steering engine.
Still be equipped with scanning device on the automobile body for read goods information, the data transmission that the device gathered is to main control unit.
The main control unit, the scanning device and the communication unit are arranged on the upper portion of the vehicle body.
The unmanned warehousing carrier vehicle system is based on the unmanned warehousing carrier vehicle, and further comprises a communication terminal and ground grid lines; the communication terminal is used for reading the scanning information of the carrier and issuing an instruction to the carrier main control unit; the ground grid lines are black or gray and are arranged in a vertical crossing mode to cover the transportation path of the goods.
Has the advantages that: compared with the prior art, the invention has the following remarkable advantages: the invention can realize indoor autonomous positioning and driving, and carry out operations such as cargo identification, classification, carrying and the like, and can replace manpower to carry out operations such as cargo sorting, stacking, loading and unloading and the like in places such as warehouses, courier stations, factories and the like. The labor consumption is greatly reduced, the efficiency is high, the error rate is low, and the productivity can be greatly improved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of a cart system of the present invention.
Detailed Description
The technical scheme of the invention is further explained by combining the attached drawings.
As shown in fig. 1, the automated warehouse cart includes a body, a robot arm provided on the body, a power source, wheels 12, and a motor 13. The automobile body comprises two rectangle steel sheets, and four motors 13 are fixed by steel spare 10 in the lower floor board four corners of automobile body, and motor 13 is permanent magnetism direct current gear motor. The wheel 12 is connected with the motor 13 through a coupling, and the wheel 12 is a Mecanum wheel. When the main control unit 18 is a single chip microcomputer, because the driving capability of the signal output by the single chip microcomputer is weak, a motor driving device 9 is connected between the single chip microcomputer and the motor 13, and the driving device converts the signal output by the single chip microcomputer into voltage so as to control the rotation of the motor. The motor drive adopts 2 TB6612FNG chips, and two direct current motor of single chip steerable realize just reversing, brake, stop function, and two chips can make four motors independently realize different rotations, full play mecanum wheel's advantage.
The lower part of the vehicle body is also provided with sensors 11 which are respectively arranged in the front, the back, the left and the right directions of the vehicle body, and the sensors are cameras, CCDs or 7-channel digital gray-scale sensors. The sensor 11 is used for reading the color difference information of the ground grid 21 and sending the read information to the main control unit 18, and the main control unit 18 calculates the position of the truck. When the carrier moves, the linear running is guaranteed through the sensor 11 in the moving direction, then the number of crossed points passing through the running is judged by combining the side sensor, and the X, Y coordinates are increased and decreased by combining the direction of the vehicle head, so that the absolute coordinates of the trolley are calculated. In an indoor environment without a GPS signal, the positioning difficulty of the automated guided vehicle is high, but the problem can be avoided by the automated guided vehicle.
The arm includes cloud platform 5, hand claw 1, arm and at least three steering wheel, and hand claw 1, cloud platform 5 and arm all adopt carbon steel material. The gripper 1 can complete the grabbing action under the control of the first steering engine 2. The paw 1 adopts double-deck arc claw, constitutes class circle structure when both sides paw snatchs, grabs the goods to the middle of the paw. The arm includes connecting piece 4 and second steering wheel 3, and connecting piece 4 is connected with second steering wheel 3 in turn. The number of the connecting pieces 4 is at least two, and the number of the connecting pieces and the number of the steering engines are adjusted according to factors such as the size of the required goods, the height of the goods shelf and the like. The connecting piece 4 is controlled by the second steering engine 3 to complete stretching and rotation. The cradle head 5 rotates under the control of the third steering engine 6, and the cradle head adopts a large-size bearing as a support, so that the precision is ensured, and the stability is enhanced. The steering engine is a serial communication steering engine, has multiple functions, and can realize data feedback while controlling the rotating speed and the torque. The steering engine is controlled by the main control unit 18 and feeds back data to the main control unit 18. Still be equipped with steering wheel drive arrangement 17 between steering wheel and the singlechip for convert the single line half-duplex serial ports of steering wheel into the double-line half-duplex serial ports, conveniently be connected with the singlechip, make the singlechip can control steering wheel rotation angle, speed, moment etc. can read steering wheel feedback data simultaneously, realize more meticulous arm motion control.
The upper part of the vehicle body is also provided with a main control unit 18, a motor driving device 9, a display device 7, a communication unit 16, a camera 14 and a code scanning device 15. Through upper and lower board layering design, with this car moving mechanism and electronic control mechanism phase separation, the subassembly separation is easily carried out in the debugging maintenance, brings very big facility for later maintenance.
The communication unit 16 adopts Wifi or ZigBee protocol to build a local communication network, so that interaction between the communication terminal 19 and the trolley is realized, task scheduling and labor division information during the working of the trolley is issued, and cargo information identified by the trolley is read back.
The camera 14 and the code scanning device 15 are collectively referred to as a scanning device, the color, size, texture and other information of the goods identified by the camera 14 is transmitted to the main control unit 18 through a circuit to classify the goods, and the code scanning device 15 is used for scanning two-dimensional codes on the goods, reading information such as single numbers and transmitting the information to the main control unit 18 through the circuit.
The display device 7 can display the working state information of the trolley, adopts a serial port type resistance touch screen, develops an interactive interface through an upper computer, and transmits data with the single chip microcomputer through a serial port communication protocol, so that the trolley parameter setting function of the trolley state information display and the trolley parameter setting function is realized, the interactivity between the trolley and a user is improved, and the trolley is easy to check when a problem occurs.
The present invention also includes an automated storage and transportation vehicle system that includes a communication terminal 19 and grid lines on the ground, as shown in FIG. 2. The communication terminal 19 is used for reading the scanning information of the truck and issuing an instruction to the truck main control unit. The grid lines are black or gray, are arranged in a vertical crossing mode and cover the transportation path of the goods.
According to the working principle of the invention, the following is further described:
from the starting point, the truck recognizes the ground grid 21 by the sensor 11 and calculates the real-time coordinates. The issued task information is obtained by the communication unit 16, which derives the original storage place of the object to be carried and the target shelf 20 to be delivered to it. Go to the goods storage place, the goods information is identified through the camera 14 and the code scanning device 15. The truck controls the robot arm to grab the goods through the main control unit 18 and transport the goods to the target area. The above process is repeated until all the cargo handling is finished. And finally, returning to the starting point to wait for the subsequent task to be issued.

Claims (9)

1. An unmanned storage carrier comprises a carrier body, mechanical arms arranged on the carrier body, a power supply, wheels (12) and a motor (13), and is characterized in that the carrier body is provided with a main control unit (18) and a sensor (11), the sensor is used for scanning grid lines on the ground, and the intersection points of the grid lines are calculated and judged through the main control unit (18), so that the positioning and the movement of the carrier are realized; the sensors (11) are arranged on the periphery of the vehicle body.
2. The automated warehouse cart according to claim 1, wherein the sensor (11) is a camera, a CCD or a grayscale sensor.
3. The automated warehousing cart of claim 1, wherein said body is provided with communication units (16) by which a cart local area network is constructed.
4. The automated warehouse cart according to claim 3, wherein the communication unit (16) employs Wifi or ZigBee protocol.
5. The automated warehouse cart of claim 1, wherein the robotic arm comprises a pan head (5), a gripper (1), an arm, and at least three steering engines; the gripper (1) finishes grabbing action under the control of the first steering engine (2); the arm is connected to a second steering engine (3) through a connecting piece (4) and stretches and rotates under the control of the steering engine; the cradle head (5) rotates under the control of the third steering engine (6).
6. The automated warehouse cart according to claim 1, characterized in that the motor (13) is connected to the main control unit (18) by a motor drive (9).
7. The unmanned warehousing and transportation vehicle of claim 5 or 6, wherein the main control unit (18) controls the motor (13) and the steering engine, so that the motor can realize forward and reverse rotation, braking and stopping functions, control the rotation angle, speed and torque of the steering engine, and read the feedback data of the steering engine.
8. The automated warehouse cart of claim 1, further comprising a scanning device for reading the cargo information, wherein the data collected by the scanning device is transmitted to the main control unit.
9. An automated storage and transportation vehicle system according to any one of claims 1 to 8, further comprising a communication terminal (19) and a ground grid line (21); the communication terminal (19) is used for reading the scanning information of the carrier and issuing an instruction to the carrier main control unit; the ground grid lines (21) are arranged in a vertical crossing mode and cover the transportation path of the goods.
CN201911263090.2A 2019-12-11 2019-12-11 Unmanned storage carrier Pending CN110817228A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201911263090.2A CN110817228A (en) 2019-12-11 2019-12-11 Unmanned storage carrier

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201911263090.2A CN110817228A (en) 2019-12-11 2019-12-11 Unmanned storage carrier

Publications (1)

Publication Number Publication Date
CN110817228A true CN110817228A (en) 2020-02-21

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201911263090.2A Pending CN110817228A (en) 2019-12-11 2019-12-11 Unmanned storage carrier

Country Status (1)

Country Link
CN (1) CN110817228A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111408541A (en) * 2020-05-21 2020-07-14 近铁国际物流(深圳)有限公司 Intelligent mobile sorting control system and device
CN111766822A (en) * 2020-07-22 2020-10-13 天津优控智行科技有限公司 Remote debugging method for unmanned distribution vehicle

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140277694A1 (en) * 2013-03-14 2014-09-18 Kabushiki Kaisha Yaskawa Denki Robot system and method for producing to-be-processed material
US20150032252A1 (en) * 2013-07-25 2015-01-29 IAM Robotics, LLC System and method for piece-picking or put-away with a mobile manipulation robot
CN107450533A (en) * 2017-07-06 2017-12-08 杭叉集团股份有限公司 A kind of storage center intelligently carries AGV dollies
CN109634278A (en) * 2018-12-17 2019-04-16 贵州大学 A kind of material floor truck of cross grid tracking and the identification of more colors
CN109648539A (en) * 2018-12-24 2019-04-19 丽水学院 Synchronous belt straight-arm joint Automatic Track Finding barcode scanning identifies floor truck and its application method
CN109719729A (en) * 2019-01-25 2019-05-07 丽水学院 A kind of rotating disc type Automatic Track Finding coding identification floor truck and its application method
CN209606846U (en) * 2018-04-13 2019-11-08 山西农业大学 A kind of storage intelligent vehicle

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140277694A1 (en) * 2013-03-14 2014-09-18 Kabushiki Kaisha Yaskawa Denki Robot system and method for producing to-be-processed material
US20150032252A1 (en) * 2013-07-25 2015-01-29 IAM Robotics, LLC System and method for piece-picking or put-away with a mobile manipulation robot
CN107450533A (en) * 2017-07-06 2017-12-08 杭叉集团股份有限公司 A kind of storage center intelligently carries AGV dollies
CN209606846U (en) * 2018-04-13 2019-11-08 山西农业大学 A kind of storage intelligent vehicle
CN109634278A (en) * 2018-12-17 2019-04-16 贵州大学 A kind of material floor truck of cross grid tracking and the identification of more colors
CN109648539A (en) * 2018-12-24 2019-04-19 丽水学院 Synchronous belt straight-arm joint Automatic Track Finding barcode scanning identifies floor truck and its application method
CN109719729A (en) * 2019-01-25 2019-05-07 丽水学院 A kind of rotating disc type Automatic Track Finding coding identification floor truck and its application method

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111408541A (en) * 2020-05-21 2020-07-14 近铁国际物流(深圳)有限公司 Intelligent mobile sorting control system and device
CN111766822A (en) * 2020-07-22 2020-10-13 天津优控智行科技有限公司 Remote debugging method for unmanned distribution vehicle

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