CN112327877A - Steel pipe warehouse inspection robot system and steel pipe warehouse management system - Google Patents
Steel pipe warehouse inspection robot system and steel pipe warehouse management system Download PDFInfo
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- CN112327877A CN112327877A CN202011324143.XA CN202011324143A CN112327877A CN 112327877 A CN112327877 A CN 112327877A CN 202011324143 A CN202011324143 A CN 202011324143A CN 112327877 A CN112327877 A CN 112327877A
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 174
- 239000010959 steel Substances 0.000 title claims abstract description 174
- 238000007689 inspection Methods 0.000 title claims abstract description 44
- 230000033001 locomotion Effects 0.000 claims description 61
- 238000007726 management method Methods 0.000 claims description 30
- 238000012544 monitoring process Methods 0.000 claims description 22
- 238000004891 communication Methods 0.000 claims description 17
- 238000000034 method Methods 0.000 claims description 8
- 230000008569 process Effects 0.000 claims description 8
- 238000012795 verification Methods 0.000 claims description 8
- 230000007246 mechanism Effects 0.000 claims description 7
- 239000003638 chemical reducing agent Substances 0.000 claims description 6
- 230000006698 induction Effects 0.000 claims description 6
- 230000007613 environmental effect Effects 0.000 claims description 5
- 238000012545 processing Methods 0.000 claims description 5
- 230000008447 perception Effects 0.000 claims description 4
- 238000012937 correction Methods 0.000 claims description 3
- 238000013523 data management Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 claims description 3
- 230000001960 triggered effect Effects 0.000 claims description 3
- 230000006870 function Effects 0.000 claims description 2
- 230000003993 interaction Effects 0.000 claims description 2
- 230000002093 peripheral effect Effects 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
- 230000002159 abnormal effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
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- 238000002513 implantation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
- G06K17/0025—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device the arrangement consisting of a wireless interrogation device in combination with a device for optically marking the record carrier
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/30—Computing systems specially adapted for manufacturing
Abstract
The invention relates to the technical field of warehouse management, in particular to a steel pipe warehouse patrol robot system and a steel pipe warehouse management system. The steel tube warehouse inspection robot system is used for replacing manual work to inspect in a steel tube warehouse, reading the inventory condition of each warehouse location, correcting the database, avoiding the condition that the inventory of the database is inconsistent with the actual condition, and reducing the labor intensity of the manual work. According to the steel pipe warehouse management system, the display is arranged in the bridge crane cab, information such as the position of the steel pipe warehouse position (combined with an electronic map of the warehouse) needing to be in and out of the warehouse and the number of steel pipes in and out of the warehouse can be displayed to a driver on the display, so that the driver can quickly find the target warehouse position according to prompts, the problems of shouting and information mistransmission caused are solved, and the working efficiency is improved.
Description
Technical Field
The invention relates to a warehouse management technology, in particular to a steel tube warehouse inspection robot system and a steel tube warehouse management system.
Background
After the steel pipe is produced and processed, the steel pipe needs to be stored in a warehouse firstly, and then the steel pipe is taken out of the warehouse when sold and delivered. The warehouse has a plurality of warehouse positions and is of a steel frame structure. The models of the steel pipes placed on each warehouse are not uniform. When steel pipes are put in storage, a storage operator confirms the type and the quantity of the steel pipes which are put in storage at present, and in the prior art, a code scanning gun is used for scanning bar codes attached to the steel pipes, so that the type of the steel pipes can be automatically read. Then, the database is inquired to the available storage position, the batch of steel pipes are distributed to the storage position, and the storage position is recorded in the database. The bridge crane is arranged in the warehouse, after the warehouse positions are distributed, a warehouse entry operator tells a bridge crane driver in a shouting mode, the batch of steel pipes are hoisted to the warehouse positions, and the bridge crane driver operates in a mode of operating and observing the steel pipes visually. And when the steel pipes are taken out of the warehouse, a warehouse manager inquires the position of the steel pipe needing to be taken out of the warehouse from the database, records the batch of steel pipes as the warehouse-out data in the system, and shouts and informs a bridge crane driver to lift the batch of steel pipes. Because the steel pipe warehouse has a very large scale, the management has great difficulty. The prior art mainly has the following defects:
1) when the bar codes are put in storage, the bar codes are scanned one by one, so that the efficiency is low. 2) The driver of the bridge crane is informed in a manual shouting mode, so that the labor intensity is high, and errors are easy to occur. 3) The driver looks for the position of the warehouse by eye, and the warehouse is large, so that the driver needs to be very familiar with the layout of the warehouse and can be competent with strong direction feeling, and the time is very long for the driver with novice or poor direction feeling. 4) The storage condition of the steel pipes in the warehouse is only the operation of the system database during warehouse-out and warehouse-in, and if other artificial movement of the steel pipes in the warehouse occurs, or the operation of personnel is wrong during warehouse-out and warehouse-in operation, or the system is wrong, the problem that the database inventory is inconsistent with the actual condition is possibly caused.
Disclosure of Invention
The invention aims to solve the technical problem of providing a steel pipe warehouse inspection robot system and a steel pipe warehouse management system, wherein the identity of a steel pipe is identified through an RFID technology, the number of the steel pipes is identified through the RFID and an image processing technology, a wireless communication network and a multimedia mode are utilized to provide position prompt and position navigation for a bridge crane driver, a mobile inspection robot is used for regularly inspecting the warehouse positions, the inventory condition of each warehouse position is read, and a database is corrected.
The invention relates to a steel tube warehouse inspection robot system, which comprises a robot body and a monitoring background, wherein the robot body is provided with a monitoring platform;
the robot body comprises a motion control system, a quantity patrol system, an environment perception system and a communication module; the motion control system comprises a wheel type moving platform driven by a motor, a motion controller, a magnetic navigation sensor and a magnetic stripe track, wherein the magnetic stripe track is paved on the ground of the steel tube warehouse in advance so as to guide the robot body to move along the magnetic stripe track; the quantity inspection system comprises an RFID reader and a camera; the environmental perception system comprises an ultrasonic sensor; the quantity inspection system and the environment sensing system are arranged on the wheel type moving platform and are driven by the wheel type moving platform to move;
the wheel type mobile platform is provided with a plurality of rollers and can drive the robot body to move along a preset magnetic stripe track, the rollers are driven by motors to rotate respectively, and the output rotating speed of each motor is controlled by a motion controller; the magnetic navigation sensor is arranged corresponding to the magnetic strip track; the magnetic navigation sensor is used for judging whether the robot body moves on the magnetic stripe track in real time, sending correction information to the motion controller in real time when the robot body deviates from the magnetic stripe track, and controlling the output rotating speed of the motor by the motion controller to enable different rollers to generate rotating speed difference so as to realize deflection adjustment of the moving direction of the robot body;
the RFID reader is used for reading information of different warehouse positions in the steel pipe warehouse and identity information of different steel pipes on the warehouse positions; the ultrasonic sensor is used for sensing obstacles around the robot body;
the camera is used for identifying the number of steel pipes in different warehouse positions or detecting obstacles in front of the moving robot body so as to realize double verification with the number of steel pipes detection result obtained by the RFID reader through reading the identity information of the steel pipes or double verification with the obstacle information sensed by the ultrasonic sensor;
the communication module is used for realizing data interaction between the robot body and the monitoring background.
According to the preferred embodiment of the invention, the wheel-type mobile platform is provided with a lifting mechanism, the RFID reader and the camera are arranged on the lifting mechanism, and the lifting mechanism drives the RFID reader and the camera to ascend or descend so as to read, shoot and detect the RFID in the steel pipe end sockets at different heights on the warehouse.
According to the preferred embodiment of the invention, the wheel-type mobile platform is provided with the anti-collision bumper, and the anti-collision bumper is arranged around the wheel-type mobile platform.
According to the preferred embodiment of the invention, the camera is a camera with a tripod head, and the RFID reader is arranged on a support capable of automatically adjusting the pitch angle.
According to the preferred embodiment of the invention, the RFID readers comprise a first RFID reader and a second RFID reader, the first RFID reader is used for reading the RFID implanted in the steel pipe end socket, and before implantation, unique identification information is written in the RFID corresponding to each steel pipe; the second RFID reader is used for reading the RFID with the position or the number information written in on the warehouse racks in different warehouse positions in the warehouse; and the second RFID reader and the camera are jointly used for confirming the current position of the robot body.
According to the preferred embodiment of the present invention, the magnetic navigation sensor is disposed on the bottom surface of the wheeled mobile platform, the magnetic navigation sensor collects a weak magnetic field above a magnetic stripe track by using a plurality of built-in hall switch sensors located at different positions, each hall switch sensor has a path of signal corresponding to an output, when the hall switch sensor collects a magnetic field signal, the path of signal outputs a low level, and when the hall switch sensor does not collect a magnetic field signal, the signal output is a high level; judging whether the magnetic stripe track deviates from the position relative to the magnetic navigation sensor or not by depending on level signals output by different Hall switch sensors; when the Hall switch sensor positioned in the middle of the magnetic navigation sensor measures that the magnetic induction intensity is maximum, the robot body is shown to be positioned on the magnetic stripe track at present, and the motion controller does not process the difference of the rotating speed of the motor; on the contrary, when the Hall switch sensor which detects the maximum magnetic induction intensity is no longer in the middle position of the magnetic navigation sensor, the deviation between the robot body and the magnetic stripe track is shown, and accordingly the motion controller makes the processing of differentiating the rotating speed of the motor so as to realize the steering of the robot body and ensure that the robot body moves along the magnetic stripe track.
According to the preferred embodiment of the invention, the number of the ultrasonic sensors is at least four, and 2 ultrasonic sensors are respectively arranged in front of and behind the wheeled mobile platform and used for monitoring whether the periphery of the robot body is obstructed or not in real time.
According to the preferred embodiment of the present invention, the environmental sensing system further comprises a touch sensor disposed at the peripheral edge of the robot body; once the robot body contacts or collides with the outside, the contact sensor is triggered to send out an emergency stop signal to each motion controller, and the motion controllers control each motor to stop running, so that the robot body immediately stops walking and gives out an alarm.
According to a preferred embodiment of the present invention, wherein the motion controller is configured to control a left front wheel motion control submodule, a right front wheel motion control submodule, a left rear wheel motion control submodule, and a right rear wheel motion control submodule; each control submodule comprises a driver, the motor and a speed reducer; the driver drives the motor to operate, and the motor outputs torque after being decelerated by the reducer to drive the roller to rotate.
According to the preferred embodiment of the present invention, the robot body further comprises a power supply system, wherein the power supply system comprises an electric quantity manager, a charging circuit, a rechargeable battery, and a power supply status monitoring module; the rechargeable battery and the charging circuit are both connected with the electric quantity manager, and the power state monitoring module is connected with the electric quantity manager and used for monitoring the residual electric quantity in the rechargeable battery in real time; the electric quantity manager provides electric energy for each electric element or electric function module on the robot body.
The power supply manager monitors real-time electric quantity in the movement process of the robot body in real time and gives an alarm on abnormal electric consumption states including the conditions of over-low electric quantity, over-high current and over-high temperature; when the robot body is charged, the power supply manager monitors the charging state of the power supply in real time, and automatically stops charging after the electric quantity is full to prevent overcharging.
According to the preferred embodiment of the invention, the robot body is provided with a touch display for displaying the current electric quantity, the RFID information read by the RFID reader in the steel pipe end socket, and the number and the type of the steel pipes read in a certain storage position.
According to the preferred embodiment of the invention, the robot further comprises an electric quantity supplying device, wherein the electric quantity supplying device is a non-wireless charging pile and is used for charging the robot body to supplement electric energy.
Another object of the present invention is to provide a steel tube warehouse management system, which includes the steel tube warehouse patrol robot system, the steel tube ID writing subsystem, the in-out information recording subsystem, the bridge crane guidance subsystem, and the warehouse management server in any of the above embodiments; the warehouse management server is prestored with a warehouse electronic map;
the steel pipe ID writing subsystem is used for writing the RFID implanted in the end socket of each steel pipe into a unique identification number before the steel pipes are put in storage so as to mark the identity of the steel pipe;
the in-out storage recording subsystem is used for reading the RFID of the steel pipe when the steel pipe is put in or out of a warehouse, recording the corresponding relation between the RFID of the steel pipe and the warehouse location distributed by the warehouse management server, and writing the read out-of-warehouse information and the read in-warehouse information of the steel pipe into the warehouse management server; the warehouse entry and exit information comprises the type of the warehouse entry and exit steel pipe, the production batch number, the warehouse entry and exit date and the corresponding warehouse location;
the bridge crane guiding subsystem comprises a display arranged in a bridge crane cab; the bridge crane guidance subsystem is used for displaying the number of the warehouse location corresponding to the steel pipe and the position of the warehouse location on a warehouse map on the display according to the information of the steel pipe to be delivered or delivered when the steel pipe is delivered or delivered, so that a bridge crane driver can quickly and accurately find a target warehouse location according to the prompt on the display;
the steel pipe warehouse patrol robot system regularly performs warehouse patrol checking, checks the number information, the type information and the identity information of the remaining steel pipes on each warehouse location, and writes the information into a warehouse management server.
According to the preferred embodiment of the present invention, the steel pipe warehouse patrol robot system, the steel pipe ID writing subsystem, the in-out warehouse information recording subsystem and the bridge crane guidance subsystem are connected to and exchange data with the existing mature warehouse data management system through interfaces.
According to the preferred embodiment of the present invention, only one steel pipe warehouse patrol robot system is provided in the steel pipe warehouse, or the steel pipe warehouse is divided into several sub-areas, and each sub-area is provided with one steel pipe warehouse patrol robot system.
The steel tube warehouse inspection robot system can replace manual work to inspect in the steel tube warehouse, read the inventory condition of each warehouse location, correct the database, avoid the condition that the inventory of the database is inconsistent with the actual condition, reduce the labor intensity of the manual work, and improve the intelligent degree of the management of the steel tube warehouse. The identity of the steel pipe is identified through the RFID technology, and the quantity of the steel pipes is identified through the RFID technology and the image processing technology.
According to the steel tube warehouse management system, the display is arranged in the bridge crane cab, information such as the position of the steel tube warehouse position (combined with an electronic map of a warehouse) needing to be in and out of the warehouse and the number of steel tubes in and out of the warehouse can be displayed to a driver on the display, so that the driver can quickly find the target warehouse position according to prompts, and the problems that the target warehouse position is difficult to find due to overlarge warehouse and information is mistransmitted in modes such as calling and interphone are solved.
The invention will be further explained with reference to the drawings.
Drawings
Fig. 1 is an overall frame diagram of a steel pipe warehouse inspection robot system of the present invention.
Fig. 2 is a schematic view of the working state of the steel pipe warehouse inspection robot system of the present invention.
Fig. 3 is a block diagram of an environment sensing module of the steel pipe warehouse inspection robot system according to the present invention.
Fig. 4 is a block diagram showing the structure of a motion control module of the steel pipe warehouse inspection robot system according to the present invention.
Fig. 5 is a schematic view of a magnetic navigation sensor on the bottom surface of a wheeled mobile platform of the steel tube warehouse inspection robot system of the present invention.
Fig. 6 is a block diagram showing a power supply system of the steel pipe warehouse inspection robot system according to the present invention.
Fig. 7 is a block diagram of the steel pipe warehouse management system of the present invention.
Fig. 8 is a schematic diagram of a magnetic stripe track circuit preset on the floor of a steel tube warehouse.
Fig. 9 is a schematic view of a large steel pipe warehouse partitioned.
Detailed Description
Fig. 1 is a block diagram showing an overall framework of a steel pipe warehouse inspection robot system according to a preferred embodiment of the present invention. As shown in fig. 1, the steel tube warehouse inspection robot system includes a robot body 10 and a monitoring background 20; the robot body 10 exchanges data with the monitoring background 20 through a communication module and a communication layer arranged on the robot body. The communication layer includes a communication interface, a wired broadband network, a wifi wireless network, a video transmission dedicated interface, etc., which can communicate with the communication module of the robot body 10 in a wireless/wired manner. The monitoring background 20 comprises a monitoring upper computer (which is provided with a monitoring software system), a display (which is used for displaying warehouse total information, warehouse position information, robot body position electronic map display, robot moving state and inspection working state display in real time), and a memory (which is used for receiving and storing inspection data of the robot body).
In the preferred embodiment of the present invention, the robot body 10 includes a motion control system 11, a quantity patrol system 12, an environment sensing system 13, a power supply system 14, and a communication module 15. The communication module 15 is used for transmitting data collected by the quantity patrol system and the environment sensing system, the motion state of the robot body in the motion control system, the residual quantity of electric quantity of the robot body, charging information and the like to the upper computer in real time through the communication layer.
The following describes each component of the robot body.
As shown in fig. 2, the motion control system 11 includes a wheel-type moving platform 111 driven by a motor, a motion controller, a magnetic navigation sensor 113 (see fig. 5), and a magnetic stripe track 114, where the magnetic stripe track 114 is pre-laid on the floor of the steel pipe warehouse and is used for guiding the robot body 10 to move along the magnetic stripe track 114. A quantity patrol system 12 is provided on the wheeled mobile platform 111 and includes a first RFID reader 121, a camera 122. Also disposed on wheeled mobile platform 111 is an environmental sensing system 13 comprising an ultrasonic sensor 131, a second RFID reader 132, and a contact sensor 133. The quantity inspection system 12 and the environment sensing system 13 are arranged on the wheel type moving platform, are driven by the wheel type moving platform 111 and move along the magnetic stripe track 114 in the warehouse, and inspect the steel pipes on the warehouse location and the inventory location one by one. The camera 122 is a camera with a pan/tilt head, and the first RFID reader 121 is disposed on a bracket capable of automatically adjusting a tilt angle.
The wheeled mobile platform 111 has four rollers 1111, each roller 1111 is independently driven by a motor, and steering is achieved through differential speed. The robot body is driven to move along the magnetic stripe track 114 by the wheel type moving platform 111. Wherein, the output speed of the motor corresponding to each roller 1111 is controlled by the motion controller. As shown in fig. 4, the motion controller is in communication connection with the magnetic navigation sensor 113, the environment sensing system 13, the quantity patrol system 12 and the power supply system 14 (the motion controller of the robot body can be indirectly in communication connection with an upper computer in the monitoring background). Specifically, when the magnetic navigation sensor 113 detects that the robot body 10 does not move along the magnetic stripe track 114, the motion controller controls the motors of the different rollers 1111 to rotate at a differential speed, so as to adjust the moving direction of the robot body 10. When the environment sensing system 13 senses that there is an obstacle around or touches the obstacle, the motion controller controls the motor of the roller 1111 to stop rotating, so that the robot body 10 stops moving. When the number of the steel pipes of a certain type detected by the first RFID reader 121 and the camera 122 in the number patrol system 12 is inconsistent, the motion controller controls the motor of the roller 1111 to stop rotating, so that the robot body 10 stops in place for multiple rechecks and verifications. In the process of patrol, when the power supply system 14 detects that the electric quantity in the robot body 10 is insufficient, the motion controller controls the rollers 1111 to rapidly and reversely roll, and returns to the charging pile set at the starting point of the robot body 10 to supply the electric quantity.
The motion controller is used for controlling the left front wheel motion control submodule, the right front wheel motion control submodule, the left rear wheel motion control submodule and the right rear wheel motion control submodule; each control submodule comprises a driver, the motor and a speed reducer; each control submodule independently controls the rotation of one roller 1111. In each control submodule, a driver drives a motor to operate, and the motor outputs torque after being decelerated by a speed reducer to drive the roller to rotate.
As shown in fig. 2, the wheel-type moving platform 111 is provided with a lifting mechanism 117, which may be a lifting frame driven by an air cylinder. When the lifting frame needs to be lifted, the air pump connected with the air cylinder starts to work, the air cylinder is inflated, the lifting frame is lifted, and otherwise, the air cylinder falls back and descends. A lifting platform can be arranged on the lifting frame, and the first RFID reader 121 and the camera 122 in the quantity patrol system 12 are arranged on the lifting platform, and meanwhile, the alarm 16 is also arranged. Through the lifting action of the lifting frame, RFID reading and shooting detection in steel pipe end sockets at different heights on a certain warehouse position can be realized. As shown in fig. 3, the first RFID reader 121 obtains the number of a certain steel pipe by reading the RFID of the steel pipe, and the camera 122 obtains the number of a certain steel pipe by image recognition, so that the first RFID reader and the camera form double verification, and send the corresponding relationship between the patrol storage location information and the number of the steel pipes to the upper computer through the communication module 15.
As shown in fig. 5 and 3, the magnetic navigation sensor 113 is disposed on the bottom surface of the wheeled mobile platform 111 and corresponds to the magnetic stripe track 114 on the warehouse floor. The magnetic navigation sensor 113 is used for judging whether the robot body 10 moves on the magnetic stripe track 114 in real time, and sending correction information to the motion controller in real time when the robot body 10 deviates from the magnetic stripe track 114, and the motion controller controls the output rotating speed of the motor, so that different rollers generate rotating speed difference to further realize deflection adjustment of the moving direction of the robot body. Specifically, the magnetic navigation sensor 113 is internally provided with an array consisting of a plurality of hall switch sensors, for example, 3 to 8 hall switch sensors, 1 to 2 hall switch sensors are arranged in the middle of the bottom surface of the wheeled moving platform 111, and the hall switch sensors are symmetrically arranged at two sides of the middle hall switch sensor. The Hall switch sensors are arranged at different sampling points, the Hall switch sensors at different positions acquire weak magnetic fields above the magnetic stripe track 114, each Hall switch sensor has a path of signal corresponding to output, when the Hall switch sensors acquire magnetic field signals, the path of signal can output low level, and when the Hall switch sensors do not acquire the magnetic field signals, the signal output is high level; the level signals output by the different hall switch sensors are used to determine whether the magnetic stripe track 114 is out of position relative to the magnetic navigation sensor 113. When the hall switch sensor positioned in the middle of the magnetic navigation sensor 113 measures that the magnetic induction intensity is maximum, the current middle part of the robot body is positioned on the magnetic stripe track 114, and the motion controller does not process the difference of the rotating speeds of the motors; on the contrary, when the hall switch sensor detecting the maximum magnetic induction is no longer located at the middle position of the magnetic navigation sensor 113, it indicates that there is a certain deviation between the middle part of the robot body and the magnetic stripe track 114, and accordingly the motion controller performs the process of differentiating the rotational speed of the motor to realize the steering of the robot body, and ensures that the robot body returns to the magnetic stripe track 114.
As shown in fig. 2 and 3, an environmental sensing system 13 including an ultrasonic sensor 131, a second RFID reader 132, and a contact sensor 133 is further provided on the wheeled mobile platform 111. The second RFID reader 132 is used for reading information of different storage locations (RFID tags are also arranged on the storage racks of different storage locations, and the tags write the numbers of the storage locations and the positions in the storage) in the steel pipe warehouse. The camera 122 may capture an image of the environment around the robot. The second RFID reader 132 and the camera 122 are used together to confirm the current position of the robot body, and send the position information to the upper computer through the communication module 15. A warehouse electronic map is prestored in the upper computer, and the current position of the robot body in the warehouse can be displayed in the monitoring background by combining the warehouse electronic map.
As shown in fig. 3, at least 4 ultrasonic sensors 131 are provided, respectively, on the front two of the wheel type moving platform 111 and on the rear two of the wheel type moving platform 111. During the process of the robot body moving, the ultrasonic sensor 131 is used for sensing whether an obstacle exists in a certain distance range around the robot body in real time, so that the moving speed of the wheeled moving platform 111 is controlled, and the sensing result of the ultrasonic sensor 131 and the shooting result of the camera 122 around the robot body form double verification. A contact sensor 133 is provided around the periphery of the wheel-type moving platform 111. Once the robot body 10 contacts or collides with the outside, the contact sensor 133 is triggered to send an emergency stop signal to each motion controller, and the motion controller controls each motor to stop running, so that the robot body 10 immediately stops walking and gives an alarm. The sensing results of the ultrasonic sensor 131 and the contact sensor 133 also constitute a double verification. In addition, in order to prevent the robot body 10 from being crashed, a bumper 116 is provided at the edge of the wheeled mobile platform 111, and a contact sensor 133 is provided on the bumper 116.
As shown in fig. 6, a power supply system 14 of the inspection robot system of the present invention is shown. The power supply system 14 includes a power manager 141, a charging circuit 142, a rechargeable battery 143, and a power status monitoring module 144. The rechargeable battery 143 and the charging circuit 142 are electrically connected to the power manager 141. The power status monitoring module 144 is connected to the power manager 141 for monitoring the remaining power of the rechargeable battery 143 in real time. The power manager 141 provides power to each power functional module through a power supply circuit of each power consuming device, such as an RFID reader, a camera, an ultrasonic sensor, and the like.
In addition, the inspection robot system of the present invention further comprises a wireless charging pile disposed along one side of the magnetic stripe track 114 in the warehouse. When the power manager 141 monitors that the electric quantity in the movement process of the robot body 10 is insufficient, the movement controller receives the signal of insufficient electric quantity, sends an instruction to each movement control submodule and controls the rotation direction and speed of each roller, so that the robot body returns to the wireless charging pile to complete electric quantity supply. When the power manager 141 monitors that the robot body 10 is full of electric quantity, the motion controller receives a signal that the electric quantity is full, sends instructions to each motion control submodule to control the running of each roller, so that the robot body leaves the charging pile, automatically stops charging to prevent overcharging, and continuously moves along the magnetic stripe track 114 to carry out patrol work. In addition, the power manager 141 also alarms abnormal power consumption states including low power, excessive current, and excessive temperature.
As shown in fig. 2, a touch display is provided on the robot body 10 for displaying the current electric quantity, the RFID information in the steel pipe end enclosure read by the RFID reader, and the number and type of the steel pipes read at a certain storage location.
Referring to fig. 7, the steel pipe warehouse management system of the present invention includes the steel pipe warehouse inspection robot system, and further includes a steel pipe ID writing subsystem, an in-out information recording subsystem, a bridge crane guidance subsystem, and a warehouse management server. Wherein, the storage inside the warehouse management server is pre-stored with a warehouse electronic map.
The steel pipe ID writing subsystem is used for writing in the unique identification number into the RFID implanted in the end socket of each steel pipe before the steel pipes are put in storage so as to mark the identity of the steel pipe. The in-out storage recording subsystem is used for reading the RFID of the steel pipe when the steel pipe is put in or out of a warehouse, recording the corresponding relation between the RFID of the steel pipe and the warehouse location distributed by the warehouse management server, and writing the read out-of-warehouse information and the read in-warehouse information of the steel pipe into the warehouse management server; the warehouse entry and exit information comprises the type of the warehouse entry and exit steel pipe, the production batch number, the warehouse entry and exit date and the corresponding warehouse location. The steel pipe warehouse patrol robot system regularly performs warehouse patrol checking, checks the number information, the type information and the identity information of the remaining steel pipes on each warehouse, and writes the information into the warehouse management server. The bridge crane guiding subsystem comprises a display arranged in a bridge crane cab. The bridge crane guiding subsystem is used for displaying the number of the warehouse location corresponding to the steel pipe and the position of the warehouse location on a warehouse map on a display according to the information of the steel pipe to be delivered or delivered when the steel pipe is delivered or delivered, so that a bridge crane driver can visually see the target warehouse location and quickly and accurately find the target warehouse location.
The steel pipe warehouse inspection robot system, the steel pipe ID writing-in subsystem, the warehouse-in and warehouse-out information recording subsystem and the bridge crane guiding subsystem are connected with the existing mature warehouse data management system through interfaces and exchange data.
As shown in fig. 8, only one steel pipe warehouse inspection robot system is provided in the steel pipe warehouse, and a magnetic stripe track 114 is pre-laid in the warehouse, where the magnetic stripe track 114 sequentially passes through an inspection walkway in front of each row of the warehouse locations, so that the robot body 10 sequentially inspects each warehouse location along the preset magnetic stripe track 114. As shown in fig. 9, in order to improve the efficiency of the patrol and reduce the length of the patrol time, for a warehouse with a large area, the warehouse area is divided into a plurality of areas, each area is provided with one robot body 10, and each robot body 10 is responsible for patrolling the warehouse location in the area.
The steel tube warehouse inspection robot system can replace manual work to inspect in the steel tube warehouse, read the inventory condition of each warehouse location, correct the database, avoid the condition that the inventory of the database is inconsistent with the actual condition, reduce the labor intensity of the manual work, and improve the intelligent degree of the management of the steel tube warehouse. The identity of the steel pipe is identified through the RFID technology, and the quantity of the steel pipes is identified through the RFID technology and the image processing technology.
According to the steel pipe warehouse management system, the display is arranged in the bridge crane cab, information such as the position of the steel pipe warehouse position (combined with an electronic map of a warehouse) needing to be in and out of the warehouse and the number of steel pipes in and out of the warehouse can be displayed to a driver on the display, so that the driver can quickly find the target warehouse position according to prompts, the problems that the target warehouse position is difficult to find due to overlarge warehouse and information is mistransmitted in a way of calling, interphone and the like are solved, noise interference is eliminated, and the working efficiency of the bridge crane driver is improved.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention by those skilled in the art should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (14)
1. The utility model provides a steel pipe warehouse inspection robot system which characterized in that, it includes: the robot comprises a robot body and a monitoring background;
the robot body comprises a motion control system, a quantity patrol system, an environment perception system and a communication module; the motion control system comprises a wheel type moving platform driven by a motor, a motion controller, a magnetic navigation sensor and a magnetic stripe track, wherein the magnetic stripe track is paved on the ground of the steel tube warehouse in advance so as to guide the robot body to move along the magnetic stripe track; the quantity inspection system comprises an RFID reader and a camera; the environmental perception system comprises an ultrasonic sensor; the quantity inspection system and the environment sensing system are arranged on the wheel type moving platform and are driven by the wheel type moving platform to move;
the wheel type mobile platform is provided with a plurality of rollers and can drive the robot body to move along a preset magnetic stripe track, the rollers are driven by motors to rotate respectively, and the output rotating speed of each motor is controlled by a motion controller; the magnetic navigation sensor is arranged corresponding to the magnetic strip track; the magnetic navigation sensor is used for judging whether the robot body moves on the magnetic stripe track in real time, sending correction information to the motion controller in real time when the robot body deviates from the magnetic stripe track, and controlling the output rotating speed of the motor by the motion controller to enable different rollers to generate rotating speed difference so as to realize deflection adjustment of the moving direction of the robot body;
the RFID reader is used for reading information of different warehouse positions in the steel pipe warehouse and identity information of different steel pipes on the warehouse positions; the ultrasonic sensor is used for sensing obstacles around the robot body;
the camera is used for identifying the number of steel pipes in different warehouse positions or detecting obstacles in front of the moving robot body so as to realize double verification with the number of steel pipes detection result obtained by the RFID reader through reading the identity information of the steel pipes or double verification with the obstacle information sensed by the ultrasonic sensor;
the communication module is used for realizing data interaction between the robot body and the monitoring background.
2. The steel pipe warehouse inspection robot system according to claim 1, wherein a lifting mechanism is provided on the wheel-type moving platform, the RFID reader and the camera are provided on the lifting mechanism, and the lifting mechanism drives the RFID reader and the camera to ascend or descend for reading, shooting and detecting the RFID in the steel pipe end sockets at different heights on the warehouse.
3. The steel tube warehouse inspection robot system according to claim 1, wherein an anti-collision bumper is provided on the wheeled mobile platform, the anti-collision bumper being provided around the wheeled mobile platform.
4. The steel pipe warehouse inspection robot system according to claim 1, wherein the camera is a camera with a pan/tilt head, and the RFID reader is provided on a bracket that can automatically adjust a pitch angle.
5. The steel pipe warehouse inspection robot system according to claim 1, wherein the RFID readers comprise a first RFID reader and a second RFID reader, and the first RFID reader is used for reading RFID implanted in the end socket of the steel pipe; the second RFID reader is used for reading the RFID with the position or the number information written in on the warehouse racks in different warehouse positions in the warehouse; and the second RFID reader and the camera are jointly used for confirming the current position of the robot body.
6. The steel tube warehouse inspection robot system according to claim 1, wherein the magnetic navigation sensor is arranged on the bottom surface of the wheel type moving platform, the magnetic navigation sensor collects a weak magnetic field above a magnetic stripe track by using a plurality of built-in hall switch sensors at different positions, each hall switch sensor has a path of signal corresponding to output, when the hall switch sensors collect a magnetic field signal, the path of signal outputs a low level, and when the hall switch sensors do not collect the magnetic field signal, the signal output is a high level; judging whether the magnetic stripe track deviates from the position relative to the magnetic navigation sensor or not by depending on level signals output by different Hall switch sensors; when the Hall switch sensor positioned in the middle of the magnetic navigation sensor measures that the magnetic induction intensity is maximum, the robot body is shown to be positioned on the magnetic stripe track at present, and the motion controller does not process the difference of the rotating speed of the motor; on the contrary, when the Hall switch sensor which detects the maximum magnetic induction intensity is no longer in the middle position of the magnetic navigation sensor, the deviation between the robot body and the magnetic stripe track is shown, and accordingly the motion controller makes the processing of differentiating the rotating speed of the motor so as to realize the steering of the robot body and ensure that the robot body moves along the magnetic stripe track.
7. The steel tube warehouse inspection robot system according to claim 1, wherein the number of the ultrasonic sensors is at least four, and 2 ultrasonic sensors are respectively arranged in front of and behind the wheel-type moving platform and used for monitoring whether the periphery of the robot body is obstructed or not in real time.
8. The steel pipe warehouse inspection robot system according to claim 1 or 7, wherein the environment sensing system further comprises a contact sensor provided at a peripheral edge of the robot body; once the robot body contacts or collides with the outside, the contact sensor is triggered to send an emergency stop signal to the motion controller, and the motion controller controls the motor to stop running, so that the robot body immediately stops walking and gives an alarm.
9. The steel tube warehouse inspection robot system according to claim 1, wherein the motion controller is configured to control a left front wheel motion control submodule, a right front wheel motion control submodule, a left rear wheel motion control submodule, and a right rear wheel motion control submodule; each control submodule comprises a driver, the motor and a speed reducer; the driver drives the motor to operate, and the motor outputs torque after being decelerated by the reducer to drive the roller to rotate.
10. The steel tube warehouse patrolling robot system according to claim 1, wherein the robot body further comprises a power supply system, and the power supply system comprises an electric quantity manager, a charging circuit, a rechargeable battery and a power supply state monitoring module; the rechargeable battery and the charging circuit are both connected with the electric quantity manager, and the power state monitoring module is connected with the electric quantity manager and used for monitoring the residual electric quantity in the rechargeable battery in real time; the electric quantity manager provides electric energy for each electric element or electric function module on the robot body.
11. The steel tube warehouse inspection robot system according to claim 1, further comprising an electric quantity replenishment device, wherein the electric quantity replenishment device is a non-wireless charging pile and is used for charging the robot body to replenish electric energy.
12. A steel pipe warehouse management system, characterized by comprising a steel pipe warehouse inspection robot system according to any one of claims 1 to 11, a steel pipe ID writing subsystem, an in-out information recording subsystem, a bridge crane guidance subsystem, and a warehouse management server; the warehouse management server is prestored with a warehouse electronic map;
the steel pipe ID writing subsystem is used for writing the RFID implanted in the end socket of each steel pipe into a unique identification number before the steel pipes are put in storage so as to mark the identity of the steel pipe;
the in-out storage recording subsystem is used for reading the RFID of the steel pipe when the steel pipe is put in or out of a warehouse, recording the corresponding relation between the RFID of the steel pipe and the warehouse location distributed by the warehouse management server, and writing the read out-of-warehouse information and the read in-warehouse information of the steel pipe into the warehouse management server; the warehouse entry and exit information comprises the type of the warehouse entry and exit steel pipe, the production batch number, the warehouse entry and exit date and the corresponding warehouse location;
the bridge crane guiding subsystem comprises a display arranged in a bridge crane cab; the bridge crane guidance subsystem is used for displaying the number of the warehouse location corresponding to the steel pipe and the position of the warehouse location on a warehouse map on the display according to the information of the steel pipe to be delivered or delivered when the steel pipe is delivered or delivered, so that a bridge crane driver can quickly and accurately find a target warehouse location according to the prompt on the display;
the steel pipe warehouse patrol robot system regularly performs warehouse patrol checking, checks the number information, the type information and the identity information of the remaining steel pipes on each warehouse location, and writes the information into a warehouse management server.
13. The steel pipe warehouse management system of claim 12, wherein the steel pipe warehouse inspection robot system, the steel pipe ID writing subsystem, the in-out information recording subsystem, and the bridge crane guidance subsystem are connected to and exchange data with an existing mature warehouse data management system through an interface.
14. The steel pipe warehouse management system according to claim 12, wherein only one steel pipe warehouse inspection robot system is provided in the steel pipe warehouse, or the steel pipe warehouse is divided into a plurality of sections, and each section is provided with one steel pipe warehouse inspection robot system.
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| CN202011324143.XA CN112327877A (en) | 2020-11-23 | 2020-11-23 | Steel pipe warehouse inspection robot system and steel pipe warehouse management system |
| PCT/CN2021/116768 WO2022105371A1 (en) | 2020-11-23 | 2021-09-06 | Steel pipe warehouse inspection robot system and steel pipe warehouse management system |
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| CN202011324143.XA CN112327877A (en) | 2020-11-23 | 2020-11-23 | Steel pipe warehouse inspection robot system and steel pipe warehouse management system |
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| WO (1) | WO2022105371A1 (en) |
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| WO2022105371A1 (en) * | 2020-11-23 | 2022-05-27 | 山东建筑大学 | Steel pipe warehouse inspection robot system and steel pipe warehouse management system |
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| CN115587767B (en) * | 2022-10-14 | 2023-11-21 | 众芯汉创（北京）科技有限公司 | RFID-based unmanned aerial vehicle rapid entry and exit registration method and system |
| CN116476099B (en) * | 2023-06-21 | 2023-08-29 | 中数智科(杭州)科技有限公司 | Train inspection robot control system |
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