CN111409988A - Intelligent transfer robot for warehouse - Google Patents

Intelligent transfer robot for warehouse Download PDF

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Publication number
CN111409988A
CN111409988A CN202010320122.4A CN202010320122A CN111409988A CN 111409988 A CN111409988 A CN 111409988A CN 202010320122 A CN202010320122 A CN 202010320122A CN 111409988 A CN111409988 A CN 111409988A
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central controller
goods
moving speed
moving
dimensional code
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CN202010320122.4A
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CN111409988B (en
Inventor
李佳霖
金涛
钟显峰
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Yancheng Jiahua Plastic Products Co ltd
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Yancheng Jiahua Plastic Products Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • 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)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Multimedia (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

The invention provides an intelligent transfer robot for a warehouse, which comprises: the intelligent navigation device comprises a body, a mobile device, an intelligent navigation device, a carrying device, a central controller and an anti-collision device; the moving device is arranged on the lower end surface of the body; the intelligent navigation device, the moving device, the carrying device and the anti-collision device are respectively and electrically connected with the central controller, and the central controller controls the moving device to move according to an output signal of the intelligent navigation device; the carrying device is arranged at the upper end of the body and is used for carrying goods; the anti-collision device is used for preventing the body from being collided in the moving process. According to the intelligent conveying robot for the warehouse, disclosed by the invention, the automatic conveying of goods in the warehouse is realized through the moving device, the intelligent navigation device, the conveying device, the central controller and the anti-collision device; thereby realizing the intellectualization of warehouse management.

Description

Intelligent transfer robot for warehouse
Technical Field
The invention relates to the technical field of transfer robots, in particular to an intelligent transfer robot for a warehouse.
Background
At present, the management in warehouse still relies on the manual work to manage, places and takes the goods and all realizes through the manual work, and along with the development of mill's intelligent production, the management in warehouse also can realize intelligent management certainly, consequently needs a warehouse intelligence transfer robot as the instrument of the intelligent management in realization warehouse urgently.
In the existing patent CN107976195A, a positioning and navigation system and method, a storage medium, and a robot disclose a positioning and navigation technology applied to a robot based on UWB (Ultra Wide Band) technology, which is a wireless carrier communication technology, and positioning and navigation based on wireless carrier signals have errors when there is interfering radio waves in the space.
Disclosure of Invention
One of the purposes of the invention is to provide an intelligent transfer robot for a warehouse, which realizes the automatic transfer of goods in the warehouse through a mobile device, an intelligent navigation device, a transfer device, a central controller and an anti-collision device; therefore, the intellectualization of warehouse management is realized, in addition, the intelligent navigation device adopts a two-dimension code positioning technology, and the robot is positioned according to the two-dimension code without receiving external communication signals, so that the anti-interference capability of navigation is improved.
The embodiment of the invention provides an intelligent transfer robot for a warehouse, which comprises: the intelligent navigation device comprises a body, a mobile device, an intelligent navigation device, a carrying device, a central controller and an anti-collision device; the moving device is arranged on the lower end surface of the body; the intelligent navigation device, the moving device, the carrying device and the anti-collision device are respectively and electrically connected with the central controller, and the central controller controls the moving device to move according to an output signal of the intelligent navigation device; the carrying device is arranged at the upper end of the body and is used for carrying goods; the anti-collision device is used for preventing the body from being collided in the moving process.
Preferably, the moving means comprises:
the plurality of moving mechanisms are arranged on the lower end face of the body and are respectively and electrically connected with the central controller; when the plurality of moving mechanisms stop moving, the central controller changes the movable directions of the plurality of moving mechanisms so that the movable directions of the plurality of moving mechanisms are different;
the moving mechanism includes: the device comprises a wheel, a suspension, a first driving mechanism and a second driving mechanism;
the wheels are connected with the lower end surface of the body through suspension;
the first driving mechanism comprises a first driving motor and a first controller, the first driving motor drives the wheels to move back and forth, the first controller is electrically connected with the first driving motor and the central controller respectively, and the first controller is used for controlling the rotating speed, the opening and the closing of the first driving motor according to a control signal of the central controller;
the second driving mechanism comprises a second driving motor and a second controller, the second driving motor drives the vehicle to rotate, the second controller is electrically connected with the second driving motor and the central controller respectively, and the second controller is used for controlling the rotation speed, the on-off state and the off state of the second driving motor according to the central controller;
the suspension includes: a fork-shaped body and a fixed seat; one end of the forked body is rotatably connected with the two sides of the wheel, and the upper parts of the positions where one end of the forked body is connected with the wheel are respectively provided with a damping mechanism; the other end of the fork-shaped body is rotationally connected with the fixed seat; the fixed seat is fixedly connected with the lower end surface of the body;
a rotating gear is arranged at one end of the fork-shaped body, which protrudes out of the fixed seat, and the rotating gear is meshed with a first driving gear arranged at the output end of a second driving motor;
the first driving motor is arranged on the wheel, a shell of the first driving motor is fixedly connected with the vehicle, and a rotating shaft of the first driving motor is respectively connected with two branches of the fork-shaped part of the fork-shaped body.
Preferably, the intelligent navigation device comprises:
the positioning device comprises a first two-dimensional code positioning mechanism, a positioning processor and a positioning memory;
the first two-dimensional code positioning mechanism is fixedly arranged on any one of the four sides of the body and is used for scanning a first two-dimensional code label arranged on the ground of the warehouse;
the positioning processor is electrically connected with the first two-dimensional code positioning mechanism, the positioning memory and the central controller respectively;
the positioning processor performs operations comprising:
numbering first two-dimensional code labels arranged on the ground of a warehouse, and distributing coordinate information of the first two-dimensional code labels in the space of the warehouse;
acquiring environmental information around the first two-dimensional code label, wherein the environmental information comprises: shelf information around the first two-dimensional code and goods information on the shelf;
correspondingly storing the information, the serial number, the distributed warehouse space coordinate information and the environment information of the first two-dimensional code label in a memory;
acquiring information of goods to be placed or taken, analyzing the goods information and acquiring first two-dimensional code information corresponding to the goods information;
searching a first two-dimensional code label corresponding to first two-dimensional code information corresponding to the goods information by identifying the first two-dimensional code label passing through the body;
when the goods are found, the position of the body is the operation position of the goods to be placed or taken, a positioning completion instruction is sent to the central controller, and the central controller controls the carrying device to place or take the goods;
the first two-dimensional code positioning mechanism comprises a first two-dimensional code reading device;
the number of the first two-dimensional code positioning mechanisms is three, and the first two-dimensional code positioning mechanisms are respectively arranged on the left side and the right side of the body and any one of the front side and the rear side.
Preferably, the intelligent navigation device further comprises: the gyroscope is arranged at the rotation center of the body and is connected with the positioning processor;
the positioning processor performs the following operation steps:
acquiring a first traveling direction of the body through a gyroscope;
acquiring a second traveling direction of the mobile device controlled by the central controller through the central controller;
when the first traveling direction is different from the second traveling direction, recording the moving track of the body through the gyroscope; and transmitting the moving track to a central controller; when the central controller receives a reset command, based on the movement track, the mobile device is controlled to move against the movement track to reset the position of the body; after the body resets, central controller control moving mechanism action carries out the body rotation, and after first two-dimensional code reading device read first two-dimensional code label, stop the rotation.
Preferably, the collision prevention device includes:
the anti-collision mechanism is arranged on the periphery of the body;
a plurality of distance sensors arranged around the body;
the anti-collision controller is respectively and electrically connected with the distance sensor, the anti-collision mechanism and the central controller;
anticollision mechanism includes: bumper bar, shock absorber and first pressure sensor
One end of the shock absorber is fixedly connected with the anti-collision rod, and the other end of the shock absorber is fixedly connected with the body; a first pressure sensor is arranged between the shock absorber and the body; the first pressure sensor is electrically connected with the anti-collision controller;
the anti-collision controller executes the following operations:
detecting the distance of obstacles around the body through a distance sensor, and sending a first signal to a central controller when the distance is smaller than a preset distance value; the first signal includes: the distance and the barrier are positioned in a first direction of the body;
the pressure on the anti-collision rod is detected through the first pressure sensor, and when the pressure is greater than a preset pressure value, a second signal is sent to the central controller; the second signal includes: the pressure and the pressure are positioned in a second direction of the body;
the central controller performs operations comprising:
receiving a first signal and/or a second signal sent by a collision avoidance controller;
analyzing the first signal to obtain a distance and a first direction; when the distance is gradually reduced, controlling the mobile device to move towards the direction opposite to the first direction; when the distance is unchanged, controlling the mobile device to move according to a preset track or controlling the mobile device to be motionless; when the distance is gradually increased, the central controller does not do any action;
and/or the presence of a gas in the gas,
analyzing the second signal to obtain pressure and a second direction; when the pressure is gradually increased, the moving device is controlled to move towards the direction opposite to the second direction; when the pressure is unchanged, controlling the moving device to move according to a preset track or controlling the moving device to be motionless; when the pressure gradually decreases, the central controller does nothing.
Preferably, the carrying device includes:
the vertical guide rail is arranged on the upper end surface of the body;
the suction platform is arranged on the vertical guide rail and slides on the vertical guide rail;
the absorbing mechanism is arranged on the absorbing platform and used for absorbing goods to the absorbing platform;
the pushing mechanism is arranged on the absorbing platform and used for pushing the goods out of the absorbing platform;
the two alignment mechanisms are respectively arranged at two sides of the suction platform and are used for confirming the alignment condition between the suction platform and the goods position of the goods shelf;
the conveying controller is electrically connected with the suction mechanism, the vertical guide rail, the alignment mechanism and the central controller respectively;
the carrying controller performs operations including:
receiving an instruction of placing or taking goods from a central controller;
controlling the vertical guide rail to move so as to enable the suction platform to move up and down;
confirming the alignment condition between the suction platform and the goods position of the goods shelf through the alignment mechanism;
when the goods position of the goods shelf is aligned correctly, the suction mechanism is controlled to suck goods from the goods position to the suction platform, so that the goods taking operation is realized; or, the pushing mechanism is controlled to push the goods on the absorbing platform to the goods position, so that the goods placing operation is realized.
Preferably, the suction means comprises:
the first horizontal guide rail is arranged at one end of the suction platform close to the vertical guide rail;
one end of the first telescopic rod is arranged on the first horizontal guide rail, and the first telescopic rod slides on the first horizontal guide rail;
the suction seat is arranged at one end, far away from the first horizontal guide rail, of the first telescopic rod, and at least one vacuum sucker is arranged on the suction seat;
the push mechanism includes:
the second horizontal guide rail is arranged at one end, close to the vertical guide rail, of the suction platform and is positioned below the first horizontal guide rail;
one end of the second telescopic rod is arranged on the second horizontal guide rail, and the other end of the second telescopic rod is fixedly provided with a push plate; the surface of the push plate is provided with a damping rubber layer;
the two sides of the suction platform are provided with stop bars, and the upper surface of the suction platform is provided with a plurality of rollers in an array.
Preferably, the carrying device further includes:
the plurality of stabilizing mechanisms are arranged on the lower end face of the body and are respectively and electrically connected with the conveying controller; the body is used for stabilizing and preventing the body from shaking when goods are placed or taken;
the stabilizing mechanism includes:
the telescopic cylinder, terminal surface under one end and the body, the other end is provided with the ship type supporting legs.
Preferably, the suction platform comprises:
the platform mounting seat is arranged on the vertical guide rail;
one side of the bottom plate is hinged with the platform mounting seat, and the upper surface of the bottom plate is provided with a second pressure sensor; the pressure sensor detects the pressure on the bottom plate;
the flat plate retracting mechanism is arranged beside the hinged position of the bottom plate and the platform mounting seat and is electrically connected with the carrying controller; used for realizing the receiving/releasing of the bottom plate;
the handling device still includes:
the electronic level meter is arranged on the body, is electrically connected with the carrying controller and is used for detecting the levelness of the body;
the flat plate retracting mechanism comprises: a telescopic cylinder or a telescopic electric cylinder;
the carrying controller performs operations including:
detecting the levelness of the body through an electronic level meter;
detecting a pressure on the base plate by a second pressure sensor;
when the levelness is greater than the preset levelness and the pressure on the bottom plate is not zero, the flat plate retraction mechanism is controlled to put down the bottom plate, so that the goods fall down and the body is prevented from falling.
Preferably, the alignment mechanism includes:
the second two-dimensional code reading device is electrically connected with the carrying controller and is used for shooting and reading second two-dimensional codes attached to two sides of the goods space;
the carrying controller performs operations including:
respectively acquiring a first time t0The two second two-dimensional code reading devices are used for shooting a first picture and a second picture;
establishing a first coordinate system by using the center of the first picture, and establishing a second coordinate system by using the center of the second picture;
recording the center of the two-dimensional code in the first picture as a point O, wherein the coordinate of the point O to the first coordinate system is (x)O1,yO1) (ii) a Recording the center of the two-dimensional code in the second picture as a point P, wherein the coordinate of the point P to the second coordinate system is (x)P2,yP2)；
Respectively acquiring second time t1A third picture and a fourth picture shot by the two second two-dimensional code reading devices;
establishing a third coordinate system by using the center of the third picture, and establishing a third coordinate system by using the center of the fourth picture;
recording the center of the two-dimensional code in the third picture as a point O ', wherein the coordinate of the point O' relative to the third coordinate system is (x)O′3,yO′3) (ii) a Recording the center of the two-dimensional code in the fourth picture as a point P ', wherein the coordinate of the point P' relative to the fourth coordinate system is (x)P′4,yP′4)；
Determining a vector based on points O, O
Figure BDA0002461037860000071
The calculation formula is as follows:
Figure BDA0002461037860000072
determining a vector based on the point P, the point P
Figure BDA0002461037860000073
The calculation formula is as follows:
Figure BDA0002461037860000074
based on vectors
Figure BDA0002461037860000075
Vector quantity
Figure BDA0002461037860000076
And (3) calculating the body translation speed v, wherein the calculation formula is as follows:
Figure BDA0002461037860000077
wherein α is a preset constant, and represents the modulus of the vector;
when x isO′3When the moving direction of the body is larger than zero, the moving direction of the body is the direction of the X axis of the third coordinate system; when x isO′3When the moving direction of the body is less than zero, the moving direction of the body is the opposite direction of the X-axis direction of the third coordinate system;
sending the moving speed and the moving direction of the body to a central controller; the central controller controls the movement of the mobile device according to the movement speed of the body and the movement method of the body.
Preferably, the warehouse intelligent transfer robot further includes: a communication module and a control terminal,
after receiving a binding request sent by a control terminal through a communication module, if the central controller is in an unbound state, the central controller acquires a binding parameter corresponding to the binding request and sends the binding parameter to the control terminal;
the control terminal receives the binding parameters, then performs parameter configuration of the control terminal, sends completion information to the central controller after the parameter configuration is completed, and completes the binding with the central controller after receiving feedback information corresponding to the completion information returned by the central controller;
the central controller carries out parameter configuration of the communication module according to the binding parameters, and sends feedback information corresponding to the completion information to the control terminal when receiving the completion information sent by the control terminal after the parameter configuration is completed;
wherein, control terminal includes: a rocker;
the central controller performs operations comprising:
controlling the moving direction of the mobile device according to the direction of pushing the rocker by the user;
controlling the moving speed of the moving device to be a first moving speed value to move;
when the time for lifting the rocker by the user is not more than the first preset time, controlling the moving speed of the mobile device to be a second moving speed value, wherein the second moving speed value is more than the first moving speed value and the difference value between the second moving speed value and the first moving speed value is equal to the preset speed difference value; or when the time for pressing the rocker by the user is not more than the first preset time, controlling the moving speed of the mobile device to be a third moving speed value, wherein the third moving speed value is less than the first moving speed value and the difference value between the third moving speed value and the first moving speed value is equal to the preset speed difference value;
when the current moving speed value of the mobile device is smaller than the first moving speed value; when the time for lifting the rocker by the user is longer than the first preset time, directly controlling the moving speed of the mobile device to be a first moving speed value;
when the current moving speed value of the mobile device is smaller than the first moving speed value; when the time for pressing the rocker by the user is longer than the first preset time, the moving speed of the mobile device is directly controlled to be a preset lowest moving speed value;
when the current moving speed value of the mobile device is greater than the first moving speed value; when the time for lifting the rocker by the user is longer than the first preset time, the moving speed of the mobile device is directly controlled to be a preset highest moving speed value;
when the current moving speed value of the mobile device is greater than the first moving speed value; and when the time for pressing the rocker by the user is greater than the first preset time, directly controlling the moving speed of the mobile device to be a first moving speed value.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic view of an intelligent transfer robot for a warehouse according to an embodiment of the present invention;
FIG. 2 is a diagram illustrating a mobile device according to an embodiment of the present invention;
FIG. 3 is a diagram of another mobile device according to an embodiment of the present invention;
FIG. 4 is a diagram of an intelligent navigation device according to an embodiment of the present invention;
FIG. 5 is a schematic view of a bump guard according to an embodiment of the present disclosure;
FIG. 6 is a schematic view of a crash mechanism in accordance with an embodiment of the present invention;
FIG. 7 is a schematic view of a handling apparatus according to an embodiment of the present invention;
FIG. 8 is a schematic view of another exemplary embodiment of a handling apparatus;
FIG. 9 is a schematic view of another exemplary embodiment of a handling apparatus;
FIG. 10 is a schematic view of a stabilizing mechanism in an embodiment of the invention.
In the figure:
1. a body; 2. a mobile device; 3. an intelligent navigation device; 4. a carrying device; 5. a central controller; 6. an anti-collision device; 2-1, vehicle wheels; 2-2, hanging; 2-3, a first driving mechanism; 2-4, a second driving mechanism; 2-5, a damping mechanism; 2-31, a first controller; 2-32, a first drive motor; 2-41, a second controller; 2-42, a second drive motor; 2-21, fixing seat; 2-22, a fork-shaped body; 3-1, positioning a processor; 3-2, a first two-dimensional code positioning mechanism; 3-3, a gyroscope; 6-1, a collision avoidance controller; 6-2, an anti-collision mechanism; 6-3, a distance sensor; 6-21, a crash bar; 6-22, a shock absorber; 6-23, a first pressure sensor; 4-1, a carrying controller; 4-2, vertical guide rails; 4-3, a suction mechanism; 4-4, a pushing mechanism; 4-5, aligning mechanism; 4-6, a stabilizing mechanism; 4-7, a second pressure sensor; 4-8, an electronic level meter; 4-9, a flat plate retracting mechanism; 4-61, telescopic cylinder; 4-62, making the ship shape into a foot; 4-10 parts of barrier strips; 4-11, a platform mounting seat; 4-12, a bottom plate; 4-13, rollers; 4-31, a first horizontal guide rail; 4-32, a first telescopic rod; 4-33, a suction seat; 4-41, a second horizontal guide rail; 4-42, a second telescopic rod; 4-43, push plate.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
An embodiment of the present invention provides an intelligent transfer robot for a warehouse, as shown in fig. 1, including: the intelligent navigation device comprises a body 1, a mobile device 2, an intelligent navigation device 3, a carrying device 4, a central controller 5 and an anti-collision device 6; the mobile device 2 is arranged on the lower end face of the body 1; the intelligent navigation device 3, the mobile device 2, the carrying device 4 and the anti-collision device 6 are respectively and electrically connected with the central controller 5, and the central controller 5 controls the mobile device 2 to move according to an output signal of the intelligent navigation device 3; the carrying device 4 is arranged at the upper end of the body 1 and is used for carrying goods; the bump guard 6 is used to prevent the body 1 from being hit during movement.
The working principle and the beneficial effects of the technical scheme are as follows:
when used in a warehouse, the central controller 5 controls the movement of the mobile device 2 through a navigation route given by the intelligent navigation device 3; thereby realizing that mobile device 2 drives body 1 to move in the warehouse. When goods need to be stored in the goods position of the goods shelf, namely the goods are placed; the carrying device 4 is responsible for carrying goods, the intelligent navigation device 3 finds the position of a goods position and sends path information to the central controller 5, the central controller 5 controls the movement of the moving device 2, when the goods position is hit, the carrying device 4 places the goods in the goods position, and in the moving process, the anti-collision device 6 reduces the damage to the body 1 and other equipment when collision happens; or when an obstacle is found, the central controller 5 controls the mobile device 2 through the obstacle detected by the anti-collision device 6, so that the obstacle avoidance is realized, and the occurrence of collision is prevented.
According to the intelligent conveying robot for the warehouse, disclosed by the invention, the automatic conveying of goods in the warehouse is realized through the mobile device 2, the intelligent navigation device 3, the conveying device 4, the central controller 5 and the anti-collision device 6; thereby realizing the intellectualization of warehouse management.
In one embodiment, as shown in fig. 2 and 3, the mobile device 2 includes:
a plurality of moving mechanisms which are arranged on the lower end surface of the body 1 and are respectively electrically connected with the central controller 5; when the plurality of moving mechanisms stop moving, the central controller 5 changes the movable directions of the plurality of moving mechanisms so that the movable directions of the plurality of moving mechanisms are all different;
the moving mechanism includes: the device comprises a wheel 2-1, a suspension 2-2, a first driving mechanism 2-3 and a second driving mechanism 2-4;
the wheel 2-1 is connected with the lower end face of the body 1 through a suspension 2-2;
the first driving mechanism 2-3 comprises a first driving motor 2-32 and a first controller 2-31, the first driving motor 2-32 drives the wheel 2-1 to move back and forth, the first controller 2-31 is respectively electrically connected with the first driving motor 2-32 and the central controller 5, and the first controller 2-31 is used for controlling the rotating speed, the on-off state and the off state of the first driving motor 2-32 according to a control signal of the central controller 5;
the second driving mechanism 2-4 comprises a second driving motor 2-42 and a second controller 2-41, the second driving motor 2-42 drives the vehicle to rotate, the second controller 2-41 is respectively electrically connected with the second driving motor 2-42 and the central controller 5, and the second controller 2-41 is used for controlling the rotation speed, the on-off state and the off state of the second driving motor 2-42 according to the central controller 5;
the suspension 2-2 includes: a forked body 2-22 and a fixed seat 2-21; one end of the forked body 2-22 is rotatably connected with the two sides of the wheel 2-1, and the upper part of the position where one end of the forked body 2-22 is connected with the wheel 2-1 is respectively provided with a damping mechanism 2-5; the other end of the forked body 2-22 is rotationally connected with the fixed seat 2-21; the fixed seats 2-21 are fixedly connected with the lower end surface of the body 1;
one end of the fork-shaped body 2-22, which protrudes out of the fixed seat 2-21, is provided with a rotating gear, and the rotating gear is meshed with a first driving gear arranged at the output end of the second driving motor 2-42;
the first driving motor 2-32 is arranged on the wheel 2-1, the shell of the first driving motor 2-32 is fixedly connected with the vehicle, and the rotating shaft of the first driving motor 2-32 is respectively connected with two branches of the fork-shaped part of the fork-shaped body 2-22.
The working principle and the beneficial effects of the technical scheme are as follows:
the first driving motor 2-32 realizes the autorotation of the wheel 2-1, thereby realizing the movement of the body 1; the second driving motor 2-42 effects rotation of the driving angle of the wheel 2-1, thereby effecting turning of the body 1. The damping mechanisms 2-5 reduce vibration in the moving process and improve the motion stability of the body 1. The plurality of moving mechanisms are arranged, when the body 1 stops moving and the carrying device 4 works, the central controller 5 controls the different angles of the wheels 2-1 when the moving mechanisms stop, so that the body 1 cannot slide along the advancing direction of the wheels 2-1, and the stability of the body 1 is improved.
In one embodiment, as shown in fig. 4, the smart navigation device 3 includes:
a first two-dimensional code positioning mechanism 3-2, a positioning processor 3-1 and a positioning memory;
the first two-dimensional code positioning mechanism 3-2 is fixedly arranged on any one of the four sides of the body 1 and is used for scanning a first two-dimensional code label arranged on the ground of the warehouse;
the positioning processor 3-1 is respectively and electrically connected with the first two-dimensional code positioning mechanism 3-2, the positioning memory and the central controller 5;
the positioning processor 3-1 performs operations including:
numbering first two-dimensional code labels arranged on the ground of a warehouse, and distributing coordinate information of the first two-dimensional code labels in the space of the warehouse;
acquiring environmental information around the first two-dimensional code label, wherein the environmental information comprises: shelf information around the first two-dimensional code and goods information on the shelf;
correspondingly storing the information, the serial number, the distributed warehouse space coordinate information and the environment information of the first two-dimensional code label in a memory;
acquiring information of goods to be placed or taken, analyzing the goods information and acquiring first two-dimensional code information corresponding to the goods information;
searching a first two-dimensional code label corresponding to first two-dimensional code information corresponding to the goods information by identifying the first two-dimensional code label passing through the body 1;
when the position is found, the position of the body 1 is the operation position of the goods to be placed or taken, a positioning completion instruction is sent to the central controller 5, and the central controller 5 controls the carrying device 4 to place or take the goods;
the first two-dimensional code positioning mechanism 3-2 comprises a first two-dimensional code reading device;
the number of the first two-dimensional code positioning mechanisms 3-2 is three, and the three first two-dimensional code positioning mechanisms are respectively arranged on the left side and the right side of the body 1 and any one of the front side and the rear side.
The working principle and the beneficial effects of the technical scheme are as follows:
the first two-dimensional code positioning mechanisms 3-2 are matched with the first two-dimensional codes on the ground, so that the intelligent transfer robot in the warehouse can be positioned and navigated, and furthermore, the three first two-dimensional code positioning mechanisms can be used for positioning the pose of the body, so that the pose of the intelligent transfer robot in the warehouse before the intelligent transfer robot stops on a goods shelf is prevented from shifting. By adopting the two-dimension code positioning technology, the robot can perform positioning according to the two-dimension code without receiving external communication signals, thereby improving the anti-interference capability of navigation.
In one embodiment, as shown in fig. 4, the intelligent navigation device 3 further comprises: the gyroscope 3-3 is arranged at the rotation center of the body 1 and is connected with the positioning processor 3-1;
the positioning processor 3-1 performs the following operational steps:
acquiring a first traveling direction of the body 1 through a gyroscope 3-3;
acquiring a second traveling direction in which the central controller 5 controls the mobile device 2 through the central controller 5;
when the first traveling direction is different from the second traveling direction, recording the moving track of the body 1 through the gyroscope 3-3; and transmits the movement trajectory to the central controller 5; when the central controller 5 receives a reset command, based on the movement track, the mobile device 2 is controlled to move against the movement track to perform the position reset operation of the body 1; after the body 1 is reset, the central controller 5 controls the moving mechanism to act to perform autorotation of the body 1, and when the first two-dimensional code reading device reads the first two-dimensional code label, the autorotation is stopped.
The working principle and the beneficial effects of the technical scheme are as follows:
the gyroscope 3-3 is used for realizing the reset function of the position of the body 1, and the intelligent transfer robot in the warehouse can automatically return to the original position to continue working after being moved away from the position for maintenance without manual relocation.
In one embodiment, as shown in fig. 5 and 6, the collision-prevention device 6 includes:
the anti-collision mechanisms 6-2 are arranged on the periphery of the body 1;
a plurality of distance sensors 6-3 arranged around the body 1;
the anti-collision controller 6-1 is electrically connected with the distance sensor 6-3, the anti-collision mechanism 6-2 and the central controller 5 respectively;
the collision avoidance mechanism 6-2 includes: crash bar 6-21, shock absorber 6-22 and first pressure sensor 6-23
One end of the shock absorber 6-22 is fixedly connected with the anti-collision rod 6-21, and the other end is fixedly connected with the body 1; a first pressure sensor 6-23 is arranged between the shock absorber 6-22 and the body 1; the first pressure sensor 6-23 is electrically connected with the anti-collision controller 6-1;
the collision avoidance controller 6-1 performs operations including:
detecting the distance of obstacles around the body 1 through a distance sensor 6-3, and sending a first signal to a central controller 5 when the distance is smaller than a preset distance value; the first signal includes: the distance and the obstacle are positioned at the first position of the body 1;
the pressure on the crash bar 6-21 is detected through the first pressure sensor 6-23, and when the pressure is larger than a preset pressure value, a second signal is sent to the central controller 5; the second signal includes: the pressure and the pressure are located in a second direction of the body 1;
the central controller 5 performs operations including:
receiving a first signal and/or a second signal sent by the anti-collision controller 6-1;
analyzing the first signal to obtain a distance and a first direction; when the distance is gradually reduced, controlling the mobile device 2 to move towards the direction opposite to the first direction; when the distance is unchanged, controlling the mobile device 2 to move according to a preset track or controlling the mobile device 2 to be motionless; when the distance gradually increases, the central controller 5 does nothing;
and/or the presence of a gas in the gas,
analyzing the second signal to obtain pressure and a second direction; when the pressure is gradually increased, the moving device 2 is controlled to move towards the direction opposite to the second direction; when the pressure is unchanged, controlling the moving device 2 to move according to a preset track or controlling the moving device 2 to be motionless; when the pressure gradually becomes small, the central controller 5 does nothing.
The working principle and the beneficial effects of the technical scheme are as follows:
the distance sensor 6-3 determines the distance of the surrounding obstacles, when the distance of the obstacles is too close, the anti-collision processor outputs a signal to the central controller 5, and the central controller 5 controls the mobile device 2 to carry out avoidance and other operations. The collision sometimes happens in the instant, although the distance sensor 6-3 detects the signal, the central controller 5 is too late or the avoidance is not successful, the collision still happens, when the collision happens, the collision-prevention mechanism 6-2 protects the body 1, and the damage of the body 1 is reduced.
In one embodiment, as shown in fig. 7, 8 and 9, the handling device 4 comprises:
the vertical guide rail 4-2 is arranged on the upper end surface of the body 1;
the suction platform is arranged on the vertical guide rail 4-2 and slides on the vertical guide rail 4-2;
the sucking mechanism 4-3 is arranged on the sucking platform and used for sucking the goods to the sucking platform;
the pushing mechanism 4-4 is arranged on the absorbing platform and used for pushing the goods out of the absorbing platform;
two aligning mechanisms 4-5 which are respectively arranged at two sides of the absorbing platform and are used for realizing the alignment condition between the absorbing platform and the goods position of the goods shelf;
the conveying controller 4-1 is electrically connected with the suction mechanism 4-3, the vertical guide rail 4-2, the alignment mechanism 4-5 and the central controller 5 respectively;
the conveyance controller 4-1 performs operations including:
receiving an instruction of placing or taking goods from the central controller 5;
controlling the vertical guide rail 4-2 to move so as to enable the suction platform to move up and down;
the aligning mechanism 4-5 is used for confirming the aligning condition between the absorbing platform and the goods position of the goods shelf;
when the goods position of the goods shelf is aligned correctly, the suction mechanism 4-3 is controlled to suck goods from the goods position to the suction platform, so that the goods taking operation is realized; or the pushing mechanism 4-4 is controlled to push the goods on the absorbing platform to the goods position, so that the goods placing operation is realized.
The working principle and the beneficial effects of the technical scheme are as follows:
when the body 1 reaches a preset goods position through the navigation of the intelligent navigation device 3, the carrying controller 4-1 controls the vertical guide rail 4-2 to send the suction platform to the same height of the goods position, and the suction platform is determined to be aligned with the goods position successfully through the alignment device. The pushing mechanism 4-4 pushes the goods on the absorbing platform to the goods position; the suction mechanism 4-3 takes the goods on the platform to the suction platform. In order to prevent the goods from being cheap in the process of pushing the goods to the goods position, the goods can be pushed to the goods position after being sucked by the suction mechanism 4-3, then the suction mechanism 4-3 is contracted firstly, and the pushing mechanism 4-4 is contracted later, so that the goods are prevented from being pushed to the goods position; the suction mechanism 4-3 is contracted firstly, and the pushing mechanism 4-4 is contracted later, so that the goods are prevented from being cheap along with the sucking disc. The sucking disc adopts a vacuum sucking disc, namely a vacuum device is arranged on the body 1 and connected with the sucking disc, so that the inside of the sucking disc is vacuumized; the suction force of the sucker is increased.
In one embodiment, as shown in fig. 8 and 9, the suction mechanism 4-3 includes:
the first horizontal guide rail 4-31 is arranged at one end of the suction platform close to the vertical guide rail 4-2;
one end of each first telescopic rod 4-32 is arranged on the corresponding first horizontal guide rail 4-31, and each first telescopic rod 4-32 slides on the corresponding first horizontal guide rail 4-31;
the suction seat 4-33 is arranged at one end of the first telescopic rod 4-32 far away from the first horizontal guide rail 4-31, and at least one vacuum suction cup is arranged on the suction seat 4-33;
the pushing mechanism 4-4 includes:
the second horizontal guide rail 4-41 is arranged at one end of the suction platform, which is close to the vertical guide rail 4-2, and is positioned below the first horizontal guide rail 4-31;
one end of the second telescopic rod 4-42 is arranged on the second horizontal guide rail 4-41, and the other end is fixedly provided with a push plate 4-43; the surfaces of the push plates 4-43 are provided with damping rubber layers;
two sides of the suction platform are provided with barrier strips 4-10, and the upper surface of the suction platform is provided with a plurality of rollers 4-13 in an array.
The working principle and the beneficial effects of the technical scheme are as follows:
the stop strips 4-10 prevent goods from falling from the two sides of the suction platform, the rollers 4-13 reduce friction between the goods and the suction platform, and the goods are convenient to place and take.
In one embodiment, as shown in fig. 7 and 10, the handling device 4 further comprises:
the stabilizing mechanisms 4-6 are arranged on the lower end face of the body 1 and are respectively and electrically connected with the carrying controller 4-1; the body 1 is used for being stable and not shaking when goods are placed or taken;
the stabilizing mechanism 4-6 includes:
one end of the telescopic cylinder 4-61 is connected with the lower end face of the body 1, and the other end is provided with a boat-shaped supporting foot 4-62.
In one embodiment, as shown in fig. 7 and 9, the suction platform comprises:
the platform mounting seat 4-11 is arranged on the vertical guide rail 4-2;
one side of the bottom plate 4-12 is hinged with the platform mounting seat 4-11, and the upper surface of the bottom plate is provided with a second pressure sensor 4-7; the pressure sensor detects the pressure on the bottom plates 4-12;
the flat plate retraction jack 4-9 is arranged beside the hinged position of the bottom plate 4-12 and the platform mounting seat 4-11 and is electrically connected with the carrying controller 4-1; used for realizing the collection/release of the bottom plates 4-12;
the handling device 4 further comprises:
the electronic level meter 4-8 is arranged on the body 1, is electrically connected with the carrying controller 4-1 and is used for detecting the levelness of the body 1;
the flat plate retracting mechanism 4-9 includes: a telescopic cylinder 4-61 or a telescopic electric cylinder;
the conveyance controller 4-1 performs operations including:
detecting the levelness of the body 1 through an electronic level 4-8;
detecting the pressure on the bottom plate 4-12 by the second pressure sensor 4-7;
when the levelness is larger than the preset levelness and the pressure on the bottom plate 4-12 is not zero, the flat plate retracting mechanism 4-9 is controlled to put down the bottom plate 4-12, so that the goods fall down and the body 1 is prevented from falling.
The working principle and the beneficial effects of the technical scheme are as follows:
the main application scenario of this embodiment is that after the goods are taken, the body 1 is tilted due to the change of the center of gravity. Whether the body 1 is inclined or not is judged through the electronic level 4-8, and when the body 1 is inclined, the platform retraction mechanism acts to enable the bottom plates 4-12 to be put down, goods on the bottom plates 4-12 fall down, and therefore the time that the body 1 falls down to cause the collapse of a goods shelf is avoided. In order to prevent the goods from falling down and hitting the body 1, the body 1 can be hollowed out in the goods falling area.
In one embodiment, the alignment mechanism 4-5 includes:
the second two-dimensional code reading device is electrically connected with the carrying controller 4-1 and used for shooting and reading second two-dimensional codes attached to two sides of the goods space;
the conveyance controller 4-1 performs operations including:
respectively acquiring a first time t0The two second two-dimensional code reading devices are used for shooting a first picture and a second picture;
establishing a first coordinate system by using the center of the first picture, and establishing a second coordinate system by using the center of the second picture;
recording the center of the two-dimensional code in the first picture as a point O, wherein the coordinate of the point O to the first coordinate system is (x)O1,yO1) (ii) a Recording the center of the two-dimensional code in the second picture as a point P, wherein the coordinate of the point P to the second coordinate system is (x)P2,yP2)；
Respectively acquiring second time t1A third picture and a fourth picture shot by the two second two-dimensional code reading devices;
establishing a third coordinate system by using the center of the third picture, and establishing a third coordinate system by using the center of the fourth picture;
recording the center of the two-dimensional code in the third picture as a point O ', wherein the coordinate of the point O' relative to the third coordinate system is (x)O′3,yO′3) (ii) a Recording the center of the two-dimensional code in the fourth picture as a point P ', wherein the coordinate of the point P' relative to the fourth coordinate system is (x)P′4,yP′4)；
Determining a vector based on points O, O
Figure BDA0002461037860000181
The calculation formula is as follows:
Figure BDA0002461037860000182
determining a vector based on the point P, the point P
Figure BDA0002461037860000183
The calculation formula is as follows:
Figure BDA0002461037860000184
based on vectors
Figure BDA0002461037860000185
Vector quantity
Figure BDA0002461037860000186
Calculate the ontology1 translational velocity v, the calculation formula is as follows:
Figure BDA0002461037860000187
wherein α is a preset constant, and represents the modulus of the vector;
when x isO′3When the moving direction of the body 1 is larger than zero, the moving direction of the body is the X-axis direction of the third coordinate system; when x isO′3When the moving direction of the body 1 is less than zero, the moving direction of the body is the opposite direction of the X-axis direction of the third coordinate system;
transmitting the moving speed of the body 1 and the moving direction of the body 1 to the central controller 5; the central controller 5 controls the movement of the moving device 2 according to the moving speed of the main body 1 and the moving method of the main body 1.
The working principle and the beneficial effects of the technical scheme are as follows:
the carrying controller 4-1 shoots and shoots the second two-dimensional codes attached to two sides of the goods space through a second two-dimensional code reading device, processes shot images, obtains the moving direction and speed of the body 1 as the alignment position, and sends the moving speed of the body 1 and the moving direction of the body 1 to the central controller 5; the central controller 5 controls the movement of the mobile device 2 according to the movement speed of the body 1 and the movement method of the body 1; thereby realizing rapid alignment. The second two-dimensional code is stored with goods position information, and the goods information to be placed or taken is compared to confirm whether the goods position is correct or not.
In one embodiment, the warehouse intelligent transfer robot further comprises: a communication module and a control terminal,
after receiving a binding request sent by a control terminal through a communication module, the central controller 5 acquires a binding parameter corresponding to the binding request if the central controller 5 is in an unbound state, and sends the binding parameter to the control terminal;
the control terminal performs parameter configuration of the control terminal after receiving the binding parameters, sends completion information to the central controller 5 after the parameter configuration is completed, and completes the binding with the central controller 5 after receiving feedback information corresponding to the completion information returned by the central controller 5;
the central controller 5 configures parameters of the communication module according to the binding parameters, and sends feedback information corresponding to the completion information to the control terminal when receiving the completion information sent by the control terminal after the parameter configuration is completed;
wherein, control terminal includes: a rocker;
the central controller 5 performs operations including:
controlling the moving direction of the mobile device 2 according to the direction of the user pushing the rocker;
controlling the moving speed of the moving device 2 to be a first moving speed value to move;
when the time for lifting the rocker by the user is not more than the first preset time, controlling the moving speed of the mobile device 2 to be a second moving speed value, wherein the second moving speed value is greater than the first moving speed value and the difference value between the second moving speed value and the first moving speed value is equal to the preset speed difference value; or, when the time that the user presses the rocker is not more than the first preset time, controlling the moving speed of the mobile device 2 to be a third moving speed value, wherein the third moving speed value is less than the first moving speed value and the difference value between the third moving speed value and the first moving speed value is equal to the preset speed difference value;
when the current moving speed value of the mobile device 2 is smaller than the first moving speed value; when the time for lifting the rocker by the user is longer than the first preset time, directly controlling the moving speed of the mobile device 2 to be a first moving speed value;
when the current moving speed value of the mobile device 2 is smaller than the first moving speed value; when the time for pressing the rocker by the user is longer than the first preset time, the moving speed of the mobile device 2 is directly controlled to be a preset lowest moving speed value;
when the current moving speed value of the mobile device 2 is greater than the first moving speed value; when the time for lifting the rocker by the user is longer than the first preset time, directly controlling the moving speed of the mobile device 2 to be a preset highest moving speed value;
when the current moving speed value of the mobile device 2 is greater than the first moving speed value; and when the time that the user presses the rocker is longer than the first preset time, the moving speed of the mobile device 2 is directly controlled to be the first moving speed value.
The working principle and the beneficial effects of the technical scheme are as follows:
in the debugging stage of the intelligent transfer robot in the warehouse, the intelligent transfer robot needs to be controlled through a control terminal; to accomplish the binding of the control terminal with the central controller 5 first, the binding parameters may be stored in the control terminal memory or the memory of the warehouse intelligent transfer robot. Through pressing and mentioning the rocker, realize the moving speed fast switch, improved debugging efficiency. In addition, the switching of the moving speed can be completed only through the rocker, the hardware of the control terminal is simplified, and the cost is reduced.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (10)

1. The utility model provides a warehouse intelligence transfer robot which characterized in that includes: the intelligent navigation device comprises a body, a mobile device, an intelligent navigation device, a carrying device, a central controller and an anti-collision device; the moving device is arranged on the lower end face of the body; the intelligent navigation device, the moving device, the carrying device and the anti-collision device are respectively and electrically connected with the central controller, and the central controller controls the moving device to move according to an output signal of the intelligent navigation device; the carrying device is arranged at the upper end of the body and is used for carrying goods; the anti-collision device is used for preventing the body from being collided in the moving process.
2. The intelligent warehouse handling robot of claim 1, wherein the moving device comprises:
the plurality of moving mechanisms are arranged on the lower end face of the body and are respectively and electrically connected with the central controller; when the plurality of moving mechanisms stop moving, the central controller changes the movable directions of the plurality of moving mechanisms so that the movable directions of the plurality of moving mechanisms are different;
the moving mechanism includes: the device comprises a wheel, a suspension, a first driving mechanism and a second driving mechanism;
the wheels are connected with the lower end face of the body through the suspension;
the first driving mechanism comprises a first driving motor and a first controller, the first driving motor drives the wheels to move back and forth, the first controller is electrically connected with the first driving motor and the central controller respectively, and the first controller is used for controlling the rotating speed, the on-off state and the off state of the first driving motor according to a control signal of the central controller;
the second driving mechanism comprises a second driving motor and a second controller, the second driving motor drives the vehicle to rotate, the second controller is electrically connected with the second driving motor and the central controller respectively, and the second controller is used for controlling the rotation speed, the on-off state and the off state of the second driving motor according to the central controller;
the suspension includes: a fork-shaped body and a fixed seat; one end of the fork-shaped body is rotatably connected with the two sides of the wheel, and the upper part of the position where one end of the fork-shaped body is connected with the wheel is respectively provided with a damping mechanism; the other end of the fork-shaped body is rotatably connected with the fixed seat; the fixed seat is fixedly connected with the lower end face of the body;
a rotating gear is arranged at one end, protruding out of the fixed seat, of the fork-shaped body and is meshed with a first driving gear arranged at the output end of the second driving motor;
the first driving motor is arranged on the wheel, a shell of the first driving motor is fixedly connected with the vehicle, and a rotating shaft of the first driving motor is respectively connected with two branches of the fork-shaped part of the fork-shaped body.
3. The intelligent warehouse handling robot of claim 1, wherein the intelligent navigation device comprises:
the positioning device comprises a first two-dimensional code positioning mechanism, a positioning processor and a positioning memory;
the first two-dimensional code positioning mechanism is fixedly arranged on any one of the four sides of the body and is used for scanning a first two-dimensional code label arranged on the ground of the warehouse;
the positioning processor is electrically connected with the first two-dimensional code positioning mechanism, the positioning memory and the central controller respectively;
the positioning processor performs operations comprising:
numbering the first two-dimensional code labels arranged on the warehouse ground, and distributing coordinate information of the first two-dimensional code labels in a warehouse space;
acquiring environmental information around the first two-dimensional code label, wherein the environmental information comprises: shelf information around the first two-dimensional code and goods information on a shelf;
correspondingly storing the information of the first two-dimensional code label, the serial number, the distributed warehouse space coordinate information and the environment information in the memory;
acquiring information of goods to be placed or taken, and analyzing the goods information to acquire first two-dimensional code information corresponding to the goods information;
searching the first two-dimensional code label corresponding to the first two-dimensional code information corresponding to the cargo information by identifying the first two-dimensional code label through which the body passes;
when the goods are found, the position of the body is the operation position of the goods to be placed or taken, a positioning completion instruction is sent to the central controller, and the central controller controls the carrying device to place or take the goods;
the first two-dimensional code positioning mechanism comprises a first two-dimensional code reading device;
the number of the first two-dimensional code positioning mechanisms is three, and the first two-dimensional code positioning mechanisms are respectively arranged on the left side and the right side of the body and any one of the front side and the rear side.
4. The intelligent warehouse handling robot of claim 3, wherein the intelligent navigation device further comprises: the gyroscope is arranged at the rotation center of the body and is connected with the positioning processor;
the positioning processor performs the following operation steps:
acquiring a first traveling direction of the body through the gyroscope;
obtaining, by the central controller, a second direction of travel in which the central controller controls the mobile device;
when the first traveling direction is different from the second traveling direction, recording a moving track of the body through the gyroscope; and transmitting the movement trajectory to the central controller; when the central controller receives a reset command, controlling the mobile device to move against the movement track to perform the reset operation of the body position based on the movement track; and after the body is reset, the central controller controls the moving mechanism to act to perform body rotation, and after the first two-dimensional code reading device reads the first two-dimensional code label, the body rotation is stopped.
5. The intelligent warehouse handling robot of claim 1, wherein the collision avoidance apparatus comprises:
the anti-collision mechanism is arranged on the periphery of the body;
a plurality of distance sensors disposed around the body;
the anti-collision controller is electrically connected with the distance sensor, the anti-collision mechanism and the central controller respectively;
the anticollision institution includes: bumper bar, shock absorber and first pressure sensor
One end of the shock absorber is fixedly connected with the anti-collision rod, and the other end of the shock absorber is fixedly connected with the body; the first pressure sensor is arranged between the shock absorber and the body; the first pressure sensor is electrically connected with the anti-collision controller;
the anti-collision controller executes the following operations:
detecting the distance of obstacles around the body through the distance sensor, and sending a first signal to the central controller when the distance is smaller than a preset distance value; the first signal includes: the distance and the obstacle are positioned at a first direction of the body;
the pressure applied to the anti-collision rod is detected through the first pressure sensor, and when the pressure is greater than a preset pressure value, a second signal is sent to the central controller; the second signal includes: pressure and pressure in a second orientation of the body;
the central controller performs operations comprising:
receiving the first signal and/or the second signal sent by the anti-collision controller;
analyzing the first signal to obtain the distance and the first direction; when the distance is gradually reduced, controlling the mobile device to move towards the direction opposite to the first direction; when the distance is not changed, controlling the mobile device to move according to a preset track or controlling the mobile device to be motionless; when the distance becomes larger gradually, the central controller does no action;
and/or the presence of a gas in the gas,
analyzing the second signal to obtain the pressure and the second direction; when the pressure is gradually increased, controlling the moving device to move towards the direction opposite to the second direction; when the pressure is not changed, controlling the mobile device to move according to a preset track or controlling the mobile device to be motionless; when the pressure is gradually reduced, the central controller does nothing.
6. The intelligent warehouse handling robot of claim 1, wherein the handling device comprises:
the vertical guide rail is arranged on the upper end surface of the body;
the suction platform is arranged on the vertical guide rail and slides on the vertical guide rail;
the sucking mechanism is arranged on the sucking platform and is used for sucking the goods to the sucking platform;
the pushing mechanism is arranged on the absorbing platform and used for pushing the goods out of the absorbing platform;
the two alignment mechanisms are respectively arranged at two sides of the suction platform and are used for confirming the alignment condition between the suction platform and the goods position of the goods shelf;
the carrying controller is electrically connected with the suction mechanism, the vertical guide rail, the alignment mechanism and the central controller respectively;
the carrying controller performs operations including:
receiving an instruction of placing or taking goods from the central controller;
controlling the vertical guide rail to move so as to enable the suction platform to move up and down;
confirming the alignment condition between the suction platform and the goods position of the goods shelf through the alignment mechanism;
when the goods position of the goods shelf is aligned correctly, the suction mechanism is controlled to suck the goods from the goods position to the suction platform, and the goods taking operation is realized; or the pushing mechanism is controlled to push the goods on the absorbing platform to the goods position, so that the goods can be placed.
7. The intelligent warehouse handling robot of claim 6, wherein the pick-up mechanism comprises:
the first horizontal guide rail is arranged at one end, close to the vertical guide rail, of the suction platform;
one end of the first telescopic rod is arranged on the first horizontal guide rail, and the first telescopic rod slides on the first horizontal guide rail;
the suction seat is arranged at one end, far away from the first horizontal guide rail, of the first telescopic rod, and at least one vacuum sucker is arranged on the suction seat;
the push mechanism includes:
the second horizontal guide rail is arranged at one end, close to the vertical guide rail, of the suction platform and is positioned below the first horizontal guide rail;
one end of the second telescopic rod is arranged on the second horizontal guide rail, and the other end of the second telescopic rod is fixedly provided with a push plate; the surface of the push plate is provided with a damping rubber layer;
the sucking platform is characterized in that two sides of the sucking platform are provided with stop strips, and the upper surface of the sucking platform is provided with a plurality of rollers in an array mode.
8. The intelligent warehouse handling robot of claim 6, wherein the handling device further comprises:
the stabilizing mechanisms are arranged on the lower end face of the body and are respectively and electrically connected with the carrying controller; the body is used for stabilizing and preventing the body from shaking when goods are placed or taken;
the stabilizing mechanism includes:
one end of the telescopic cylinder is connected with the lower end face of the body, and the other end of the telescopic cylinder is provided with a ship-shaped supporting leg;
the suction platform comprises:
the platform mounting seat is arranged on the vertical guide rail;
one side of the bottom plate is hinged with the platform mounting seat, and the upper surface of the bottom plate is provided with a second pressure sensor; the pressure sensor detects the pressure on the bottom plate;
the flat plate retracting and releasing mechanism is arranged beside the hinged position of the bottom plate and the platform mounting seat and is electrically connected with the carrying controller; the base plate is used for realizing the folding/unfolding of the base plate;
the carrying device further comprises:
the electronic level meter is arranged on the body, is electrically connected with the carrying controller and is used for detecting the levelness of the body;
the carrying controller performs operations including:
detecting the levelness of the body through the electronic level meter;
detecting a pressure on the base plate by the second pressure sensor;
when the levelness is larger than the preset levelness and the pressure on the bottom plate is not zero, the flat plate retracting mechanism is controlled to put down the bottom plate, so that the goods fall down, and the body is prevented from falling.
9. The intelligent warehouse handling robot of claim 6, wherein the alignment mechanism comprises:
the second two-dimensional code reading device is electrically connected with the carrying controller and is used for shooting and reading second two-dimensional codes attached to two sides of the goods space;
the carrying controller performs operations including:
respectively acquiring a first time t0The first picture and the second picture are shot by the two second two-dimensional code reading devices;
establishing a first coordinate system by using the center of the first picture, and establishing a second coordinate system by using the center of the second picture;
recording the center of the two-dimensional code in the first picture as a point O, wherein the coordinate of the point O to a first coordinate system is (x)O1,yO1) (ii) a Recording the center of the two-dimensional code in the second picture as a point P, wherein the coordinate of the point P to a second coordinate system is (x)P2,yP2)；
Respectively acquiring second time t1A third picture and a fourth picture shot by the two second two-dimensional code reading devices;
establishing a third coordinate system by using the center of the third picture, and establishing a third coordinate system by using the center of the fourth picture;
recording the center of the two-dimensional code in the third picture as a point O ', wherein the coordinate of the point O' relative to the third coordinate system is (x)O′3,yO′3) (ii) a Recording the center of the two-dimensional code in the fourth picture as a point P ', wherein the coordinate of the point P' relative to a fourth coordinate system is (x)P′4,yP′4)；
Determining a vector based on the point O, the point O
Figure FDA0002461037850000071
The calculation formula is as follows:
Figure FDA0002461037850000072
determining a vector based on the point P, the point P
Figure FDA0002461037850000073
The calculation formula is as follows:
Figure FDA0002461037850000074
based on the vector
Figure FDA0002461037850000075
The vector
Figure FDA0002461037850000076
And calculating the body translation speed v according to the following calculation formula:
Figure FDA0002461037850000077
wherein α is a preset constant, and represents the modulus of the vector;
when x isO′3When the moving direction of the body is larger than zero, the moving direction of the body is the direction of the X axis of a third coordinate system; when x isO′3When the moving direction of the body is less than zero, the moving direction of the body is the opposite direction of the X axis of the third coordinate system;
transmitting the body moving speed and the body moving direction to the central controller; the central controller controls the action of the mobile device according to the movement speed of the body and the movement method of the body.
10. The intelligent warehouse handling robot of claim 1, further comprising: a communication module and a control terminal,
after the central controller receives a binding request sent by the control terminal through the communication module, if the central controller is in an unbound state, the central controller obtains a binding parameter corresponding to the binding request and sends the binding parameter to the control terminal;
the control terminal receives the binding parameters, then performs parameter configuration of the control terminal, sends completion information to the central controller after the parameter configuration is completed, and completes the binding with the central controller after receiving feedback information corresponding to the completion information returned by the central controller;
the central controller performs parameter configuration of the communication module according to the binding parameters, and after the parameter configuration is completed, when receiving completion information sent by the control terminal, sends the feedback information corresponding to the completion information to the control terminal;
wherein, control terminal includes: a rocker;
the central controller performs operations comprising:
controlling the moving direction of the mobile device according to the direction of pushing the rocker by the user;
controlling the moving speed of the moving device to be a first moving speed value to move;
when the time for lifting the rocker by the user is not more than first preset time, controlling the moving speed of the mobile device to be a second moving speed value, wherein the second moving speed value is greater than the first moving speed value and the difference value between the second moving speed value and the first moving speed value is equal to a preset speed difference value; or when the time for pressing the rocker by the user is not more than first preset time, controlling the moving speed of the mobile device to be a third moving speed value, wherein the third moving speed value is less than the first moving speed value and the difference value between the third moving speed value and the first moving speed value is equal to a preset speed difference value;
when the current moving speed value of the mobile device is smaller than the first moving speed value; when the time for lifting the rocker by the user is longer than a first preset time, directly controlling the moving speed of the mobile device to be the first moving speed value;
when the current moving speed value of the mobile device is smaller than the first moving speed value; when the time for pressing the rocker by the user is longer than a first preset time, directly controlling the moving speed of the mobile device to be a preset lowest moving speed value;
when the current moving speed value of the mobile device is greater than the first moving speed value; when the time for lifting the rocker by the user is longer than a first preset time, directly controlling the moving speed of the mobile device to be a preset highest moving speed value;
when the current moving speed value of the mobile device is greater than the first moving speed value; and when the time for pressing the rocker by the user is greater than a first preset time, directly controlling the moving speed of the mobile device to be the first moving speed value.
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