CN112008720A - Intelligent efficient transfer robot system - Google Patents
Intelligent efficient transfer robot system Download PDFInfo
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- CN112008720A CN112008720A CN202010824118.1A CN202010824118A CN112008720A CN 112008720 A CN112008720 A CN 112008720A CN 202010824118 A CN202010824118 A CN 202010824118A CN 112008720 A CN112008720 A CN 112008720A
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- 238000004364 calculation method Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 5
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- 238000005516 engineering process Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The application provides a high-efficient transfer robot system of intelligence. The system comprises a detection part, a controller and a management terminal, wherein the detection part is used for detecting real-time terrain detection information and sending the real-time terrain detection information back to the controller, and the real-time terrain detection information comprises slippery terrain information and real-time position information; the controller stores actual topographic map information for robot operation, loading position information and unloading position information carried by the robot, calculates the loading and unloading path information of the robot according to the actual topographic map information, identifies slippery topographic information in real-time topographic detection information, calculates and updates the loading and unloading path information in real time according to the slippery topographic information, marks positions of topographic areas where the slippery topographic information appears, and sends the real-time topographic position information and the slippery topographic information of the topographic areas to the management terminal; the management terminal stores early warning threshold information, counts the times that the slippery terrain information has the same real-time position information, and generates warning information when the times exceed the early warning threshold information.
Description
Technical Field
The application relates to the technical field of robots, in particular to an intelligent efficient carrying robot system.
Background
The intelligent robot is a new generation product, can run a pre-programmed program to execute tasks according to human commands, and along with continuous innovation and progress of science and technology, the application of a robot system in various fields is more and more extensive. At present, the industrial robot is mainly applied to the fields of arc welding, spot welding, assembling, carrying, paint spraying, detection, grinding and polishing, laser processing and the like.
The carrying robot is widely applied to carrying work, the requirements of users on factors such as speed, precision, cost and structure of the carrying robot are higher and higher, the carrying robot needs to adapt to carrying in various scenes, and the change of the surrounding environment cannot be predicted in advance, so that the carrying robot has a certain recognition function, the influence of the surrounding environment on carrying can be recognized, the current carrying robot basically has an obstacle avoidance function, obstacles in the surrounding environment can be recognized, avoidance is performed in advance, and damage to goods to be carried is avoided.
However, when the transfer robot is carrying some fragile goods, assembly goods (building block models or other assembly artworks) with high integrity requirements or other goods with high protection requirements, the requirement on the transfer stability of the transfer robot is very high, and the traditional transfer robot cannot identify the fragile goods and the assembly goods when meeting a wet and slippery road surface, but directly passes through the conventional transfer robot, and the transfer robot is likely to slip, so that the transfer robot greatly shakes, the carried goods greatly vibrate, and the transfer quality of the goods is affected.
Disclosure of Invention
An object of this application is to provide a high-efficient transfer robot system of intelligence, solves present transfer robot because lack the defect of surveying the slippery terrain in handling, the not high problem of transport stability that arouses.
The embodiment of the application provides an intelligent efficient transfer robot system which comprises a detection part, a controller and a management terminal, wherein the detection part is used for detecting terrain in real time and sending real-time terrain detection information back to the controller, and the real-time terrain detection information comprises slippery terrain information and real-time position information; the controller stores actual topographic map information for robot operation, loading position information and unloading position information carried by the robot, calculates loading and unloading path information of the robot according to the actual topographic map information, the loading position information and the unloading position information, identifies the slippery topographic information in the real-time topographic detection information, calculates and updates the loading and unloading path information in real time according to the slippery topographic information, carries out position marking on a topographic area where the slippery topographic information appears, and sends the real-time positional information and the slippery topographic information of the topographic area to the management terminal; the management terminal stores early warning threshold information and is used for counting the times that the slippery terrain information has the same real-time position information, and generating warning information when the counted times of the real-time position information exceed the early warning threshold information.
According to some embodiments, the detection part is arranged right in front of the walking direction of the robot and used for detecting real-time terrain information right in front of the robot.
According to some embodiments, the intelligent efficient transfer robot system further comprises a cargo identification terminal, wherein the cargo identification terminal is arranged on the robot and used for identifying the type of the carried cargo and sending the information of the type of the cargo to the controller; the controller also stores the cargo information of various kinds of cargos and the passing mode information corresponding to the various kinds of cargos, and the controller calculates and updates the loading and unloading path information in real time by combining the wet and slippery terrain information and the passing mode information of the various kinds of cargos.
According to some embodiments, the goods carried by the robot are provided with identification codes, and the goods identification end identifies the goods type of the carried goods by scanning the identification codes on the goods.
According to some embodiments, the traffic pattern information includes straight information and detour information.
According to some embodiments, the controller calculates the actual area and shape of the slippery terrain from the slippery terrain information and calculates updated upper discharge path information in real time based on the actual area and shape of the slippery terrain.
According to some embodiments, the controller further stores information on the separation distance between the left walking device and the right walking device of the robot; the controller also calculates the maximum transverse distance of the slippery terrain according to the slippery terrain information, and judges the size between the maximum transverse distance of the slippery terrain and the spacing distance between the left walking device and the right walking device of the robot.
According to some embodiments, the controller is further configured to calculate updated upper discharge path information when a separation distance between the left and right walkers of the robot is greater than a maximum lateral distance of slippery terrain.
According to some embodiments, the upper discharge path information is calculated as follows: calculating the position of a center line of the maximum transverse distance of the slippery terrain; calculating the center line position of the spacing distance between the left walking device and the right walking device of the robot; and updating the information of the upper unloading path of the robot, so that the central line of the spacing distance between the left walking device and the right walking device of the robot can be superposed with the central line of the maximum transverse distance of the slippery terrain when the robot walks on the slippery terrain.
The technical scheme that this application embodiment provided, through calculating and judging the size between the maximum transverse distance of slippery terrain and the interval distance between two running gear about the robot, confirm the interval between two running gear about the robot can hold this slippery terrain down, if can hold, then only need guarantee the robot when advancing, the central line of the interval distance between two running gear about, coincide with the maximum transverse distance's of slippery terrain central line, can make the running gear of robot not touch slippery terrain, avoid the extravagant transit time of the slippery terrain of detour, reduce conveying efficiency.
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In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a functional block diagram of an intelligent efficient transfer robot system according to an embodiment of the present disclosure.
Fig. 2 is a functional block diagram of another intelligent efficient handling robot system according to an embodiment of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Fig. 1 is a functional block diagram of an intelligent efficient transfer robot system according to an embodiment of the present disclosure, including a detection unit, a controller, and a management terminal.
The detection part is arranged right ahead of the walking direction of the robot and used for detecting real-time terrain information right ahead of the robot and sending the real-time terrain detection information back to the controller, the real-time terrain detection information comprises wet and slippery terrain information and real-time position information, and the detection part adopts a TOF (time of flight) camera for real-time terrain detection.
The controller stores actual topographic map information for robot operation, loading position information and unloading position information carried by the robot, calculates loading and unloading path information of the robot according to the actual topographic map information, the loading position information and the unloading position information, identifies the slippery topographic information in the real-time topographic detection information, calculates and updates the loading and unloading path information in real time according to the slippery topographic information, carries out position marking on a topographic area where the slippery topographic information appears, and sends the real-time positional information and the slippery topographic information of the topographic area to the management terminal.
The management terminal stores early warning threshold information and is used for counting the times that the slippery terrain information has the same real-time position information, and generating warning information when the counted times of the real-time position information exceed the early warning threshold information.
Optionally, the intelligent efficient transfer robot system further comprises a cargo identification end, wherein the cargo identification end is arranged on the robot and comprises a cargo identification unit, a cargo scanning unit and a cargo information sending unit. The goods scanning unit is used for scanning the identification code on the goods, and the bar code is adopted in the embodiment. The goods identification unit is used for identifying the types of the carried goods, and the types of the goods comprise fragile goods and non-fragile goods. The cargo information sending unit is used for sending the cargo type information to the controller.
The controller includes a storage unit, a calculation unit, a recording unit, and an image recognition unit.
The storage unit stores actual topographic map information for robot operation, loading position information and unloading position information carried by the robot, cargo information of various types of cargos and passing mode information corresponding to the various types of cargos. The passing mode information comprises straight-going information and detour information, and the loading position information and the unloading position information are coordinate point information.
The image identification unit is used for identifying wet and slippery terrain information in the real-time terrain detection information.
The calculation unit is used for calculating the loading and unloading path information of the robot according to the actual topographic map information, the loading position information and the unloading position information, namely the actual topographic map information comprises all coordinate information of the whole carrying field, the loading position information (loading coordinate point) and the unloading position information (unloading coordinate point) are known, the nearest loading and unloading path can be planned, and the nearest loading and unloading path from the loading position to the current position of the robot can be calculated for the robot according to the real-time position information (the coordinate point where the current robot is located) of the robot at the moment. And calculating and updating the upper unloading path information in real time by combining the information of the slippery terrain and the passing mode information of various kinds of goods, wherein if the robot encounters the slippery terrain and the goods transported at the moment are fragile goods, the corresponding passing mode is bypassing, and the calculating unit calculates the upper unloading path bypassing the slippery terrain area, namely calculates the coordinate point bypassing the edge of the slippery terrain area.
And the recording unit is used for marking the position of the terrain area of the appearing slippery terrain and sending the real-time position information and the slippery terrain information of the terrain area to the management terminal.
The management terminal comprises a second storage unit, a statistical unit and an alarm information generation unit.
The second storage unit stores early warning threshold information.
And the counting unit is used for counting the times of having the same real-time position information in the slippery terrain.
And the alarm information generating unit is used for generating alarm information when the number of times of counting the real-time position information exceeds the early warning threshold value information, wherein the alarm information can be a text information alarm or a voice information alarm, and the voice information alarm is adopted in the embodiment.
Through the generated alarm information, the manager can be reminded to clear the slippery terrain in time, and meanwhile, the manager is reminded that the position is in the slippery terrain for a long time, so that the manager can improve the ground slipping condition of the position in the area by setting a signboard such as 'no watering' or repairing and adjusting the terrain structure.
The specific usage scenario is as follows.
The calculation unit calculates an upper unloading position closest to the unloading position from the loading position on the whole carrying field according to the loading position information and the unloading position information of the carried goods and the actual map information, when the goods are placed on the robot, the robot identifies the type of the goods through the goods identification unit, if the goods are fragile goods, the calculation unit calculates the upper unloading path (namely calculates the detour path) according to the passing information of the fragile goods (the passing information of the fragile goods is detour) if the robot meets the slippery terrain in the loading and unloading path diagram. If the article is a non-breakable article, the calculation unit calculates the upper discharge route based on the traffic information of the non-breakable article (traffic information of the non-breakable article is: straight-going). And the goods are conveyed in a straight line, namely, the goods are continuously conveyed along the nearest upper unloading path information without changing the route.
Therefore, the goods can selectively bypass according to the types of the goods, the integrity of the special goods is guaranteed, and the efficiency of goods transportation is guaranteed.
Fig. 2 is a functional block diagram of another intelligent efficient transfer robot system according to an embodiment of the present disclosure, and based on the embodiment of fig. 1, the controller further includes a determination unit.
The storage unit also stores information of the spacing distance between the left walking device and the right walking device of the robot and information of the central point of the spacing distance between the left walking device and the right walking device of the robot.
The calculation unit is further configured to calculate a maximum lateral distance of the slippery terrain based on the slippery terrain information.
The judging unit is used for judging the size between the maximum transverse distance of the slippery terrain and the spacing distance between the left walking device and the right walking device of the robot.
The calculation unit takes the central point of the spacing distance between the left walking device and the right walking device of the robot as the running origin of the robot (the whole upper unloading path information is calculated by taking the origin as a mark), and when the spacing distance between the left walking device and the right walking device of the robot is larger than the maximum transverse distance of the slippery terrain, the calculation unit calculates and updates the upper unloading path information.
The method for calculating and updating the information of the loading and unloading path comprises the following steps: calculating the position of a center line of the maximum transverse distance of the slippery terrain; and calculating the position of the center line of the spacing distance between the left walking device and the right walking device of the robot, and then updating the information of the upper unloading path of the robot, so that the center line of the spacing distance between the left walking device and the right walking device of the robot can be coincided with the center line of the maximum transverse distance of the slippery terrain when the robot walks on the slippery terrain, namely the center line of the maximum transverse distance of the slippery terrain is the upper unloading path of the robot in the slippery terrain.
In this way, the transportation efficiency can be further improved, and the round trip can be immediately selected without recognizing the slippery terrain when the fragile goods are transported, and the goods can be transported in the shortest time by crossing the slippery terrain according to the calculation method.
Specific embodiments of the application have been described above. It is to be understood that the application is not limited to the particular embodiments described above, and that devices and structures not described in detail are understood to be implemented in a manner that is conventional in the art; various changes or modifications may be suggested to one skilled in the art without departing from the spirit and scope of the appended claims.
Claims (9)
1. An intelligent high efficiency transfer robot system comprising:
the detection part is used for detecting the real-time terrain and sending real-time terrain detection information back to the controller, and the real-time terrain detection information comprises slippery terrain information and real-time position information;
the controller is used for storing actual topographic map information for robot operation, loading position information and unloading position information carried by the robot, calculating loading and unloading path information of the robot according to the actual topographic map information, the loading position information and the unloading position information, identifying the slippery topographic information in the real-time topographic detection information, calculating and updating the loading and unloading path information in real time according to the slippery topographic information, marking the position of a topographic area where the slippery topographic information appears, and sending the real-time positional information and the slippery topographic information of the topographic area to the management terminal;
and the management terminal stores early warning threshold information and is used for counting the times that the slippery terrain information has the same real-time position information, and generating warning information when the counted times of the real-time position information exceed the early warning threshold information.
2. The intelligent high-efficiency handling robot system according to claim 1, wherein the detection unit is provided right in front of the robot traveling direction and detects real-time topographic information right in front of the robot.
3. The intelligent high-efficiency handling robot system of claim 1, further comprising:
the cargo identification end is arranged on the robot and used for identifying the type of the carried cargo and sending the information of the type of the cargo to the controller;
the controller also stores the cargo information of various kinds of cargos and the passing mode information corresponding to the various kinds of cargos, and the controller calculates and updates the loading and unloading path information in real time by combining the wet and slippery terrain information and the passing mode information of the various kinds of cargos.
4. The intelligent efficient transfer robot system of claim 3, wherein the goods transferred by the robot are provided with identification codes, and the goods identification terminal identifies the goods type of the transferred goods by scanning the identification codes on the goods.
5. The intelligent high-efficiency handling robot system of claim 3, wherein the traffic pattern information comprises straight traffic information and detour information.
6. The intelligent high-efficiency handling robot system of claim 1, wherein the controller calculates an actual area and shape of the slippery terrain from the slippery terrain information and calculates updated upper and lower haul path information in real time based on the actual area and shape of the slippery terrain.
7. The intelligent high-efficiency handling robot system of claim 6, wherein the controller further stores separation distance information between the left and right robots;
the controller also calculates the maximum transverse distance of the slippery terrain according to the slippery terrain information, and judges the size between the maximum transverse distance of the slippery terrain and the spacing distance between the left walking device and the right walking device of the robot.
8. The intelligent high efficiency handling robot system of claim 7, wherein the controller is further configured to calculate updated upper drop load path information when a separation distance between the left and right walkers of the robot is greater than a maximum lateral distance of slippery terrain.
9. The intelligent high-efficiency handling robot system of claim 8, wherein the upper drop load path information is calculated as follows:
calculating the position of a center line of the maximum transverse distance of the slippery terrain;
calculating the center line position of the spacing distance between the left walking device and the right walking device of the robot;
and updating the information of the upper unloading path of the robot, so that the central line of the spacing distance between the left walking device and the right walking device of the robot can be superposed with the central line of the maximum transverse distance of the slippery terrain when the robot walks on the slippery terrain.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010824118.1A CN112008720A (en) | 2020-08-17 | 2020-08-17 | Intelligent efficient transfer robot system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010824118.1A CN112008720A (en) | 2020-08-17 | 2020-08-17 | Intelligent efficient transfer robot system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112936279A (en) * | 2021-02-10 | 2021-06-11 | 大连理工大学 | Minimum time solving method for moving robot target grabbing operation |
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