CN112025718A - Novel unmanned supermarket intelligent replenishment mobile robot platform and control system thereof - Google Patents

Abstract

A novel intelligent replenishment mobile robot platform for an unmanned supermarket and a control system thereof are disclosed, wherein a hardware platform of the intelligent replenishment mobile robot for the unmanned supermarket comprises an omnidirectional mobile chassis, a rotary platform, a lifting platform and a telescopic mechanical claw; the rotary platform is mounted on the omnidirectional moving chassis, the liftable platform is mounted on the rotary platform, and the telescopic mechanical claw is mounted on the liftable platform; the intelligent replenishment mobile robot control system for the unmanned supermarket comprises a communication bus part, a core control circuit, an omnidirectional mobile chassis control circuit, a rotary platform control circuit, a liftable platform control circuit and a telescopic mechanical claw controller; the communication bus part is respectively connected with the core control circuit, the omnidirectional moving chassis control circuit, the rotating platform control circuit, the lifting platform control circuit and the telescopic mechanical claw controller. The invention has the advantages of multiple functions and operation friendliness.

Description

A new type of unmanned supermarket intelligent replenishment mobile robot platform and its control system

technical field

The invention relates to the field of mobile robots, and relates to a novel unmanned supermarket intelligent replenishment mobile robot platform and a control system thereof.

Background technique

With the rapid development of artificial intelligence technology, the application of robots in fields such as unmanned supermarkets is increasing rapidly. Because items vary greatly in size, shape, weight and fragility, and have specific requirements for the specific placement of these items, robots are used in unmanned supermarkets and other fields to independently complete the automatic replenishment of items. The cargo task remains a challenge.

Traditional robots have a single function, clumsy body and complicated operation, which do not conform to the people-oriented concept, and are difficult to achieve tasks such as automatic replenishment in unmanned supermarkets. Today's society urgently needs a new type of mobile robot platform for intelligent replenishment of unmanned supermarkets, which can independently complete tasks such as automatic replenishment of items in unmanned supermarkets. The intelligent replenishment mobile robot platform integrates the functions of item recognition, item grabbing and placement, and autonomous movement. It can complete tasks such as automatic replenishment of items between different shelves in an unmanned supermarket, and can replace humans to complete unmanned supermarkets. tasks such as replenishment.

SUMMARY OF THE INVENTION

In order to overcome the single function, clumsy size, and complicated operation of traditional robots, and efficiently complete tasks such as automatic replenishment in unmanned supermarkets, and further improve the replenishment efficiency in unmanned supermarkets. The present invention is a novel unmanned supermarket intelligent replenishment mobile robot platform and its control system with multifunctionality and operation friendliness. The present invention divides the whole into the following six parts: an omnidirectional mobile chassis, a rotating platform, a liftable platform, a retractable mechanical claw, a core control circuit and an overall control system. Through the design and combination of each part, the present invention can be applied to work such as automatic replenishment in unmanned supermarkets and some simple work in automatic production.

The technical scheme adopted by the present invention to solve its technical problems is:

A new type of unmanned supermarket intelligent replenishment mobile robot platform and its control system, including an unmanned supermarket intelligent replenishment mobile robot hardware platform and an unmanned supermarket intelligent replenishment mobile robot control system;

The unmanned supermarket intelligent replenishment mobile robot hardware platform includes an omnidirectional mobile chassis, a rotating platform, a liftable platform and a retractable mechanical claw; wherein, the rotating platform is installed on the omnidirectional mobile chassis , the elevating platform is installed on the rotating platform, and the retractable mechanical claw is installed on the elevating platform;

The unmanned supermarket intelligent replenishment mobile robot control system includes a communication bus part, a core control circuit, an omnidirectional mobile chassis control circuit, a rotating platform control circuit, a liftable platform control circuit, and a retractable mechanical claw controller; wherein, the The communication bus part is respectively connected with the core control circuit, the omnidirectional mobile chassis control circuit, the rotating platform control circuit, the elevating platform control circuit, and the retractable mechanical claw controller.

Further, the omnidirectional mobile chassis is composed of two parts: a control circuit part and a mechanical structure part, wherein the control circuit part mainly includes two parts, a control chip and a 4-way H bridge, and the control chip adopts a single-chip microcomputer; the mechanical structure part mainly includes a motor , Mecanum wheel, grayscale tracking module and metal frame four parts, and the motor is connected with the 4-way H bridge in the above control circuit.

Further, the rotating platform is composed of two parts: a control circuit part and a mechanical structure part, wherein the control circuit part is composed of a control chip and a single-channel H bridge; the mechanical structure part is composed of a motor and a rotating chassis, and a stepping motor is used to Control the rotation of the rotating chassis, thereby controlling the rotation angle of the robot.

Further, the liftable platform is composed of two parts, the control circuit part and the mechanical structure part. Among them, the control circuit part is composed of a control chip and a single-channel H-bridge, the control chip adopts a single-chip microcomputer, and the control chip is connected with the single-channel H-bridge; the mechanical structure part mainly includes three parts: a metal main body frame, a metal platform and a screw push rod. It is connected with the metal main body frame, the metal platform is connected with the screw push rod, and the single-way H bridge in the control circuit part is connected with the screw push rod in the mechanical structure part.

Further, the retractable mechanical claw is composed of two parts: a control circuit part and a mechanical structure part. Among them, the control circuit part is mainly composed of control chips; the mechanical structure part mainly includes metal frame, motor, conveyor belt, camera and mechanical claw (including steering gear). The motor is connected with the control circuit, the conveyor belt is connected with the metal frame, and the camera and the mechanical claw master control chip are connected with the whole through the RS485 bus. At the same time, the items are identified through the camera, and the stepper motor is used to drive the conveyor belt to control the forward and backward expansion and contraction of the mechanical claw, and is driven by the steering gear at the front end of the mechanical claw to control the grasping and placement of the items by the mechanical claw.

Further, the communication bus part includes a bus and a bus controller, wherein the bus adopts a serial communication bus that conforms to the RS485 communication level standard; the bus controller adopts a single-chip microcomputer as a control chip, and the bus controller is responsible for managing Communication between devices on the communication bus, and the communication rules of the communication bus are as follows:

Step 1: Each device hanging on the communication bus must have a unique name, and the names of any two devices cannot be the same;

Step 2: The bus controller will poll the name of each device through the bus. When each device reads its own name on the bus, it can publish data through the bus. When all data is published or the device has no data to publish, it needs to publish the end flag. , when the bus controller reads the end flag through the bus or when the bus controller polls the device name and does not detect that there is data release on the bus for a period of time, it will continue to poll the next device name;

Step 3: The data published by each device needs to include the data name and the data value;

Step 4: When each device is not polled by the bus controller, each device can read the data published on the bus, but cannot use the bus to publish data;

Step 5: In principle, there is no master-slave distinction between devices. Each device can receive commands and data by paying attention to specific data released by a specific device, and each device can send commands and data by publishing data.

Further, the core control circuit part is composed of two parts: an embedded controller running the operating system and a single-chip microcomputer. The embedded controller running the operating system and the single-chip microcomputer are connected through a high-speed SPI bus, and the embedded controller running the operating system is connected. It can store and process the user's pre-programmed program and receive the original command issued by the user, and transmit the processing result to the single-chip microcomputer, and the single-chip microcomputer then transmits each command to each part through the communication bus as required. The core control circuit is used to receive, store and process the user's control program and related commands, and control and monitor the working status of each part of the hardware.

Further, the omnidirectional mobile chassis control circuit includes two parts: a control chip and a 4-way H bridge, the control chip adopts a single-chip microcomputer, and the control chip in the omnidirectional mobile chassis and the 4-way H bridge and the single-chip microcomputer in the core control circuit utilize communication. The bus is connected to receive control commands and drive 4-way H bridges to control the rotational speed of each motor in the omnidirectional mobile chassis in the hardware platform, thereby controlling the autonomous movement of the robot on the plane. At the same time, the omnidirectional mobile chassis control circuit has a unique name in the communication bus.

Further, the control circuit of the rotating platform is composed of a control chip and a single-channel H bridge, and the control chip in the rotating platform is connected with the single-channel H bridge and the single-chip microcomputer in the core control circuit using a communication bus, and receives control commands to drive the single-channel. The H bridge controls the stepper motor, which in turn controls the rotation of the rotating chassis, thereby controlling the rotation angle of the robot. At the same time, the rotating platform control circuit has a unique name in the communication bus.

Further, the control circuit of the liftable platform includes a control chip and a single-channel H bridge, wherein the control chip adopts a single-chip microcomputer, the control chip is connected with the single-channel H-bridge, and the control chip in the liftable platform is connected with the single-chip microcomputer in the core control circuit using a communication bus. , so as to receive the control command and drive the single-channel H bridge to control the lifting of the screw push rod of the lifting platform in the hardware platform, thereby realizing the lifting and lowering of the retractable mechanical claw. At the same time, the control circuit of the elevating platform has a unique name in the communication bus.

The retractable mechanical claw controller adopts a single-chip microcomputer as a control chip, and the control chip is connected with the single-chip microcomputer in the core control circuit by using a communication bus, so as to receive control commands, and control the front and rear expansion and contraction of the mechanical arm and the opening of the mechanical claw in the hardware platform. and closed, so as to control the grasping and placing of the object by the mechanical claw. At the same time, the retractable gripper controller has a unique name in the communication bus.

The beneficial effects of the present invention are shown in that it can be applied to work such as automatic replenishment in unmanned supermarkets. The invention can effectively carry out the work of grabbing and placing items, and then can efficiently complete the task of automatic replenishment of commodities such as beverages in supermarkets, and is applied to replenishment work in unmanned supermarkets, which can effectively save human resources and Greatly improve replenishment efficiency.

Description of drawings

Fig. 1 is a structural block diagram of the present invention.

FIG. 2 is a three-dimensional view of the whole hardware platform of the present invention, wherein (a) is a side view, (b) is a front view, and (c) is a top view.

Figure 3 is a block diagram of the core control circuit structure.

Figure 4 is a structural block diagram of an omnidirectional mobile chassis.

Fig. 5 is three views of the omnidirectional mobile chassis, wherein (a) is a side view, (b) is a front view, and (c) is a top view.

Figure 6 is a structural block diagram of the rotating platform.

Fig. 7 is three views of the rotating platform, wherein (a) is a side view, (b) is a front view, and (c) is a top view.

Figure 8 is a structural block diagram of a liftable platform.

Fig. 9 is three views of the liftable platform, wherein (a) is a side view, (b) is a front view, and (c) is a top view.

Figure 10 is a block diagram of the structure of the retractable mechanical claw.

Fig. 11 is three views of the retractable mechanical gripper, wherein (a) is a side view, (b) is a front view, and (c) is a top view.

Figure 12 is a block diagram of the communication bus structure.

Fig. 13 is a working flow chart of the present invention.

Detailed ways

Below in conjunction with accompanying drawing, the present invention will be further described:

1 to 13, a new type of unmanned supermarket intelligent replenishment mobile robot platform and its control system, including unmanned supermarket intelligent replenishment mobile robot hardware platform and unmanned supermarket intelligent replenishment mobile robot control system;

The unmanned supermarket intelligent replenishment mobile robot hardware platform includes an omnidirectional mobile chassis, a rotating platform, a liftable platform and a retractable mechanical claw; wherein, the rotating platform is installed on the omnidirectional mobile chassis , the elevating platform is installed on the rotating platform, and the one retractable mechanical claw is installed on the elevating platform;

The unmanned supermarket intelligent replenishment mobile robot control system includes a communication bus part, a core control circuit, an omnidirectional mobile chassis control circuit, a rotating platform control circuit, a liftable platform control circuit, and a retractable mechanical claw controller; wherein, the The communication bus part is respectively connected with the core control circuit, the omnidirectional mobile chassis control circuit, the rotating platform control circuit, the elevating platform control circuit, and the retractable mechanical claw controller.

The core control circuit is respectively connected with other parts of the platform by using the communication bus, and can also be connected with other functional devices mounted on the platform by using the communication bus.

As shown in Figure 1: the overall structural block diagram of the said unmanned supermarket intelligent replenishment mobile robot platform and its control system.

As shown in FIG. 2 , the rotating platform is installed on the omnidirectional mobile chassis, the elevating platform is installed on the rotating platform, and the retractable mechanical claw is installed on the elevating platform.

As shown in Figure 3, the core control circuit is composed of two parts: a Raspberry Pi development board (Linux core board) and a single-chip microcomputer module. The core control circuit is used to receive, store and process the user's control programs and commands, and to control and monitor the working state of each part of the present invention. The Raspberry Pi development board (Linux core board) is connected to the single-chip microcomputer using a high-speed SPI bus, and the single-chip microcomputer adopts the STM32H750 single-chip microcomputer. The Raspberry Pi development board (Linux core board) can store and process the user's pre-programmed programs and receive the corresponding commands issued by the user, and transmit the processing results to the single-chip microcomputer. Other parts of the present invention. At the same time, the core control circuit has a unique name in the communication bus.

As shown in Figure 4, the omnidirectional mobile chassis is composed of a control circuit part and a mechanical part. The control circuit part mainly includes two parts, the control chip and the 4-way H bridge, in which the STM32F103 single-chip microcomputer is used as the control chip. The mechanical part mainly includes four parts: motor, Mecanum wheel, grayscale tracking module and metal frame. The motor is connected with the 4-way H bridge in the above control circuit, and the control chip of the omnidirectional mobile chassis is connected with the single-chip microcomputer in the core control circuit using the communication bus, so as to receive the control command and drive the 4-way H bridge to control the motors in the omnidirectional mobile chassis. The rotation speed, thereby controlling the autonomous movement of the present invention on the plane. At the same time, the omnidirectional mobile chassis control circuit has a unique name in the communication bus.

As shown in Figure 5: The mechanical part of the omnidirectional mobile chassis is composed of four parts: motor, Mecanum wheel, grayscale tracking module and metal frame. Each motor is installed on the metal frame, each Mecanum wheel is installed on each motor, and each grayscale tracking module is installed on the metal frame.

As shown in Figure 6, the rotating platform includes two parts: the control circuit part and the mechanical part. The control circuit is composed of a control chip and a single-channel H bridge, in which the STM32F103 single-chip microcomputer is used as the control chip, and the control chip in the rotating platform is connected with the single-channel H bridge and the single-channel H-bridge and the single-chip microcomputer in the core control circuit by a communication bus, and receives control commands to drive The single-channel H bridge controls the stepper motor, which in turn controls the rotation of the rotating chassis, thereby controlling the rotation angle of the robot. At the same time, the rotating platform control circuit has a unique name in the communication bus.

As shown in Figure 7: The mechanical part of the rotating platform is composed of two parts: the motor and the rotating chassis. The stepping motor is installed on the metal frame, and the rotating chassis is installed on the omnidirectional moving chassis.

As shown in Figure 8, the liftable platform is composed of two parts: the control circuit part and the mechanical part. The control circuit part mainly includes two parts, the control chip and the single-channel H bridge, in which the control chip adopts the STM32F103 single-chip microcomputer. The control chip is connected with the single-channel H-bridge, and the single-channel H-bridge is connected with the screw push rod. The control chip of the elevating platform is connected with the single-chip microcomputer in the core control circuit through the communication bus, so as to receive the control command and drive the single-channel H bridge to control the lifting of the screw push rod, thereby realizing the lifting and lowering of the retractable mechanical claw in the present invention. At the same time, the control circuit of the elevating platform has a unique name in the communication bus.

As shown in Figure 9: the mechanical part of the liftable platform is composed of three parts: a metal main body frame, a metal platform and a screw push rod. The screw push rod is installed on the metal main body frame, the metal platform is installed on the screw push rod, and the metal platform and the metal main body frame are connected by pulleys.

As shown in Figure 10: the retractable mechanical claw is composed of a control circuit and a mechanical part, and the control circuit part is mainly composed of a control chip, wherein the STM32F030 single-chip microcomputer is used as the control chip. The motor is connected with the control circuit, the conveyor belt is connected with the metal frame, and the master control chip of the mechanical claw is connected with the whole through the RS485 bus. A stepper motor is used to drive the conveyor belt to control the front and rear expansion and contraction of the mechanical claw; and the opening and closing of the mechanical claw is controlled by the servo drive at the front of the mechanical claw. At the same time, the retractable gripper control circuit has a unique name in the communication bus.

As shown in Figure 11: The retractable mechanical claw is composed of a metal frame, a motor, a conveyor belt and a picking claw. The motor is installed on the liftable platform, and the conveyor belt and picking claw are installed on the metal frame.

As shown in Figure 12: the communication bus part includes two parts: the bus and the bus controller. Wherein, the bus adopts a serial communication bus that conforms to the RS485 communication level standard; the bus controller adopts STM32H750 as a control chip, and the bus controller is responsible for managing the communication between the devices on the communication bus.

As shown in Figure 13, the user can control the mobile robot platform for intelligent replenishment of the new unmanned supermarket by pre-programming the core control circuit or sending control commands. The core control circuit sends control commands to other parts through the communication bus; after receiving the control commands, each part performs corresponding actions as required, and uploads them to the core control circuit using the communication bus for summarization, and at the same time realizes the new unmanned aerial vehicle according to the requirements. The supermarket intelligent replenishment mobile robot platform transmits data back to the user. In this way, tasks such as automatic replenishment in unmanned supermarkets and some simple tasks in automated production are finally completed.

Claims (10)

1. a novel unmanned supermarket intelligent replenishment mobile robot platform and control system thereof, is characterized in that, comprises unmanned supermarket intelligent replenishment mobile robot hardware platform and unmanned supermarket intelligent replenishment mobile robot control system; The unmanned supermarket intelligent replenishment mobile robot hardware platform includes an omnidirectional mobile chassis, a rotating platform, a liftable platform and a retractable mechanical claw; wherein, the rotating platform is installed on the omnidirectional mobile chassis , the elevating platform is installed on the rotating platform, and the retractable mechanical claw is installed on the elevating platform; The unmanned supermarket intelligent replenishment mobile robot control system includes a communication bus part, a core control circuit, an omnidirectional mobile chassis control circuit, a rotating platform control circuit, a liftable platform control circuit, and a retractable mechanical claw controller; wherein, the The communication bus part is respectively connected with the core control circuit, the omnidirectional mobile chassis control circuit, the rotating platform control circuit, the elevating platform control circuit, and the retractable mechanical claw controller. 2. A novel unmanned supermarket intelligent replenishment mobile robot platform and control system thereof as claimed in claim 1, wherein the omnidirectional mobile chassis is composed of two parts: a control circuit part and a mechanical structure part, wherein , the control circuit part includes two parts, a control chip and a 4-way H bridge, and the control chip adopts a single-chip microcomputer; the mechanical structure part includes four parts: a motor, a mecanum wheel, a grayscale tracking module and a metal frame. 4-way H bridge connected. 3. A novel unmanned supermarket intelligent replenishment mobile robot platform and control system thereof as claimed in claim 1 or 2, wherein the rotating platform is composed of two parts: a control circuit part and a mechanical structure part, wherein , the control circuit part is composed of a control chip and a single-channel H bridge; the mechanical structure part is composed of a motor and a rotating chassis, and a stepping motor is used to control the rotation of the rotating chassis, thereby controlling the rotation angle of the robot. 4. A new type of unmanned supermarket intelligent replenishment mobile robot platform and control system thereof as claimed in claim 1 or 2, characterized in that, the elevating platform is composed of two parts: a control circuit part and a mechanical structure part, Among them, the control circuit part is composed of a control chip and a single-channel H-bridge, the control chip adopts a single-chip microcomputer, and the control chip is connected with the single-channel H-bridge; the mechanical structure part includes three parts: a metal main body frame, a metal platform and a screw push rod. The metal main body frame is connected, the metal platform is connected with the screw push rod, and the single-way H bridge of the control circuit part is connected with the screw push rod of the mechanical structure part. 5. A new type of unmanned supermarket intelligent replenishment mobile robot platform and control system thereof as claimed in claim 1 or 2, wherein the retractable mechanical claw is composed of two parts: a control circuit part and a mechanical structure part , wherein the control circuit part is composed of a control chip; the mechanical structure part includes a metal frame, a motor, a conveyor belt, a camera and a mechanical claw, the motor is connected to the control circuit, the conveyor belt is connected to the metal frame, and the camera and the mechanical claw master control chip is connected with the RS485 bus. It is connected as a whole. At the same time, the camera recognizes the item, and uses a stepper motor to drive the conveyor belt to control the front and rear expansion of the mechanical claw. Driven by the steering gear at the front end of the mechanical claw, it controls the grasping and placement of the object by the mechanical claw. 6. A new type of unmanned supermarket intelligent replenishment mobile robot platform and its control system according to claim 1 or 2, wherein the communication bus part comprises two parts: a bus and a bus controller, wherein the The bus adopts a serial communication bus that conforms to the RS485 communication level standard; the bus controller adopts a single-chip microcomputer as a control chip, and the bus controller is responsible for managing the communication between the devices on the communication bus, and the communication rules of the communication bus are as follows: Step 1: Each device hanging on the communication bus must have a unique name, and the names of any two devices cannot be the same; Step 2: The bus controller will poll the name of each device through the bus. When each device reads its own name on the bus, it can publish data through the bus. When all data is published or the device has no data to publish, it needs to publish the end flag. , when the bus controller reads the end flag through the bus or when the bus controller polls the device name and does not detect that there is data release on the bus for a period of time, it will continue to poll the next device name; Step 3: The data published by each device needs to include the data name and the data value; Step 4: When each device is not polled by the bus controller, each device can read the data published on the bus, but cannot use the bus to publish data; Step 5: In principle, there is no master-slave distinction between devices. Each device can receive commands and data by paying attention to specific data released by a specific device, and each device can send commands and data by publishing data. 7. A novel unmanned supermarket intelligent replenishment mobile robot platform and control system thereof according to claim 1 or 2, wherein the core control circuit part is composed of an embedded controller running an operating system and a single-chip microcomputer. Most of the components are connected between the embedded controller running the operating system and the single-chip microcomputer through a high-speed SPI bus. The embedded controller running the operating system can store and process the user's pre-programmed programs and receive the original commands issued by the user, and will process them. The result is transmitted to the single-chip microcomputer, and the single-chip microcomputer transmits each command to each part as required through the communication bus. The core control circuit is used to receive, store and process the user's control program and related commands, and control and monitor the working status of each part of the hardware. . 8. A novel unmanned supermarket intelligent replenishment mobile robot platform and control system thereof as claimed in claim 1 or 2, wherein the omnidirectional mobile chassis control circuit comprises two parts: a control chip and a 4-way H bridge , the control chip adopts a single-chip microcomputer, and the control chip in the omnidirectional mobile chassis is connected with the 4-way H bridge and the single-chip microcomputer in the core control circuit by a communication bus, so as to receive control commands and drive the 4-way H bridge to control the whole hardware platform. The rotation speed of each motor in the mobile chassis is used to control the autonomous movement of the robot on the plane. At the same time, the control circuit of the omnidirectional mobile chassis has a unique name in the communication bus. 9. A new type of unmanned supermarket intelligent replenishment mobile robot platform and control system thereof as claimed in claim 1 or 2, wherein the rotating platform control circuit is composed of a control chip and a single-way H bridge, and the rotating platform The control chip is connected with the single-channel H bridge and the single-chip microcomputer in the core control circuit through the communication bus, and receives control commands to drive the single-channel H bridge to control the stepper motor, and then control the rotation of the rotating chassis, thereby controlling the rotation angle of the robot. , At the same time, the rotating platform control circuit has a unique name in the communication bus. 10. A novel unmanned supermarket intelligent replenishment mobile robot platform and its control system according to claim 1 or 2, wherein the control circuit of the elevating platform comprises a control chip and a single-way H bridge, wherein the control circuit The chip adopts a single-chip microcomputer, and the control chip is connected with the single-channel H bridge. The control chip in the elevating platform is connected with the single-chip microcomputer in the core control circuit through the communication bus, so as to receive the control command and drive the single-channel H bridge to control the lifting platform screw pusher in the hardware platform. The lifting and lowering of the rod, thereby realizing the lifting and lowering of the retractable mechanical claw, at the same time, the control circuit of the elevating platform has a unique name in the communication bus; The retractable mechanical claw controller adopts a single-chip microcomputer as a control chip, and the control chip is connected with the single-chip microcomputer in the core control circuit by using a communication bus, so as to receive control commands, and control the front and rear expansion and contraction of the mechanical arm and the opening of the mechanical claw in the hardware platform. And closed, so as to control the grasping and placing of objects by the mechanical gripper, and at the same time, the retractable gripper controller has a unique name in the communication bus.

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