CN112520299A - Steel pipe warehouse in-out management guide system and ground rail type inspection robot - Google Patents
Steel pipe warehouse in-out management guide system and ground rail type inspection robot Download PDFInfo
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- CN112520299A CN112520299A CN202011322066.4A CN202011322066A CN112520299A CN 112520299 A CN112520299 A CN 112520299A CN 202011322066 A CN202011322066 A CN 202011322066A CN 112520299 A CN112520299 A CN 112520299A
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 132
- 239000010959 steel Substances 0.000 title claims abstract description 132
- 238000007689 inspection Methods 0.000 title claims abstract description 36
- 230000033001 locomotion Effects 0.000 claims description 49
- 238000007726 management method Methods 0.000 claims description 30
- 238000012544 monitoring process Methods 0.000 claims description 20
- 238000004891 communication Methods 0.000 claims description 16
- 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
- 230000007613 environmental effect Effects 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 4
- 230000008447 perception Effects 0.000 claims description 4
- 230000009466 transformation Effects 0.000 claims description 4
- 238000013523 data management Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 claims description 3
- 230000001960 triggered effect Effects 0.000 claims description 3
- 230000003993 interaction Effects 0.000 claims description 2
- 230000002093 peripheral effect Effects 0.000 claims description 2
- 230000000087 stabilizing effect Effects 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000012545 processing Methods 0.000 description 3
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- 230000009471 action Effects 0.000 description 1
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- 230000007547 defect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0216—Codes or marks on the article
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0233—Position of the article
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0241—Quantity of articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
- B65G2203/046—RFID
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention relates to the technical field of warehouse management, in particular to a steel tube warehouse in-out management guide system and a ground rail type patrol robot. The ground rail type inspection robot is used for replacing manual work to inspect in the 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 tube warehouse in-out management guide 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 the warehouse) needing to be subjected to in-out and warehousing, the number of steel tubes going in and out of the warehouse and the like 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 prevented, and the working efficiency is improved.
Description
Technical Field
The invention relates to a warehouse management technology, in particular to a steel tube warehouse in-out management guide system and a ground rail type inspection robot.
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 technical problem to be solved by the invention is to provide a steel tube warehouse in-out management guide system and a ground rail type patrol robot, wherein the identity of a steel tube is identified by an RFID technology, the number of the steel tubes is identified by 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 patrol robot is used for regularly patrolling the warehouse positions, the stock condition of each warehouse position is read, and the data base is corrected.
The invention relates to a ground rail type inspection robot, 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 sliding contact type electric rail and a conductive contact piece electrically connected with the sliding contact type electric rail, wherein the sliding contact type electric rail is paved on the ground of the steel tube warehouse in advance;
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 moving platform is provided with a plurality of rollers and can drive the robot body to move along a sliding contact type electric rail, the rollers are driven by motors to rotate respectively, the output rotating speed of each motor is controlled by a motion controller, and the sliding contact type electric rail supplies power to the motors through the conductive contact pieces so that the motors drive the rollers to move along the sliding contact type electric rail;
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 a preferred embodiment of the present invention, the trolley line of the trolley rail is buried under the ground, and sinking grooves are formed in the ground corresponding to two poles of the trolley line, and the conductive contact pieces arranged on two sides of the robot body are embedded in the sinking grooves and electrically contact with the trolley line of the trolley rail.
According to the preferred embodiment of the present invention, wherein the motor of the robot body is a three-phase asynchronous motor or a single-phase motor; the trolley type power rail provides 380V or 220V alternating current; the robot body is internally provided with a voltage transformation circuit, a rectification circuit and a voltage stabilizing circuit to provide electric energy for the robot body.
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 an emergency stop signal to the motion controller, and the motion controller controls the motors to stop running, so that the robot body immediately stops walking and gives 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, and the power supply system supplies power to the electric devices of the robot body except for the driving motors of the rollers. 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.
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.
It should be noted that, because the sliding contact type power rail and the conductive contact are used for supplying power to the robot body, a power supply system, an electric quantity supply device and the like can be omitted in some embodiments of the invention, so that the inspection robot and the control flow are simplified, the weight of the robot body is reduced, the motion control flow of the robot body is simplified, the requirements on electric control and software are reduced, and the stability of the inspection robot is improved.
Another object of the present invention is to provide a steel tube warehouse entry and exit management guidance system, which includes the ground rail type inspection robot, the steel tube ID writing subsystem, the entry and exit 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 ground track type inspection robot regularly performs warehouse inspection and 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 a warehouse management server.
According to the preferred embodiment of the invention, the ground rail type patrol robot, the steel pipe ID writing subsystem, the warehouse entering and exiting information recording subsystem and the bridge crane guiding subsystem are connected with an existing mature warehouse data management system through interfaces and exchange data.
According to the preferred embodiment of the present invention, only one set of ground rail type inspection robot is provided in the steel pipe warehouse, or the steel pipe warehouse is divided into a plurality of sub-areas, and each sub-area is provided with a set of ground rail type inspection robot.
The ground rail type inspection robot 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 in-out management guide 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 subjected to in-out and warehousing, the number of steel tubes going in and out of the warehouse and the like 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 problem that the target warehouse position is difficult to find due to overlarge warehouse and information is mistransmitted in modes such as shouting and interphone is solved.
The invention will be further explained with reference to the drawings.
Drawings
Fig. 1 is an overall frame diagram of a ground rail type patrol robot according to the present invention.
Fig. 2 is a schematic view of the working state of the ground rail type patrol robot of the present invention.
Fig. 3 is a block diagram of an environment sensing module of the ground rail type patrol robot of the present invention.
Fig. 4 is a block diagram showing a motion control module of the ground rail type patrol robot according to the present invention.
Fig. 5 is a schematic view of the contact between the conductive contact piece of the ground rail type inspection robot body and the sliding contact type power rail according to the present invention.
Fig. 6 is a block diagram showing a power supply system of the ground rail type patrol robot according to the present invention.
Fig. 7 is a block diagram of the steel pipe warehouse entry/exit management guidance system according to the present invention.
Fig. 8 is a schematic diagram of a trolley-type power rail circuit preset on the ground of a steel pipe warehouse.
Fig. 9 is a schematic view of a large steel pipe warehouse partitioned.
Detailed Description
Fig. 1 is a general frame diagram of a ground rail type patrol robot according to a preferred embodiment of the present invention. As shown in fig. 1, the ground rail type patrol robot 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 (which may or may not be provided), 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.
Referring to fig. 2, the motion control system 11 includes a wheeled moving platform 111 driven by a motor, a motion controller, a sliding contact type electric rail 114, and a conductive contact 113 (see fig. 5) provided on the robot body 10 and electrically contacting the sliding contact type electric rail 114, wherein the sliding contact type electric rail 114 is pre-laid on the ground of the steel tube warehouse and is used for providing power to the robot body 10 and driving the robot body to move along the sliding contact type electric rail 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 sliding contact type electric rail 114 in the warehouse, and inspect the steel pipes on the warehouse positions and the checking positions 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 wheeled moving platform 111 drives the robot body to move along the sliding contact type electric rail 114. 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 environment sensing system 13, the quantity patrol system 12 and the power supply system 14 (directly connected, or indirectly connected with the motion controller of the robot body through an upper computer in the monitoring background). Specifically, 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 quantity 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 rechecking detection and verification. In the process of patrol, when the power supply system 14 detects that the working power of each detector (RFID, camera, ultrasonic sensor, contact sensor) in the robot body 10 is insufficient, the motion controller controls the roller 1111 to rapidly roll in the reverse direction (the driving motor of the roller 1111 is powered by the sliding contact type power rail 114), and returns to the charging pile set at the starting point of the robot body 10 to replenish the power. In other embodiments, the robot body 10 is not provided with the power supply system 14 (without a power manager, a rechargeable battery, a power status monitoring module, etc.), and the power is directly supplied from the trolley rails 114 through the conductive contacts 113 provided below the robot body 10. At this time, a voltage transformation circuit, a rectification circuit and a voltage stabilization circuit are configured in the robot body to provide electric energy for each electric function module for each electric device of the robot body, such as a power supply circuit of an RFID reader, a camera, an ultrasonic sensor and the like. The driving motor of each roller 1111 of the robot body 10 is a three-phase asynchronous motor or a single-phase motor, the sliding contact type power rail 114 can provide 380V or 220V alternating current, and the transformation, rectification and voltage regulation circuit configured in the robot body 10 provides power for the robot body 10. 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. 2 and 5, the conductive contacts 113 are a set, and are correspondingly disposed on two sides (positive and negative poles, respectively) of the wheeled moving platform 111, and are correspondingly disposed on the sliding contact type electric rail 114 on the warehouse floor. The sliding contact line 1140 for supplying ac power on the sliding contact type rail 114 is laid under the ground (to avoid electric shock of the working personnel), the two poles of the sliding contact line corresponding to the ground are provided with the sunken grooves 110, and the conductive contact pieces 113 arranged on the two sides of the robot body 10 protrude downwards and are embedded into the sunken grooves 110 to electrically contact with the sliding contact line 1140 of the sliding contact type rail 114 to obtain electric energy.
As shown in fig. 1 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 and 4, at least 4 ultrasonic sensors 131 are respectively disposed on the front two and the rear two of the wheeled 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 crash bumper 116 is provided at the edge of the wheeled moving platform 111, and a contact sensor 133 is provided on the bumper 116. The sudden stop of the robot body 10 may be controlled by disconnecting the circuit to stop the power supply through the trolley wire 1140 of the trolley rail 114, or by controlling the disconnection of the driving circuit of each motor only by the controller as described above, so as to stop the operation of the motor.
As shown in fig. 6, a power supply system 14 of the inspection robot 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 other embodiments, since the trolley rail 114 supplies power to the robot body 10 in real time through the conductive contact piece 113, the power supply system 14 can be eliminated, so as to further reduce the components and weight of the robot body 10 and simplify the control process. Of course, in some embodiments, the robot body 10 may be driven to move only by the power supply of the sliding contact power rail 114, and when the electric energy used by other electric devices disposed on the robot body 10, i.e., the first/second RFID readers (131, 132), the camera 122, the ultrasonic sensor 131, the contact sensor 133, and the like, comes from the rechargeable battery in the robot body 10, a wireless charging pile may be disposed in the warehouse at the start end or the end of the sliding contact power rail 114. 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 electricity, the motion controller receives the signal that the electricity is full, sends instructions to the motion control submodules, controls the running of the rollers, enables the robot body to leave the charging pile, automatically stops charging to prevent overcharging, and continues to move along the sliding contact type electric rail 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 tube warehouse entry/exit management guidance system according to the present invention includes the above ground rail type patrol robot, and further includes a steel tube ID writing subsystem, an entry/exit 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 ground track type inspection robot regularly performs warehouse inspection and 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 ground rail type inspection robot, 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 set of ground rail type inspection robot is provided in the steel pipe warehouse, a sliding contact type electric rail 114 is pre-laid in the warehouse, and the sliding contact type electric rail 114 sequentially passes through the inspection walkway in front of each row of warehouse locations, so that the robot body 10 sequentially inspects each warehouse location along the pre-set sliding contact type electric rail 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 ground rail type inspection robot 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 in-out management guide 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 the warehouse) needing to be subjected to in-out and warehousing, the number of steel tubes going in and out of the warehouse and the like can be displayed to a driver on the display, so that the driver can quickly find the target warehouse position according to prompts, the problem that the target warehouse position is difficult to find due to overlarge warehouse and the problem of information mistransmission caused by modes such as calling, interphone and the like is 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 (13)
1. A ground rail type patrol robot, characterized in that it comprises: 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 sliding contact type electric rail and a conductive contact piece electrically connected with the sliding contact type electric rail, wherein the sliding contact type electric rail is paved on the ground of the steel tube warehouse in advance;
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 moving platform is provided with a plurality of rollers and can drive the robot body to move along a sliding contact type electric rail, the rollers are driven by motors to rotate respectively, the output rotating speed of each motor is controlled by a motion controller, and the sliding contact type electric rail supplies power to the motors through the conductive contact pieces so that the motors drive the rollers to move along the sliding contact type electric rail;
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 ground rail type inspection robot according to claim 1, wherein a lifting mechanism is provided on the wheel type mobile 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 in the warehouse.
3. The ground-based rail inspection robot according to claim 1, wherein a collision bumper is provided on the wheeled mobile platform, and the collision bumper is provided around the wheeled mobile platform.
4. The ground rail type patrol robot according to claim 1, wherein the camera is a camera with a pan/tilt head, and the RFID reader is provided on a support capable of automatically adjusting a pitch angle.
5. The ground rail type patrol robot 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 ground rail type inspection robot according to claim 1, wherein the trolley line of the trolley rail is buried under the ground, and sinking grooves are formed in the ground corresponding to two poles of the trolley line, and the conductive contact pieces arranged on two sides of the robot body are embedded in the sinking grooves and electrically contact with the trolley line of the trolley rail.
7. The ground rail type patrol robot according to claim 1 or 6, wherein the motor of the robot body is a three-phase asynchronous motor or a single-phase motor; the trolley type power rail provides 380V or 220V alternating current; the robot body is internally provided with a voltage transformation circuit, a rectification circuit and a voltage stabilizing circuit to provide electric energy for the robot body.
8. The ground rail type patrol robot 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 mobile platform for monitoring whether the periphery of the robot body is obstructed or not in real time.
9. The ground rail type patrol robot according to claim 1 or 8, 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.
10. The ground-based rail inspection robot of 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.
11. A steel tube warehouse in-out management guidance system, which is characterized in that the system comprises the ground rail type patrol robot, a steel tube ID writing subsystem, an in-out information recording subsystem, a bridge crane guidance subsystem and a warehouse management server, wherein the ground rail type patrol robot is defined by any one of claims 1 to 10; 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 ground track type inspection robot regularly performs warehouse inspection and 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 a warehouse management server.
12. The steel tube warehouse entry and exit management guidance system of claim 11, wherein the ground rail type patrol robot, the steel tube ID writing subsystem, the entry and exit information recording subsystem and the bridge crane guidance subsystem are connected with the existing mature warehouse data management system through an interface and exchange data.
13. The steel pipe warehouse entry and exit management guide system according to claim 11, wherein only one set of ground rail type inspection robot 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 a set of ground rail type inspection robot.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011322066.4A CN112520299A (en) | 2020-11-23 | 2020-11-23 | Steel pipe warehouse in-out management guide system and ground rail type inspection robot |
| PCT/CN2021/115731 WO2022105360A1 (en) | 2020-11-23 | 2021-08-31 | Storage and retrieval management guiding system for steel pipe warehouse, and ground rail type inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011322066.4A CN112520299A (en) | 2020-11-23 | 2020-11-23 | Steel pipe warehouse in-out management guide system and ground rail type inspection robot |
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| CN112520299A true CN112520299A (en) | 2021-03-19 |
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| CN202011322066.4A Pending CN112520299A (en) | 2020-11-23 | 2020-11-23 | Steel pipe warehouse in-out management guide system and ground rail type inspection robot |
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| WO (1) | WO2022105360A1 (en) |
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| WO2022105360A1 (en) | 2022-05-27 |
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