CN113485330B - Robot logistics carrying system and method based on Bluetooth base station positioning and scheduling - Google Patents

Robot logistics carrying system and method based on Bluetooth base station positioning and scheduling Download PDF

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Publication number
CN113485330B
CN113485330B CN202110744142.9A CN202110744142A CN113485330B CN 113485330 B CN113485330 B CN 113485330B CN 202110744142 A CN202110744142 A CN 202110744142A CN 113485330 B CN113485330 B CN 113485330B
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sub
goods
robot
transported
cloud server
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CN113485330A (en
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房殿军
刘记忠
潘永平
沈雪琪
高志元
王平
蒋红琰
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Suzhou I Cow Intelligent Logistics Technology Co ltd
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Suzhou I Cow Intelligent Logistics Technology Co ltd
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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
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • 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
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • 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
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • 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
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Abstract

The invention discloses a robot logistics carrying system and a method based on Bluetooth base station positioning and scheduling, comprising a plurality of sub-robots which are positioned on a warehouse field and used for carrying goods to be carried; a plurality of Bluetooth base stations for matching and positioning the sub-robots; the visual positioning system is positioned around the warehouse field and used for positioning the goods to be transported; the Bluetooth base stations are distributed in a grid manner and are fixedly arranged on the freight house field; the sub-robots are in communication connection with the cloud server; the Bluetooth base station is in communication connection with a cloud server; and the visual positioning system is in communication connection with the cloud server. The invention determines the number of the needed sub-robots and the coordinates of the transportation supporting points of each sub-robot according to the size of the goods to be transported, namely, the needed sub-robots are reasonably distributed, thereby completing the transportation operation of larger goods through the cooperation of the sub-robots and increasing the application range.

Description

Robot logistics carrying system and method based on Bluetooth base station positioning and scheduling
Technical Field
The invention belongs to the technical field of logistics, and particularly relates to a robot logistics carrying system and method based on Bluetooth base station positioning and scheduling.
Background
With the development of factory intelligence and logistics intelligence, more and more robots and related intelligent technologies are applied to the aspect of logistics robots. The realization of the intelligent and automatic handling of goods in factories and warehouses is a trend and is more and more concerned by more people.
At present, specific robots in an intelligent carrying system in the logistics field can only carry goods in a specific size range, and for goods in larger sizes, the robots can not carry the goods in a cooperative mode, so that the application range of the existing intelligent carrying system is low.
Therefore, the system and the method can determine the number of the required sub-robots according to the size of the goods to be transported and transfer the nearby sub-robots to carry the goods in a cooperative manner, so that the transportation operation of the large goods is completed.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a robot logistics carrying system and a method based on Bluetooth base station positioning and scheduling, which can be used for scheduling a plurality of sub-robots nearby to carry in a cooperative manner, so that the carrying operation of large goods is completed.
In order to achieve the purpose, the invention adopts the following technical scheme:
a robot streaming handling system based on bluetooth base station location and scheduling, the handling system comprising:
the sub-robots are positioned on the warehouse field and used for carrying goods to be carried;
a plurality of Bluetooth base stations for matching and positioning the sub-robots;
the visual positioning system is positioned around the warehouse field and used for positioning the goods to be transported;
the Bluetooth base stations are distributed in a grid manner and are fixedly arranged on the freight house field;
the child robots are in communication connection with the cloud server, and the cloud server controls the motion of the child robots; the Bluetooth base station is in communication connection with a cloud server, and the cloud server positions the sub-robots through the Bluetooth base station; the visual positioning system is in communication connection with the cloud server, and the cloud server receives the position information of the goods to be carried, which is measured by the visual positioning system.
Further, an MCU core controller and a Bluetooth sub-module are arranged on the sub-robot;
the MCU core controller of the sub-robot is in communication connection with the Bluetooth base station through the Bluetooth sub-module;
and the sub-robot is in communication connection with the cloud server through the MCU core controller.
Further, the sub-robot comprises a body, wherein omnidirectional wheels are arranged on the side surface of the body;
the two sides of the upper part of the machine body are respectively provided with a rigid clamp with adjustable height and a flexible clamp with adjustable height;
a bracket is arranged at the upper part of the machine body, and a three-dimensional scanning lens is arranged on the bracket;
the MCU core controller and the Bluetooth sub-module are arranged on the machine body;
the three-dimensional scanning lens is in communication connection with the MCU core controller;
and the MCU core controller controls the movement of the omnidirectional wheel.
Furthermore, all set up range finding module on the organism of rigid clamp below and the organism of flexible clamp below.
Furthermore, the Bluetooth base stations are distributed in a grid manner and are fixedly arranged on the freight house site.
A robot stream carrying method based on Bluetooth base station positioning and scheduling adopts the robot stream carrying system based on Bluetooth base station positioning and scheduling, which comprises the following steps:
step 1: the visual positioning system preliminarily judges the position of the goods to be transported and transmits the position data of the goods to be transported to the cloud server;
step 2: the cloud server triangularly positions the coordinates of each sub-robot through the Bluetooth base station, and a sub-robot coordinate library is formed in the cloud server;
and step 3: the cloud server determines the sub-robot closest to the goods to be transported according to the position data of the goods to be transported uploaded by the visual positioning system and the coordinates of each sub-robot uploaded by the Bluetooth base station;
and 4, step 4: the cloud server controls a first sub-robot closest to the goods to be transported to move to the goods to be transported;
and 5: first sub-machine moving to position of goods to be transportedThe robot carries out three-dimensional scanning on the goods to be carried and transmits scanning information to the cloud server; cloud server determining required number of sub-robotsNThe coordinates of each carrying point on the goods to be carried, corresponding to each required sub-robot, are transmitted to the cloud server;
step 6: when the number of the sub-robots existing at the position where the goods are to be transported is smaller than the required number of the sub-robotsNThen, the cloud server inquires a sub-robot coordinate library, selects the nearest sub-robot from the rest sub-robots to move to the position of the goods to be transported, and sequentially transmits the corresponding transporting point coordinates on the goods to be transported to the sub-robots moving to the position of the goods to be transported;
when the number of the sub-robots existing at the place where the goods are to be transported is equal to the required number of the sub-robotsNThen, step 7 is performed:
and 7: and all the sub-robots positioned at the position of the goods to be transported reach respective transporting support points according to the received transporting point coordinates, the transporting posture is adjusted, and the goods are transported by adopting a rigid clamp or a flexible clamp.
Further, the method for triangulating the coordinates of each sub-robot by the cloud server through the bluetooth base station in the step 2 is as follows: the three-point positioning principle is applied, the time for each Bluetooth base station to receive and send a positioning instruction of the sub-robot to be positioned is solved by applying three Bluetooth base stations, the distance between each Bluetooth base station and the sub-robot is calculated, and then the coordinate of the sub-robot is calculated.
Further, the number of required sub-robots is determined in said step 5NAnd the method of the transfer point coordinates on the goods to be transferred corresponding to each required sub-robot comprises the following steps:
step 51: the first sub-robot moving to the position of the goods to be transported performs three-dimensional scanning around the goods to be transported in a circle, the scanned three-dimensional size of the goods to be transported is sent to the cloud server, and the cloud server determines the number of required transportation supporting points according to the three-dimensional size of the goods to be transportedN；
Step 52: the first sub-robot moving to the position where the goods to be transported are circulated around the goods to be transported for one circle to carry out three-dimensional scanning, so that the cloud server determines specific coordinates (x, y) of the goods to be transported;
step 53: the first sub-machine scans circularly and circularly around the goods to be transported again, so that the cloud server determines the relative coordinates (dx 1, dy 1) of the first transportation supporting point;
step 54: when the number of the conveying supporting points with the determined coordinates is less than the number of the required conveying supporting pointsNWhile the first sub-robot continues to scan around the goods to be handled in a loop-like manner, the relative coordinates (dxi, dyi) of the various handling support points are determined (i =1,2, …,N) (ii) a Wherein, (dxi, dyi) is the relative coordinate of the ith carrying supporting point based on the specific coordinate of the goods to be carried;
when the number of the conveying supporting points with the determined coordinates is equal to the number of the required conveying supporting pointsNThen, step 55 is performed:
step 55: cloud server forms a code corresponding to a cargo to be handled
N（x，y）-1（dx1，dy1）-2（dx2，dy2）-…-i（dxi，dyi）-…- N（dxN，dyN）。
Further, the process of the child robot handling in step 7 includes the following steps:
step 71: the sub-robots arrive at respective carrying support points according to the received carrying point coordinates;
step 72: when a carrying supporting point of goods to be carried needs to be carried by adopting a flexible clamp, the cloud server controls the flexible clamp of the sub-robot at the carrying supporting point to align to the carrying supporting point;
when the carrying supporting point of the goods to be carried does not need to be carried by adopting a flexible clamp, the cloud server controls the rigid clamp of the sub-robot at the carrying supporting point to align to the carrying supporting point;
step 73: after all the sub-robots are in place, the cloud server controls all the sub-robots to support the goods to be transported together for transporting operation.
The invention has the beneficial effects that:
(1) according to the invention, through the arrangement of the Bluetooth base station, the visual positioning system, the cloud server and the sub-robot, the intelligent transportation of goods to be transported can be realized; meanwhile, the number of the required sub-robots and the coordinates of the carrying supporting points of each sub-robot are determined according to the size of the goods to be carried, namely, the required sub-robots are reasonably distributed, so that the carrying operation of large goods can be completed through the cooperation of the sub-robots, and the application range is enlarged;
(2) the invention analyzes the distance between each Bluetooth base station and the sub-robot by using the three-point positioning principle through the time characteristic of Bluetooth transmission, thereby realizing the determination of the coordinates of the sub-robot;
(3) according to the invention, the goods to be transported are scanned through the three-dimensional scanning lens on the sub-robot, and the three-dimensional scanning technology is applied to the measurement of the goods to be transported, so that the number of the sub-robots required and the relative coordinates of each transportation supporting point are calculated, and the stability, the efficiency and the accuracy of transportation are improved;
(4) the sub-robot provided by the invention is provided with the flexible clamp and the rigid clamp which are positioned on two sides, and can be switched according to requirements in the working process, so that the applicability of a logistics system is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a schematic diagram of the operation of a robot streaming handling system based on Bluetooth base station location and scheduling according to the present invention;
FIG. 2 is a schematic perspective view of the construction of the child robot of the present invention;
FIG. 3 is a schematic diagram of the Bluetooth base station three-point positioning sub-robot coordinates in the robot streaming handling system based on Bluetooth base station positioning and scheduling according to the present invention;
FIG. 4 is a flow chart of the robot stream handling method based on Bluetooth base station positioning and scheduling according to the present invention;
FIG. 5 is a flowchart of step 5 of the method for carrying a robot stream based on Bluetooth base station positioning and scheduling according to the present invention;
FIG. 6 is a flowchart of step 7 of the method for carrying robot logistics based on Bluetooth base station positioning and scheduling according to the present invention;
wherein the content of the first and second substances,
1. a warehouse field, 2, a Bluetooth base station, 3, goods to be transported;
4. the robot system comprises a sub-robot, 41, a three-dimensional scanning lens, 42, an omnidirectional wheel, 43, a machine body, 44, a flexible clamp, 45, a rigid clamp, 46, an MCU (microprogrammed control Unit), 47, a Bluetooth sub-module and 48, a distance measuring module;
5-visual positioning system.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In the present invention, terms such as "connected" and "connecting" should be interpreted broadly, and may be either fixedly connected or integrally connected or detachably connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be determined according to specific situations by persons skilled in the relevant scientific or technical field, and are not to be construed as limiting the present invention.
The invention is further illustrated with reference to the following figures and examples.
Example 1:
as shown in fig. 1, a robot traffic handling system based on bluetooth base station positioning and scheduling according to an embodiment of the present invention includes:
a plurality of sub-robots 4 which are positioned on the freight house field 1 and used for carrying goods 3 to be carried;
a plurality of Bluetooth base stations 2 used for matching and positioning the sub-robots 4;
the visual positioning system 5 is positioned around the freight house field 1 and used for positioning the goods 3 to be carried; and
a cloud server (not shown) to which the sub-robots 4 are communicatively connected, the cloud server controlling the movement of the sub-robots 4; the Bluetooth base station 2 is in communication connection with a cloud server, and the cloud server positions the sub-robot 4 through the Bluetooth base station 2; the visual positioning system 5 is in communication connection with a cloud server, and the cloud server receives the position information of the goods 3 to be carried, which is measured by the visual positioning system 5.
The Bluetooth base stations 2 are distributed in a grid manner and are fixedly arranged on the warehouse field 1, so that all the sub-robots 4 and all the goods 3 to be transported on the warehouse field 1 can be covered;
the sub robots 4 are in communication connection with the Bluetooth base station 2 to realize the positioning of the positions of the sub robots 4; specifically, the sub-robot 4 is provided with a bluetooth sub-module 47, which sends information to a bluetooth receiver of the bluetooth base station 2 in a broadcast mode, and the bluetooth base station 2 determines the position information of the sub-robot 4 by calculating the signal round-trip time, so as to complete the positioning of the position of each sub-robot 4; the position of the sub-robot 4 is determined by a three-point positioning method; the Bluetooth communication mode can automatically realize the coming and going of signals, so that the method is a very convenient mode for realizing the distance measurement between two points; meanwhile, the Bluetooth communication has a response mechanism, the point distance is measured based on the delay time of the response mechanism, and then the three-point positioning method is adopted to realize the positioning of the position coordinates. How to calculate will be described in detail later.
Preferably, the sub-robot 4 is further provided with an MCU core controller 46;
the MCU core controller 46 of the sub-robot 4 controls the Bluetooth sub-module 47 to be in communication connection with the Bluetooth base station 2;
the sub-robots 4 are also in communication connection with a cloud server through an MCU core controller 46; specifically, the MCU core controller 46 is a single chip microcomputer having a bluetooth module therein, and the MCU core controller 46 controls the internal bluetooth module to receive and transmit commands to implement communication with the cloud server.
Preferably, as shown in fig. 2, the sub-robot 4 further includes a body 43, and an omnidirectional wheel 42 is disposed on a side surface of the body 43;
the two sides of the upper part of the machine body 43 are respectively provided with a rigid clamp 45 with adjustable height and a flexible clamp 44 with adjustable height;
a support is arranged at the upper part of the body 43, and a three-dimensional scanning lens 41 is arranged on the support;
the MCU core controller 46 and the Bluetooth sub-module 47 are also arranged on the machine body 43;
the three-dimensional scanning lens 41 is in communication connection with the MCU core controller 46, and the MCU core controller 46 collects data of the three-dimensional scanning lens 41 disposed above the body 43, so as to realize specific observation of the cargo 3 to be transported, and uploads the scanned information to the cloud server;
the MCU core controller 46 controls the movement of the omnidirectional wheel 42, that is, the cloud server controls the movement of the sub-robot 4 by communicating with the MCU core controller 46; the MCU core controller 46 completes the operation and issues the command after receiving the signal from the cloud server, transmits the speed and direction information to the motor driver, and drives the motor to rotate the omni wheel 42, thereby realizing the movement.
Preferably, the distance measuring modules 48 are arranged on the machine body 43 below the rigid clamp 45 and the machine body 43 below the flexible clamp 44, so as to control the heights of the rigid clamp 45 and the flexible clamp 44; the rigid clamp 45 and the flexible clamp 44 are adjusted in height by an electric push rod installed in the body 43, that is, the distance measuring module 48 can measure the heights of the rigid clamp 45 and the flexible clamp 44, so as to control the corresponding electric push rod to move to enable the rigid clamp 45 and the flexible clamp 44 to reach the required heights.
Example 2:
as shown in fig. 4, a robot logistics transportation method based on bluetooth base station positioning and scheduling according to an embodiment of the invention, which uses the robot logistics transportation system based on bluetooth base station positioning and scheduling in example 1, includes the following steps:
step 1: the visual positioning system 5 preliminarily judges the position of the goods 3 to be carried and transmits the position data of the goods 3 to be carried to the cloud server; specifically, a distribution map of the cargo 3 to be carried may be formed on a display of the cloud server;
step 2: the cloud server triangulates the coordinates of each sub-robot 4 through the Bluetooth base station 2, and a sub-robot 4 coordinate library is formed in the cloud server; specifically, a distribution diagram of the child robots 4 may be formed on a display of the cloud server;
specifically, as shown in fig. 3, the method for triangulating the coordinates of each sub-robot 4 by the cloud server through the bluetooth base station in step 2 is as follows: calculating the distance between each Bluetooth base station 2 and the sub-robot 4 by using three Bluetooth base stations 2 to solve the time of each Bluetooth base station 2 for receiving and transmitting a positioning instruction of the sub-robot to be positioned by using a three-point positioning principle, and then calculating the coordinates of the sub-robot and defining the coordinates as (A0 j-xj-yj) (j =1,2, …, n);
wherein n is the number of the sub-robots, A0j is the code of the jth sub-robot, xj is the abscissa of the jth sub-robot, yj is the ordinate of the jth sub-robot, so as to record the site coordinates of each sub-robot.
The specific algorithm of the 4-coordinate sub-robot is as follows:
the position of each Bluetooth base station 2 is fixed and known, a plurality of Bluetooth base stations 2 can be adopted to determine the high-precision coordinates of the sub-robot 4, three Bluetooth base stations which are close to the corresponding sub-robot 4 are adopted to determine the coordinates in the application, and when the error is greater than a threshold value, the Bluetooth base stations can be replaced;
three Bluetooth base stations 2 respectively issue distance measurement instructions to the sub-robot 4 in a Bluetooth communication mode, timing t1 is started when each Bluetooth base station 2 issues, timing t2 is started when a signal transmitted back by the sub-robot 4 is received, and the time difference t2-t1 is the round-trip time of the signal.
According to the speed v of signal transmission, the distance between the sub-robot and the Bluetooth base station is
Figure DEST_PATH_IMAGE002
。
The distances between the sub-robot and the other two bluetooth base stations are obtained in the same way.
More specifically, the cloud server acquires the distances between all bluetooth base stations 2 and all sub-robots 4, sorts the distances between all bluetooth base stations 2 and all sub-robots 4 for each sub-robot 4, and selects three bluetooth base stations 2 closest to a specific sub-robot 4 to locate the specific sub-robot 4.
As shown in fig. 3, a circle is drawn by taking the bluetooth base station 2 as the center of the circle and the distance between the bluetooth base station 2 and the sub-robot 4 as the radius, and the intersection of the three drawn circles is the position of the sub-robot 4.
And step 3: the cloud server determines the sub-robot 4 closest to the goods to be transported 3 according to the position data of the goods to be transported 3 uploaded by the visual positioning system 5 and the coordinates of each sub-robot 4 uploaded by the Bluetooth base station 2; specifically, the cloud server determines the sub-robot closest to the goods 3 to be carried by calculating the distance between each sub-robot 4 and the goods 3 to be carried;
and 4, step 4: the cloud server controls the first sub-robot 4 closest to the goods 3 to be transported to move to the goods 3 to be transported;
and 5: the first sub-robot 4 traveling to the cargo to be transported 3 performs three-dimensional scanning on the cargo to be transported 3 to obtain the size and volume of the cargo to be transported, and transmits scanning information to the cloud server; cloud server determining required number of sub-robotsNAnd each carrying point coordinate on the goods to be carried corresponding to each required sub-robot;
specifically, as shown in fig. 5, the number of required sub-robots is determined in step 5NAnd each ofThe method for the transfer point coordinates on the goods to be transferred corresponding to the required sub-robot comprises the following steps:
step 51: the first sub-robot 4 moving to the to-be-transported goods 3 performs three-dimensional scanning around the to-be-transported goods 3 in a circle, the scanned three-dimensional size of the to-be-transported goods 3 is sent to the cloud server, and the cloud server determines the number of required transportation supporting points according to the three-dimensional size of the to-be-transported goods 3NWherein the number of carrying support points is the number of sub-robots required; the cloud server determines the total weight M of the goods and the number of the required sub-robots according to the volume and the physical properties of the goodsNAnd determining by taking an integer upwards after M/M multiplied by E, wherein M is the weight which can be borne by the sub-robot, E is a safety redundancy coefficient, and the value range of E is 1-2. For example: when M =100kg, M =40kg, E =1.5, M/M × E =3.75, 3.75 rounded up to 4, the number of required sub-robots is thenN=4；
Determining the position of the carrying point, namely classifying and determining the shape of the goods by adopting the three-dimensional scanning lens 41 of the sub-robot 4 to match with a cloud server, and firstly classifying the shape of the goods, such as a trilateral shape, a quadrilateral shape and the like; the position of the carrying point is determined by the shape of the goods and the balance of the distribution of the carrying points. For example, when the cargo is a quadrangular container, the handling points are usually arranged at the bottom of four sides or at the bottom of four vertices, when the number of sub-robots required is smallNIf =4, the middle position of the bottom of the four sides of the cargo can be taken as four conveying points, and the coordinates of each conveying point can be determined.
Step 52: the first sub-robot 4 moving to the position 3 where the goods to be transported are circulated around the goods 3 to be transported for one circle to perform three-dimensional scanning, so that the cloud server determines the specific coordinates (x, y) of the goods 3 to be transported, and usually the coordinates of the bottom center point of the goods 3 to be transported are taken as the coordinates of the goods 3 to be transported;
step 53: the first sub-robot 4 again scans around the load 3 to be handled in a circle, so that the cloud server determines the relative coordinates of the first handling support point (dx 1, dy 1); wherein, (dx 1, dy 1) is the relative coordinate of the 1 st carrying supporting point based on the specific coordinate of the goods 3 to be carried; wherein, when in final transportation, the first sub-robot 4 correspondingly transports the first transportation supporting point;
step 54: when the number of the conveying supporting points with the determined coordinates is less than the number of the required conveying supporting pointsNThe cloud server then controls the first sub-robot 4 to continue scanning around the load to be transported one cycle, determines the relative coordinates (dxi, dyi) of each transport support point (i =1,2, …,N) (ii) a Wherein, (dxi, dyi) is the relative coordinate of the ith carrying supporting point based on the specific coordinate of the goods 3 to be carried;
when the number of the conveying supporting points with the determined coordinates is equal to the number of the required conveying supporting pointsNThen, step 55 is performed:
step 55: cloud server forms a code corresponding to a cargo to be handled
N（x，y）-1（dx1，dy1）-2（dx2，dy2）-…-i（dxi，dyi）-…- N（dxN，dyN）。
Step 6: when the number of the sub-robots existing at the position where the goods are to be carried is less than the required number of the sub-robotsNThen, the cloud server searches the sub-robot coordinate base, selects the nearest sub-robot 4 from the remaining sub-robots to travel to the cargo to be transported, and sequentially transfers the corresponding transportation point coordinates on the cargo to be transported 3 to the sub-robot 4 traveling to the cargo to be transported 3, i.e., i (dxi, dyi) (i =1,2, …,N) The sub-robots 4 are transferred to the positions where the goods 3 to be transported run;
when the number of the sub-robots existing at the position where the goods are to be carried is equal to the required number of the sub-robotsNThen, step 7 is performed:
and 7: all the sub-robots 4 located at the position 3 where the goods are to be transported reach respective transporting support points according to the received transporting point coordinates, adjust the transporting attitude, and transport the goods by using the rigid clips 45 or the flexible clips 44.
Specifically, as shown in fig. 6, the process of the handling of the child robot in step 7 includes the following steps:
step 71: the sub-robots 4 reach respective carrying support points according to the received carrying point coordinates;
step 72: when a carrying supporting point of the goods 3 to be carried needs to be carried by adopting the flexible clamp 44, the cloud server controls the flexible clamp 44 of the sub-robot 4 at the carrying supporting point to align with the carrying supporting point; specifically, the top center point of the flexible clamp 44 or a certain specific point on the top can be aligned with the corresponding carrying supporting point, and how to align the flexible clamp can be specifically set according to actual situations, so as to ensure the carrying;
when the carrying supporting point of the goods 3 to be carried does not need to be carried by adopting the flexible clamp 44, the cloud server controls the rigid clamp 45 of the sub-robot 4 at the carrying supporting point to be aligned with the carrying supporting point; specifically, the center point of the top of the rigid clamp 45 or a certain specific point on the top can be aligned with the corresponding carrying supporting point, and how to align the top can be specifically set according to the actual situation, so as to ensure the carrying;
step 73: after all the sub-robots 4 are in place, the cloud server controls all the sub-robots 4 to support the goods 3 to be transported together for transporting operation.
According to the invention, through the arrangement of the Bluetooth base station, the visual positioning system, the cloud server and the sub-robot, the intelligent transportation of goods to be transported can be realized; meanwhile, the number of the required sub-robots and the coordinates of the carrying supporting points of the sub-robots are determined according to the size of the goods to be carried, namely, the required sub-robots are reasonably distributed, so that the carrying operation of large goods can be completed through the cooperation of the sub-robots, and the application range is enlarged; the invention analyzes the distance between each Bluetooth base station and the sub-robot by using the three-point positioning principle through the time characteristic of Bluetooth transmission, thereby realizing the determination of the coordinates of the sub-robot; according to the invention, the goods to be transported are scanned through the three-dimensional scanning lens on the sub-robot, and the three-dimensional scanning technology is applied to the measurement of the goods to be transported, so that the number of the sub-robots required and the relative coordinates of each transportation supporting point are calculated, and the stability, the efficiency and the accuracy of transportation are improved; the sub-robot provided by the invention is provided with the flexible clamp and the rigid clamp which are positioned on two sides, and can be switched according to requirements in the working process, so that the applicability of a logistics system is improved.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the present invention, and it should be understood by those skilled in the art that various modifications and changes may be made without inventive efforts based on the technical solutions of the present invention.

Claims (4)

1. A robot stream carrying method based on Bluetooth base station positioning and scheduling is realized by adopting a carrying system, and the carrying system comprises:
the sub-robots are positioned on the warehouse field and used for carrying goods to be carried;
a plurality of Bluetooth base stations for matching and positioning the sub-robots;
the visual positioning system is positioned around the warehouse field and used for positioning the goods to be transported;
the Bluetooth base stations are distributed in a grid manner and are fixedly arranged on the freight house field;
the child robots are in communication connection with the cloud server, and the cloud server controls the motion of the child robots; the Bluetooth base station is in communication connection with a cloud server, and the cloud server positions the sub-robots through the Bluetooth base station; the visual positioning system is in communication connection with a cloud server, and the cloud server receives position information of goods to be carried, which is measured by the visual positioning system;
the method is characterized by comprising the following steps:
step 1: the visual positioning system preliminarily judges the position of the goods to be transported and transmits the position data of the goods to be transported to the cloud server;
step 2: the cloud server triangularly positions the coordinates of each sub-robot through the Bluetooth base station and forms a sub-robot coordinate library in the cloud server;
and step 3: the cloud server determines the sub-robot closest to the goods to be transported according to the position data of the goods to be transported uploaded by the visual positioning system and the coordinates of each sub-robot uploaded by the Bluetooth base station;
and 4, step 4: the cloud server controls a first sub-robot closest to the goods to be transported to move to the goods to be transported;
and 5: the first sub-robot traveling to the goods to be transported performs three-dimensional scanning on the goods to be transported and transmits scanning information to the cloud server; cloud server determining required number of sub-robotsNThe coordinates of each carrying point on the goods to be carried, corresponding to each required sub-robot, are transmitted to the cloud server;
step 6: when the number of the sub-robots existing at the position where the goods are to be transported is smaller than the required number of the sub-robotsNThen, the cloud server inquires a sub-robot coordinate library, selects the nearest sub-robot from the rest sub-robots to move to the position of the goods to be transported, and sequentially transmits the corresponding transporting point coordinates on the goods to be transported to the sub-robots moving to the position of the goods to be transported;
when the number of the sub-robots existing at the place where the goods are to be transported is equal to the required number of the sub-robotsNThen, step 7 is performed:
and 7: and all the sub-robots positioned at the position of the goods to be transported reach respective transporting support points according to the received transporting point coordinates, the transporting posture is adjusted, and the goods are transported by adopting a rigid clamp or a flexible clamp.
2. The method for robot stream transportation based on bluetooth base station positioning and scheduling of claim 1, wherein the method for the cloud-side server to triangulate the coordinates of each sub-robot through the bluetooth base station in step 2 is as follows: the three-point positioning principle is applied, the time for each Bluetooth base station to receive and send a positioning instruction of the sub-robot to be positioned is solved by applying three Bluetooth base stations, the distance between each Bluetooth base station and the sub-robot is calculated, and then the coordinate of the sub-robot is calculated.
3. The method as claimed in claim 1, wherein the number of sub-robots required in step 5 is determinedNAnd the goods to be transported corresponding to each required sub-robotThe method for processing the upper conveying point coordinate comprises the following steps:
step 51: the first sub-robot moving to the position of the goods to be transported performs three-dimensional scanning around the goods to be transported in a circle, the scanned three-dimensional size of the goods to be transported is sent to the cloud server, and the cloud server determines the number of required transportation supporting points according to the three-dimensional size of the goods to be transportedN；
Step 52: the first sub-robot moving to the position of the goods to be transported performs three-dimensional scanning around the goods to be transported in a circle, so that the cloud server determines the specific coordinates (x, y) of the goods to be transported;
step 53: the first sub-machine scans circularly and circularly around the goods to be transported again, so that the cloud server determines the relative coordinates (dx 1, dy 1) of the first transportation supporting point;
step 54: when the number of the conveying supporting points with the determined coordinates is less than the number of the required conveying supporting pointsNWhile the first sub-robot continues to scan circularly around the load to be carried, the relative coordinates (dxi, dyi) of the respective carrying support points are determined (i =1,2, …,N) (ii) a Wherein, (dxi, dyi) is the relative coordinate of the ith carrying supporting point based on the specific coordinate of the goods to be carried;
when the number of the conveying supporting points with the determined coordinates is equal to the number of the required conveying supporting pointsNThen, step 55 is performed:
step 55: cloud server forms a code corresponding to a cargo to be handled
N（x，y）-1（dx1，dy1）-2（dx2，dy2）-…-i（dxi，dyi）-…- N（dxN，dyN）。
4. The method for transporting robot traffic based on bluetooth base station location and scheduling of claim 1, wherein the sub-robot transporting process in step 7 comprises the steps of:
step 71: the sub-robots arrive at respective carrying support points according to the received carrying point coordinates;
step 72: when a carrying supporting point of goods to be carried needs to be carried by adopting a flexible clamp, the cloud server controls the flexible clamp of the sub-robot at the carrying supporting point to align to the carrying supporting point;
when the carrying supporting point of the goods to be carried does not need to be carried by adopting a flexible clamp, the cloud server controls the rigid clamp of the sub-robot at the carrying supporting point to align to the carrying supporting point;
step 73: after all the sub-robots are in place, the cloud server controls all the sub-robots to support the goods to be transported together for transporting operation.
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