CN114014027A - Flexible conveying system based on micro-conveying unit - Google Patents
Flexible conveying system based on micro-conveying unit Download PDFInfo
- Publication number
- CN114014027A CN114014027A CN202111171228.3A CN202111171228A CN114014027A CN 114014027 A CN114014027 A CN 114014027A CN 202111171228 A CN202111171228 A CN 202111171228A CN 114014027 A CN114014027 A CN 114014027A
- Authority
- CN
- China
- Prior art keywords
- conveying
- micro
- module
- path
- obstacle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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
- B65G63/00—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations
- B65G63/02—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations with essentially horizontal transit otherwise than by bridge
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Control Of Conveyors (AREA)
Abstract
One or more embodiments of the present disclosure provide a flexible conveying system based on micro-conveying units, which includes a plurality of movable and telescopically adjustable micro-conveying units, an upper general control system for analyzing a barrier map of a conveying site, and planning a conveying path, an upper computer module for calculating pose information corresponding to each micro-conveying unit according to the planned conveying path, a link building module for controlling the corresponding micro-conveying unit to adjust the position and the pose thereof, and connecting and combining the micro-conveying units to form a conveying channel corresponding to the conveying path, the system has high working efficiency, can realize path planning by the upper general control system, completely omit manpower and track laying, and is very beneficial to an industrial internal space, and the micro-conveying units can realize uninterrupted material transportation, thereby improving the production efficiency of a factory in all aspects, the problem of among the prior art in complicated industrial environment, the transfer route is not flexible enough, leads to the operation cost higher is solved.
Description
Technical Field
One or more embodiments of the present disclosure relate to the field of material conveying technology, and more particularly, to a flexible conveying system based on micro conveying units.
Background
The material conveying is one of the vital work flows in the industrial field, but the industrial field environment is complex, the barrier interval is time-varying, the traditional mode mainly conveys the material by a mode of manpower and track laying, and the problems of line selection of a conveying system, parameter selection of a belt conveyor, overcoming of complex terrain conditions, avoidance of crossing of various ground facilities, connection with buildings and the like exist, the problems are independent and restricted, the design of a long-distance belt conveyor system is influenced, the corresponding difficulty of real-time dynamic of the traditional conveying system is caused, and the material conveying cost in the complex industrial environment is high.
Disclosure of Invention
In view of the above, an object of one or more embodiments of the present disclosure is to provide a flexible conveying system based on micro-conveying units, so as to solve the problem of high material conveying cost in a complex industrial field.
In view of the above, one or more embodiments of the present disclosure provide a micro-delivery unit-based flexible delivery system, including:
the system comprises a plurality of movable and telescopically adjustable micro-conveying units, wherein each micro-conveying unit is provided with a link building module;
the upper master control system is used for planning a transmission path based on the acquired obstacle map;
the upper computer module is used for resolving and obtaining pose information of each micro-conveying unit under the conveying path according to the conveying path;
the information transmission module is used for sending the pose information of each micro-conveying unit generated by the upper computer module to each link building module;
the link construction module controls the corresponding micro-conveying units to move to the designated positions according to the received pose information, and adjusts the postures of the micro-conveying units to enable the micro-conveying units to be connected and combined to form a conveying channel conforming to a conveying path;
the micro-conveying unit is also used for conveying the materials after the conveying channel is formed.
Preferably, the information transmission module includes a Zigbee wireless sending module and a Zigbee wireless receiving module, the Zigbee wireless sending module is configured to send pose information generated by the upper computer module, and the Zigbee wireless receiving module is configured to receive the pose information and transmit the pose information to each link construction module.
Preferably, the link building module includes a first processor and a motor drive board, the first processor is configured to extract pose data of the corresponding micro-conveying unit from the received pose information and send the pose data to the motor drive board, and the motor drive board is configured to perform pose control on the micro-conveying unit.
Preferably, the micro-conveying unit comprises a retractable conveyor belt and a trolley, and further comprises a docking device for docking the retractable conveyor belt in the adjacent micro-conveying unit.
Preferably, the motor driving board comprises a plurality of motor drivers for driving the trolley to move, a state sensor for measuring the motion state of the trolley, and a second processor, wherein the second processor is used for controlling the motor drivers to act according to the measurement result of the state sensor so as to drive the trolley to move.
Preferably, the upper general control system comprises:
the map processing module is used for carrying out convex inclusion processing and expansion processing on the obstacle section in the obstacle map to obtain an expanded obstacle section;
the map reconstruction module is used for reconstructing the obstacle map based on the expansion obstacle interval to obtain a reconstructed map;
the route planning module is used for connecting the transmission starting point and the transmission end point to form an original transmission line segment, judging whether an intersection exists between the original transmission line segment and an expansion obstacle interval in an obstacle map or not based on the original transmission line segment, and outputting the original transmission line segment as an optimal route if the intersection does not exist;
if the intersection exists, taking an end point of the expansion obstacle interval with the intersection, which is closest to the starting point, as a relay point, continuously judging whether a relay path formed by connecting the relay point and the end point is intersected with the expansion obstacle interval or not, and if the relay path is intersected with the expansion obstacle interval, continuously forming a new relay point until the new relay path is not intersected with the expansion obstacle interval;
and sequentially connecting the starting point, the relay points and the end points generated in sequence, and outputting the optimal path as a planned transmission path.
Preferably, the upper computer module comprises:
a path dividing module for dividing the optimal path into a plurality of paths based on each relay point;
and the calculating module is used for calculating the number and the postures of the micro-conveying units arranged on the path track according to the length of the path track and the conveying range of the micro-conveying units.
As can be seen from the above, in the flexible conveying system based on micro-conveying units provided in one or more embodiments of the present disclosure, by providing a plurality of movable and telescopically adjustable micro-conveying units, analyzing an obstacle map of a conveying site by providing an upper general control system, planning a conveying path, calculating pose information corresponding to each micro-conveying unit according to the planned conveying path by providing an upper computer module, controlling the corresponding micro-conveying unit by a link building module to adjust the position and the posture thereof, and connecting and combining the micro-conveying units to form a conveying channel conforming to the conveying path, the system can realize material conveying in the obstacle map, has high working efficiency, can realize path planning by the upper general control system, completely omits manpower and track laying, and is very advantageous for an industrial internal space, the labor cost of a part is saved, the micro-conveying unit can realize uninterrupted material conveying, the production efficiency of a factory is improved comprehensively, and the problem that in the prior art, in a complex industrial environment, the conveying route is not flexible enough, and the operation cost is high is solved.
Drawings
In order to more clearly illustrate one or more embodiments or prior art solutions of the present specification, the drawings that are needed in the description of the embodiments or prior art will be briefly described below, and it is obvious that the drawings in the following description are only one or more embodiments of the present specification, and that other drawings may be obtained by those skilled in the art without inventive effort from these drawings.
FIG. 1 is a block diagram of a flexible transport system according to one or more embodiments of the present disclosure;
FIG. 2 is a block diagram of the overall architecture of the system according to one or more embodiments of the present disclosure;
FIG. 3 is a schematic diagram of a path planning in a hindrance map for one or more embodiments of the present disclosure;
FIG. 4 is a detailed block diagram of a flexible transport system in accordance with one or more embodiments of the present disclosure;
FIG. 5 is a schematic diagram of wireless communication according to one or more embodiments of the present disclosure;
FIG. 6 is a processor data flow diagram of one or more embodiments of the present description;
FIG. 7 is a flow diagram of a lower computer software program in accordance with one or more embodiments of the present disclosure;
FIG. 8 is a schematic flow diagram illustrating the construction and disassembly of a micro delivery unit system according to one or more embodiments of the present disclosure;
FIG. 9 is a convex hull schematic of a non-convex obstacle region in accordance with one or more embodiments of the present disclosure;
FIG. 10 is a rectangular inclusion diagram of convex set barrier intervals in accordance with one or more embodiments of the present disclosure;
FIG. 11 is an expanded schematic view of a rectangular barrier interval in accordance with one or more embodiments of the present disclosure;
FIG. 12 is a schematic diagram of a path planning algorithm in accordance with one or more embodiments of the present disclosure;
FIG. 13 is a schematic diagram of a path trajectory for one or more embodiments of the present description;
FIG. 14 is a schematic view of a "bump" process in accordance with one or more embodiments of the present disclosure.
Detailed Description
To make the objects, technical solutions and advantages of the present disclosure more apparent, the present disclosure is further described in detail below with reference to specific embodiments.
It is to be noted that unless otherwise defined, technical or scientific terms used in one or more embodiments of the present specification should have the ordinary meaning as understood by those of ordinary skill in the art to which this disclosure belongs. The use of "first," "second," and similar terms in one or more embodiments of the specification is not intended to indicate any order, quantity, or importance, but rather is used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
The embodiment of the present specification provides a flexible conveying system based on micro conveying units, as shown in fig. 1 and fig. 2, the flexible conveying system includes a plurality of movable and telescopically adjustable micro conveying units, each micro conveying unit is provided with a link building module, the system further includes an upper general control system, an upper computer module, and an information transmission module, wherein the upper general control system is configured to plan a conveying path based on an acquired obstacle map, the upper computer module is configured to settle according to the conveying path to obtain pose information of each micro conveying unit under the conveying path, the information transmission module is configured to transmit the pose information of each micro conveying unit generated by the upper computer module to each link building module, the link building module controls the corresponding micro conveying unit to move to a designated position according to the received pose information, adjusts the pose of the micro conveying unit, and connects and combines the micro conveying units, and forming a conveying channel which is in accordance with the conveying path, wherein the micro conveying unit is also used for conveying the materials after the conveying channel is formed.
In this embodiment, each micro-conveying unit is provided with a link building module, the micro-conveying unit corresponding to the link building module refers to the micro-conveying unit on which the link building module is installed, the upper general control system plans a real-time macroscopic conveying path of the obstacle, and the conveying path plan includes pose information corresponding to each micro-conveying unit, for example, the pose information includes a position and a pose of the micro-conveying unit, and for the micro-conveying unit which realizes a conveying function through a conveyor belt, the pose information includes pose information such as a stretching length, a height, an angle and the like of the conveyor belt.
The flexible conveying system based on the micro-conveying units provided by the embodiment of the specification analyzes a barrier map of a conveying field by arranging a plurality of movable and telescopically adjustable micro-conveying units and planning a conveying path by arranging an upper master control system, as shown in fig. 3, by arranging an upper computer module, according to the planned conveying path, position and posture information corresponding to each micro-conveying unit is obtained by calculation, then the corresponding micro-conveying units are controlled by a link building module to adjust the positions and postures of the micro-conveying units, and the micro-conveying units are connected and combined to form a conveying channel conforming to the conveying path, so that material conveying can be realized in the barrier map, the system has high working efficiency, can realize path planning by the upper master control system, completely omits manpower and track laying, is very beneficial to industrial internal space, and saves a part of manpower cost, and the micro-conveying unit can realize uninterrupted material conveying, so that the production efficiency of a factory is improved comprehensively, and the problem that in the prior art, in a complex industrial environment, the conveying route is not flexible enough, and the operation cost is high is solved.
As an implementation manner, the information transmission module includes a Zigbee wireless sending module and a Zigbee wireless receiving module, where the Zigbee wireless sending module is configured to send pose information generated by the upper computer module, and the Zigbee wireless receiving module is configured to receive the pose information and transmit the pose information to each link building module, as shown in fig. 5.
For example, the upper computer module transfers the pose information to the Zigbee wireless sending module through the USB to TTL module, and the Zigbee wireless sending module enters a broadcast mode and sends the pose information of all the micro delivery units to each link construction module.
The system can also adopt wireless transmission modes of other protocols, and is not limited to Zigbee.
As an implementation manner, the link construction module includes a first processor and a motor drive board, where the first processor is configured to extract pose data of a corresponding micro-conveying unit from received pose information and send the pose data to the motor drive board, and the motor drive board is configured to perform pose control on the micro-conveying units, for example, each micro-conveying unit has a unique number or address, when the pose information of each micro-conveying unit is generated through host module-based computation, the information includes the number or address of the corresponding micro-conveying unit, and when the pose data is extracted by the first processor, the first processor may extract the pose data through the number or address.
As an implementation mode, the micro-conveying unit comprises a telescopic conveyor belt, a trolley and a butt joint device, for example, the telescopic conveyor belt is installed at the top of the trolley and is further connected with a rotating mechanism for driving the telescopic conveyor belt to rotate, the telescopic structures of the butt joint device, the rotating mechanism and the telescopic conveyor belt can adopt any one implementation mode in the prior art, and are not limited specifically, and the butt joint success of the adjacent conveyor belts can be guaranteed by arranging a laser sensor.
As an implementation mode, the upper general control system comprises a map processing module, a map reconstruction module and a path planning module, wherein the map processing module is used for performing convex inclusion processing and expansion processing on an obstacle interval in an obstacle map to obtain an expanded obstacle interval, the map reconstruction module is used for reconstructing the obstacle map based on the expanded obstacle interval to obtain a reconstructed map, the path planning module is used for connecting a transmission starting point and a transmission end point to form an original transmission line segment, judging whether an intersection exists between the transmission starting point and the expanded obstacle interval in the obstacle map based on the original transmission line segment, and outputting the original transmission line segment as an optimal path if the intersection does not exist;
if the intersection exists, taking an end point of the expansion obstacle interval with the intersection, which is closest to the starting point, as a relay point, continuously judging whether a relay path formed by connecting the relay point and the end point is intersected with the expansion obstacle interval or not, and if the relay path is intersected with the expansion obstacle interval, continuously forming a new relay point until the new relay path is not intersected with the expansion obstacle interval;
and sequentially connecting the starting point, the relay points and the end points generated in sequence, and outputting the optimal path as a planned transmission path.
As an embodiment, the upper computer module includes a path dividing module configured to divide the optimal path into a plurality of paths based on the relay points, and a calculation module configured to calculate the number and the postures of the micro conveying units arranged on the path trajectory according to the length of the path trajectory and the conveying range of the micro conveying units.
For example, in a complex industrial environment, there is a typical time-varying situation of the obstacle interval, the obstacle interval may change with time, and the area also changes, and in a dynamic process, it is difficult for the transportation system to adapt to the change of the obstacle interval in a large batch. Meanwhile, in an industrial field, an obstacle section presents an irregular set structure and a topological structure, and the route optimization and the map construction are important difficulties. Aiming at the difficulties, the system combines the convex set theory, carries out convex inclusion on the obstacle interval of the complex space, further weakens the convex obstacle interval into a rectangular obstacle interval with only 4 vertexes, and expands the rectangular obstacle interval. And realizing the map reconstruction of the obstacle interval.
Firstly, convex inclusion is carried out on a non-convex set obstacle interval, wherein a convex set means that a set C is convex, if a line segment between any two points in the set C is in the set C, namely for any x1，x2∈C，θ∈ [0,1]Having θ x1+(1-θ)x2E.g. C. The convex hull means: the convex hull of set C is the set of all convex combinations of all points in C, and is denoted as conv C. According to the definition of convex inclusion, it can be known that a non-convex set can be changed into a convex hull, and the introduction of the convex hull can cause the enlargement (conservative increase) of the barrier interval, but for the map subjected to convex optimization, the map can be prevented from falling into a situation without solution or a situation with local optimization after trajectory planning, as shown in fig. 9.
Furthermore, although the convex set obstacle interval avoids the problem of local optimization, the convex set obstacle interval contains too many vertexes and easily causes a large amount of calculation, and the convex set obstacle interval is contained in a rectangular shape with the maximum outline edge. The number of vertices of the obstacle interval after the rectangle is included is only 4, although the overall conservatism is increased, the solving process is actually applied to the diagonal points included in the rectangle, and the data processing amount is greatly reduced, as shown in fig. 10.
In order to ensure that each of the micro-element transfer units avoids collision with the barrier section, the rectangular barrier section should expand the width r of the micro-transfer unit, i.e., the new expansion sections for the diagonal vertices (x1, y1) and (x2, y2) of the rectangular barrier section should expand to the new diagonal vertices (x1-r, y1-r), (x2+ r, y2+ r), as shown in fig. 11. And carrying out map reconstruction according to the new expansion rectangular obstacle interval.
And then obtaining an optimal path based on the reconstructed map.
In a complex industrial field, obstacles are various and time-varying, and dynamic adjustment of obstacle intervals causes difficulty in route planning and organization of micro-transmission units. Each time the obstacle interval is dynamically changed, the original path planning strategy is disabled, and the corresponding path planning strategy needs to be adjusted in real time, as shown in fig. 12.
By path trajectory planning, a trajectory of a conveyor system from a start point to an end point can be obtained, as shown in fig. 13. And then, each section of linear line segment path is segmented, and the pose of the micro-conveying unit on each section of linear line segment path is explored.
As is known, the path length of a certain straight line segment is L, and the transmission range of the micro-conveying unit is [ Lmin, Lmax ];
firstly, when
(ceil is an rounding-up function)
N is the number of micro-conveying units required by the section of the path
X represents the length of each micro-delivery unit.
When in use
In this case, the micro-conveying unit cannot be precisely divided into the path tracks, and in this case, the tracks need to be subjected to "bulging" processing, as shown in fig. 14.
After the path track is divided through the steps, each micro-conveying unit corresponds to the corresponding position and posture.
Wherein (x)i,yi) Is a coordinate of the center point of the micro-delivery unit, thetaiIs the included angle between the micro-conveying unit and the X axis.
As an embodiment, as shown in fig. 4, the first processor, the second processor and the micro-conveying unit are also called as a lower computer, the cart includes four wheels, i.e. a left front wheel, a right front wheel, a left rear wheel and a right rear wheel, the first processor selects 51 scm, the second processor selects K60 chip, the state sensors include a rotation speed sensor and a six-axis gyroscope, which are respectively used for measuring the rotation speed of the wheels and the angle of the wheels, and further performing four-wheel PID control, for example, a telescopic conveyor belt in the micro-conveying unit realizes telescopic adjustment through a telescopic motor, the upper computer module and the first processor (STC89C51 scm) perform wireless communication through Zigbee, the first processor is connected with a stepper motor driver DM422, drives the telescopic motor through DM422, controls the operation of the telescopic motor, the K60 main control chip is connected with STC89C51 scm, and receives data by K60 after level conversion of 74LVC4642, the K60 can control the wheel motor for driving the wheel, and the rotation speed sensor (such as Hall sensor) feeds back the information in real time to adjust the wheel rotation speed, and the K60 adjusts the angle through the connected six-axis gyroscope.
In a control circuit of the micro-conveying unit, a K60 microprocessor chip and an STC89C51 single chip microcomputer are in communication fit through a serial port, after the STC89C51 single chip microcomputer receives an upper computer module instruction at a P3.0 port, data are transmitted to a simulation serial port P2.5, and after the data pass through a level conversion chip of 74LVC4642, the data are received by a K60, as shown in FIG. 6.
In the control of the micro-conveying unit, the K60 chip firstly judges whether the command is received, and if not, the return parameter initialization is carried out. If receiving the instruction, then judging whether to adjust the displacement or the angle, and then reading and writing various programs of the next step, wherein the programs comprise a PID subprogram, a speed control program, a displacement calculation subprogram and a forward subprogram which are contained in the displacement. A gyro subprogram, a gyro algorithm program, an IIC communication program, and an angle adjustment program included in the angle adjustment are shown in fig. 7.
The material conveying adopts a primary conveying motor and a secondary conveying motor, after the material conveying is completed, the upper computer module sends a command to ensure that the conveying belts of the micro conveying units are disassembled, and finally, the conveying units return to the initial positions in sequence, as shown in fig. 8.
As an example, assuming that goods are at a point A and need to reach a point B in a 3750 square meter (75X 50) logistics factory, the point A, the point B and existing obstacles are measured on site, a point A (12,0) point B (65, 50), an obstacle 1 area matrix (5,33,20,44), an obstacle 2 matrix (21,8,34,17), an obstacle 3 matrix (39,24,52,32), an obstacle 4 matrix (62,5,72,22) and an obstacle 5 matrix (65,41,71,44) … … are determined, coordinate data of the obstacles are input to an upper computer interface, the upper computer expands the obstacle area, and then according to a flexible path planning algorithm, and displaying a passage on the upper computer, and determining the required number of the micro-conveying units and the coordinates of each micro-conveying unit on the passage on a map of the upper computer. And then sending the coordinate instruction to each micro-conveying unit through a wireless communication module, and finally butting adjacent conveying belts and starting each unit conveying belt to finish the cargo transportation after each micro-conveying unit reaches an appointed coordinate point.
And in the implementation process, the moving distance and the angle of the micro-conveying unit are measured and respectively refer to the movement of reaching a specified position and rotating by a specified angle. Wherein, because the count of the Hall sensor and the detection and correction of the angle, the whole body reaches the expected target.
Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, is limited to these examples; within the spirit of the present disclosure, features from the above embodiments or from different embodiments may also be combined, steps may be implemented in any order, and there are many other variations of different aspects of one or more embodiments of the present description as described above, which are not provided in detail for the sake of brevity.
In addition, well-known power/ground connections to Integrated Circuit (IC) chips and other components may or may not be shown in the provided figures, for simplicity of illustration and discussion, and so as not to obscure one or more embodiments of the disclosure. Furthermore, devices may be shown in block diagram form in order to avoid obscuring the understanding of one or more embodiments of the present description, and this also takes into account the fact that specifics with respect to implementation of such block diagram devices are highly dependent upon the platform within which the one or more embodiments of the present description are to be implemented (i.e., specifics should be well within purview of one skilled in the art). Where specific details (e.g., circuits) are set forth in order to describe example embodiments of the disclosure, it should be apparent to one skilled in the art that one or more embodiments of the disclosure can be practiced without, or with variation of, these specific details. Accordingly, the description is to be regarded as illustrative instead of restrictive.
It is intended that the one or more embodiments of the present specification embrace all such alternatives, modifications and variations as fall within the broad scope of the appended claims. Therefore, any omissions, modifications, substitutions, improvements, and the like that may be made without departing from the spirit and principles of one or more embodiments of the present disclosure are intended to be included within the scope of the present disclosure.
Claims (7)
1. A micro-delivery unit based flexible transport system, comprising:
the system comprises a plurality of movable and telescopically adjustable micro-conveying units, wherein each micro-conveying unit is provided with a link building module;
the upper master control system is used for planning a transmission path based on the acquired obstacle map;
the upper computer module is used for resolving and obtaining pose information of each micro-conveying unit under the conveying path according to the conveying path;
the information transmission module is used for sending the pose information of each micro-conveying unit generated by the upper computer module to each link construction module;
the link construction module controls the corresponding micro-conveying units to move to the designated positions according to the received pose information, and adjusts the postures of the micro-conveying units to enable the micro-conveying units to be connected and combined to form a conveying channel conforming to a conveying path;
the micro-conveying unit is also used for conveying the materials after the conveying channel is formed.
2. The micro-delivery unit-based flexible conveying system according to claim 1, wherein the information transmission module comprises a Zigbee wireless transmission module and a Zigbee wireless reception module, the Zigbee wireless transmission module is configured to transmit the pose information generated by the upper computer module, and the Zigbee wireless reception module is configured to receive the pose information and transmit the pose information to each link construction module.
3. The micro-transport unit based flexible transport system of claim 1, wherein the link building block comprises a first processor and a motor driver board, the first processor is configured to extract pose data of the corresponding micro-transport unit from the received pose information and send the pose data to the motor driver board, and the motor driver board is configured to perform pose control on the micro-transport unit.
4. The micro transfer unit-based flexible transport system of claim 3, wherein the micro transfer unit comprises a retractable conveyor belt and a cart, further comprising docking means for docking the retractable conveyor belt in adjacent micro transfer units.
5. The flexible conveying system based on the micro conveying unit as claimed in claim 4, wherein the motor driving board comprises a plurality of motor drivers for driving the trolley to move and a status sensor for measuring the movement status of the trolley, and further comprising a second processor for controlling the motor drivers to act to drive the trolley to move according to the measurement result of the status sensor.
6. The micro-delivery unit-based flexible delivery system of claim 1, wherein the superordinate control system comprises:
the map processing module is used for carrying out convex inclusion processing and expansion processing on the obstacle section in the obstacle map to obtain an expanded obstacle section;
the map reconstruction module is used for reconstructing the obstacle map based on the expansion obstacle interval to obtain a reconstructed map;
the route planning module is used for connecting the transmission starting point and the transmission end point to form an original transmission line segment, judging whether an intersection exists between the original transmission line segment and an expansion obstacle interval in an obstacle map or not based on the original transmission line segment, and outputting the original transmission line segment as an optimal route if the intersection does not exist;
if the intersection exists, taking an end point of the expansion obstacle interval with the intersection, which is closest to the starting point, as a relay point, continuously judging whether a relay path formed by connecting the relay point and the end point is intersected with the expansion obstacle interval or not, and if the relay path is intersected with the expansion obstacle interval, continuously forming a new relay point until the new relay path is not intersected with the expansion obstacle interval;
and sequentially connecting the starting point, the relay points and the end points generated in sequence, and outputting the optimal path as a planned transmission path.
7. The micro-delivery unit based flexible delivery system of claim 6, wherein the upper computer module comprises:
a path dividing module for dividing the optimal path into a plurality of paths based on each relay point;
and the calculating module is used for calculating the number and the postures of the micro-conveying units arranged on the path track according to the length of the path track and the conveying range of the micro-conveying units.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111171228.3A CN114014027B (en) | 2021-10-08 | 2021-10-08 | Flexible conveying system based on micro conveying unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111171228.3A CN114014027B (en) | 2021-10-08 | 2021-10-08 | Flexible conveying system based on micro conveying unit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114014027A true CN114014027A (en) | 2022-02-08 |
| CN114014027B CN114014027B (en) | 2023-08-22 |
Family
ID=80055335
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111171228.3A Active CN114014027B (en) | 2021-10-08 | 2021-10-08 | Flexible conveying system based on micro conveying unit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114014027B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116354057A (en) * | 2023-06-02 | 2023-06-30 | 无锡同联机电工程有限公司 | Intelligent control method and system for flexible conveying |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10333746A (en) * | 1997-05-28 | 1998-12-18 | Shinryo Corp | Route generating method for moving robot |
| JP2000016787A (en) * | 1998-07-07 | 2000-01-18 | Penta Ocean Constr Co Ltd | Block conveying device |
| CN105867384A (en) * | 2016-05-24 | 2016-08-17 | 武汉理工大学 | Intelligent vehicle realizing flexible conveying |
| CN106202744A (en) * | 2016-07-12 | 2016-12-07 | 中国能源建设集团广东省电力设计研究院有限公司 | Wind power collection system of offshore wind power plant avoidance method for optimizing route and system |
| CN208120000U (en) * | 2018-04-24 | 2018-11-20 | 台达电子工业股份有限公司 | Spliced pipeline |
| CN110012422A (en) * | 2019-03-19 | 2019-07-12 | 华南理工大学 | A kind of wireless sensor network mobile base station barrier-avoiding method in complicated region |
| CN111060103A (en) * | 2019-12-11 | 2020-04-24 | 安徽工程大学 | Path planning method for local dynamic optimization and obstacle avoidance |
| CN111290385A (en) * | 2020-02-19 | 2020-06-16 | 深圳前海达闼云端智能科技有限公司 | Robot path planning method, robot, electronic device and storage medium |
| CN111806997A (en) * | 2020-07-07 | 2020-10-23 | 北京洺楠汇科技有限公司 | Flexible conveying belt and track planning method thereof |
-
2021
- 2021-10-08 CN CN202111171228.3A patent/CN114014027B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10333746A (en) * | 1997-05-28 | 1998-12-18 | Shinryo Corp | Route generating method for moving robot |
| JP2000016787A (en) * | 1998-07-07 | 2000-01-18 | Penta Ocean Constr Co Ltd | Block conveying device |
| CN105867384A (en) * | 2016-05-24 | 2016-08-17 | 武汉理工大学 | Intelligent vehicle realizing flexible conveying |
| CN106202744A (en) * | 2016-07-12 | 2016-12-07 | 中国能源建设集团广东省电力设计研究院有限公司 | Wind power collection system of offshore wind power plant avoidance method for optimizing route and system |
| CN208120000U (en) * | 2018-04-24 | 2018-11-20 | 台达电子工业股份有限公司 | Spliced pipeline |
| CN110012422A (en) * | 2019-03-19 | 2019-07-12 | 华南理工大学 | A kind of wireless sensor network mobile base station barrier-avoiding method in complicated region |
| CN111060103A (en) * | 2019-12-11 | 2020-04-24 | 安徽工程大学 | Path planning method for local dynamic optimization and obstacle avoidance |
| CN111290385A (en) * | 2020-02-19 | 2020-06-16 | 深圳前海达闼云端智能科技有限公司 | Robot path planning method, robot, electronic device and storage medium |
| CN111806997A (en) * | 2020-07-07 | 2020-10-23 | 北京洺楠汇科技有限公司 | Flexible conveying belt and track planning method thereof |
Non-Patent Citations (1)
| Title |
|---|
| 孙春虎: "基于Labview的多通道数据采集系统设计", 滁州学院学报/基于LABVIEW的多通道数据采集系统设计, vol. 18, no. 05, pages 75 - 77 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116354057A (en) * | 2023-06-02 | 2023-06-30 | 无锡同联机电工程有限公司 | Intelligent control method and system for flexible conveying |
| CN116354057B (en) * | 2023-06-02 | 2023-08-04 | 无锡同联机电工程有限公司 | Intelligent control method and system for flexible conveying |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114014027B (en) | 2023-08-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP5187758B2 (en) | Unmanned mobile system | |
| CN108334065B (en) | Travel route generation device and travel route generation program | |
| JP5945419B2 (en) | Leg motion trajectory generator for legged mobile robots. | |
| US7076346B2 (en) | Automated continuous haulage system | |
| CN110262495A (en) | Mobile robot autonomous navigation and pinpoint control system and method can be achieved | |
| Sprunk et al. | Online generation of kinodynamic trajectories for non-circular omnidirectional robots | |
| CN106462164A (en) | Work vehicle cooperation system | |
| JP2018093799A (en) | Travel route generating device | |
| JP6811652B2 (en) | Route generation system | |
| CN107992054A (en) | A kind of method and system of the positioning of robot | |
| KR102359715B1 (en) | Multi-joint robot and controlling method of multi-joint robot | |
| ZA200200569B (en) | A system for relative vehicle navigation. | |
| JPWO2019044498A1 (en) | Moving object, position estimating device, and computer program | |
| CN114014027A (en) | Flexible conveying system based on micro-conveying unit | |
| US9919640B2 (en) | System and method for controlling dollies | |
| CN202166895U (en) | Laser navigation system of intelligent patrol robot at transformer substation | |
| JP4462156B2 (en) | Autonomous mobile device | |
| WO2020137520A1 (en) | Crane control system and control method | |
| US20210125493A1 (en) | Travel control apparatus, travel control method, and computer program | |
| JP6587734B1 (en) | Crane control system and control method | |
| JP7101146B2 (en) | Crane control system and control method | |
| CN108597315A (en) | A kind of sand table model of mind controller of vehicle and method | |
| JP6751588B2 (en) | Control device for autonomous driving and autonomous driving method | |
| CN110455272B (en) | Sensor system in a track following system | |
| CN105234937B (en) | General Mobile chassis control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |