CN114313570A - Transport robot and control method thereof - Google Patents
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- CN114313570A CN114313570A CN202210136281.8A CN202210136281A CN114313570A CN 114313570 A CN114313570 A CN 114313570A CN 202210136281 A CN202210136281 A CN 202210136281A CN 114313570 A CN114313570 A CN 114313570A
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Abstract
The invention relates to the technical field of robots and discloses a transportation robot and a control method thereof. The transport robot comprises a robot main body, a container and a detection mechanism. The container is arranged on the robot main body and comprises at least one layer of storage bin, the storage bin is divided into a plurality of unit cells along the horizontal direction through partition plates, the partition plates are detachably arranged in the storage bin so that adjacent unit cells can be spliced to form a through bin, and the unit cells and the through bin correspond to specimen boxes of preset models; the detection mechanism is in signal connection with the robot main body and is used for detecting whether the specimen box is correctly placed in the cell or the through bin and sending a first detection signal; the robot main body judges whether to move according to the first detection signal. The invention can place articles with different sizes in specimen boxes with different types, thereby improving the utilization rate of the container, the transportation accuracy of the transportation robot and the production efficiency.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a transportation robot and a control method thereof.
Background
In the present day, in an environment such as a hospital or a factory, in order to reduce labor intensity of workers, articles are generally distributed by using a transport robot.
In practical application of a transportation robot, a user generally needs to transport articles with different sizes, and in order to meet transportation requirements of the user for the articles with different sizes, manufacturers can design robots with different models to meet the requirements of the user for transporting the articles with different sizes, so that the use cost of the user is increased.
Accordingly, there is a need for a transportation robot and a control method thereof to solve the above problems.
Disclosure of Invention
Based on the above, the invention aims to provide a transport robot and a control method thereof, which can place articles with different sizes in specimen boxes with different models, meet the transport requirements of users on the articles with different sizes, improve the utilization rate of a container, improve the transport accuracy of the transport robot, and improve the production efficiency.
In order to achieve the purpose, the invention adopts the following technical scheme:
in one aspect, there is provided a transport robot including:
a robot main body;
the container is arranged on the robot main body and comprises at least one layer of storage bin, the storage bin is divided into a plurality of unit cells along the horizontal direction through partition plates, the partition plates are detachably arranged in the storage bin so that the adjacent unit cells can be spliced to form a through bin, and the unit cells and the through bin are both corresponding to specimen boxes with preset models;
the detection mechanism is in signal connection with the robot main body and is used for detecting whether the specimen box is correctly placed in the cell or the through bin and sending a first detection signal;
and the robot main body judges whether to move according to the first detection signal.
As a preferred technical scheme of a transport robot, detection mechanism includes RFID detecting element, RFID detecting element set up in the unit check, RFID detecting element can discern set up in the label on the specimen box.
As a preferred technical scheme of the transportation robot, each cell is provided with the RFID detection unit.
As an optimal technical scheme of the transportation robot, the specimen box which is adapted to the through warehouse is provided with a plurality of labels, and the number of the labels is the same as that of the RFID detection units in the through warehouse.
As a preferable technical scheme of the transportation robot, a compartment door is arranged at an opening of the storage compartment.
As an optimal technical scheme of a transportation robot, a partition plate is installed in each storage bin to form two unit grids, two partition bin doors used for blocking the two unit grids are arranged at the opening of each storage bin, and the two partition bin doors are of a split door structure.
As a preferred technical scheme of a transport robot, still be provided with the detection piece in the storing storehouse, the detection piece is used for detecting whether the baffle is removed and send the second detected signal, detection mechanism receives the second detected signal.
As a preferred technical scheme of the transportation robot, the top wall and the bottom wall of the storage bin are provided with sliding grooves, and the partition plates are slidably mounted in the sliding grooves; or
The roof and the diapire in storing storehouse articulate there is the fixed plate, the baffle pass through the mounting connect in the fixed plate.
In another aspect, a control method of a transport robot is provided, which is applied to the transport robot according to any one of the above aspects, and includes the following steps:
s1, sending distribution information, and moving the transport robot to a goods loading position according to the distribution information;
s2, placing the specimen box containing goods into a cell or a through bin;
s3, detecting whether the specimen box is correctly placed in the cell or the through bin by a detection mechanism; if yes, go to S4;
and S4, the transportation robot moves to a goods taking position according to the distribution information.
As a preferable embodiment of the method for controlling the transport robot, in the step S3, if not, an improper operation is presented and the transport robot does not move.
The invention has the beneficial effects that:
the invention provides a transport robot.A storage bin is arranged in a container, the storage bin is divided into a plurality of unit cells by partition plates, the partition plates are detachably arranged in the storage bin, so that adjacent unit cells can be spliced to form a through bin, and the unit cells and the through bin are both provided with specimen boxes with preset models; therefore, the invention can place the articles with different sizes in the specimen boxes with different models, meets the transportation requirements of users on the articles with different sizes, and reduces the production cost of the transportation robot.
Secondly, whether the detection mechanism detects that the specimen box is correctly placed in the cell or the through bin and sends a first detection signal, and the robot main body judges whether to move according to the first detection signal. When the first detection signal indicates that the specimen box is correctly placed into the cell or is put into the warehouse, the robot main body can move according to a preset track; when first detected signal is that the specimen box is not correctly put into the cell or leads to the storehouse, the robot main part stops moving, prevents that the specimen box from transporting to wrong place to and prevent to lead to putting into the specimen box of small-size in the storehouse, cause the space extravagant, improved the utilization ratio of packing box, and transportation robot's transportation accuracy, improve production efficiency.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a compartment mode of a transport robot according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a warehouse passing mode of the transportation robot provided by the embodiment of the invention;
fig. 3 is a schematic structural diagram of a mixing mode of a transport robot according to an embodiment of the present invention.
The figures are labeled as follows:
1. a robot main body;
2. a cargo box; 21. a storage bin; 211. a partition plate; 212. a cell; 213. passing through a bin;
3. a specimen box; 31. a first type specimen box; 32. a second specimen box;
41. an RFID detection unit;
5. a compartment door.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are used based on the orientations and positional relationships shown in the drawings only for convenience of description and simplification of operation, and do not indicate or imply that the referred device or element must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.
As shown in fig. 1 to 3, the present embodiment provides a transport robot including a robot main body 1, a container 2, and a detection mechanism.
Specifically, the cargo box 2 is arranged on the robot main body 1, the cargo box 2 comprises at least one layer of storage bin 21, the storage bin 21 is divided into a plurality of unit cells 212 along the horizontal direction through partition plates 211, the partition plates 211 are detachably arranged in the storage bin 21, so that the adjacent unit cells 212 can be spliced to form a through bin 213, when a large area is needed, the partition plates 211 are taken out, and when a small area is needed, the partition plates 211 are put in; specimen-box 3 is used for depositing the goods, and cell 212 and logical storehouse 213 all correspond the specimen-box 3 that has the preset model. The partition plates 211 are detachably arranged in the storage bin 21, so that the adjacent unit lattices 212 can be spliced to form the through bin 213, and the unit lattices 212 and the through bin 213 correspond to specimen boxes 3 of preset models; therefore, the invention can place the articles with different sizes in the specimen boxes 3 with different models, thereby meeting the transportation requirements of users on the articles with different sizes and reducing the production cost of the transportation robot.
Secondly, the detection mechanism is in signal connection with the robot main body 1 and is used for detecting whether the specimen box 3 is correctly placed in the cell 212 or the through bin 213 and sending a first detection signal; the robot main body 1 determines whether or not to move based on the first detection signal. When the first detection signal indicates that the specimen box 3 is correctly placed in the cell 212 or the through bin 213, the robot main body 1 can move according to a preset track; when first detected signal is that specimen box 3 does not correctly put into cell 212 or lead to storehouse 213, robot main part 1 stops to remove, prevents that specimen box 3 from transporting to wrong place to and prevent to lead to putting into the specimen box 3 of small-size in the storehouse 213, cause the space extravagant, improved the utilization ratio of packing box 2, and the transportation accuracy of transport robot, improve production efficiency.
In this embodiment, the top wall and the bottom wall of the storage chamber 21 are provided with sliding grooves, and the partition 211 is slidably mounted in the sliding grooves; or the roof and the diapire of storing storehouse 21 articulate there is the fixed plate, and baffle 211 passes through the mounting to be connected in the fixed plate, and above-mentioned structure homoenergetic realizes that baffle 211 demountable installation is in storing storehouse 21.
In this embodiment, the detection mechanism includes the RFID detection unit 41, the RFID detection unit 41 is disposed in the cell 212, the label is disposed on the specimen box 3, and the RFID detection unit 41 can identify the label on the specimen box 3. In this embodiment, the RFID detection unit 41 is disposed at the bottom of the cell 212, and the tag is disposed at the bottom of the specimen box 3. In other embodiments, the detection mechanism may also be another sensor having a detection function, and this embodiment is not limited.
Preferably, each cell 212 is provided with an RFID detection unit 41 to enable the first model specimen box 31 corresponding to the cell 212 to be identified. Further preferably, a plurality of labels are arranged on the specimen box 3 adapted to the through warehouse 213, and the number of the labels is the same as and corresponds to the number of the RFID detection units 41 in the through warehouse 213. The specimen box 3 adapted to the through bin 213 is the second specimen box 32, and when the second specimen box 32 is placed in the through bin 213, the plurality of RFID detecting units 41 in the through bin 213 correspond to the plurality of labels of the second specimen box 32, so as to identify that the second specimen box 32 is correctly placed in the through bin 213. In this embodiment, the identification of the specimen box 3 is performed through the RFID detection unit 41 in each cell 212, and then information prompt is performed according to the identified information of the specimen box 3, so that the cargo is accurately managed on the premise that the requirement of the user for the variability of the cargo carrying area of the transportation robot is met.
Preferably, a detection member is further disposed in the storage compartment 21, the detection member is used for detecting whether the partition 211 is removed and sending a second detection signal, and the detection mechanism receives the second detection signal. When the second detection signal is that baffle 211 is removed in the storing storehouse 21, detection mechanism judges storing storehouse 21 as leading to storehouse 213, discerns a plurality of labels of second model specimen box 32 through a plurality of RFID detecting element 41 to judge whether second model specimen box 32 correctly places in leading to storehouse 213, prevent that first model specimen box 31 from putting into leading to storehouse 213. When the second detection signal indicates that the partition 211 in the storage compartment 21 is not removed, the detection mechanism determines that the storage compartment 21 is the cell 212, and the single RFID detection unit 41 in the cell 212 identifies the single tag of the first model specimen box 31 to determine whether the first model specimen box 31 is correctly placed in the cell 212. In this embodiment, the detecting member may be an infrared sensor. In other embodiments, the second detection signal may also be controlled manually, for example, after the partition 211 is taken away or put in manually, the mode of the bin is set manually on the display screen of the transportation robot, and the status information instruction of the partition 211 is sent to the transportation robot.
Further, the opening of storing storehouse 21 is provided with partition door 5, and the user of being convenient for carries out accurate management to storing storehouse 21, realizes that a plurality of users use transportation robot.
Preferably, a partition 211 is installed in each storage compartment 21 to form two unit cells 212, two compartment doors 5 for closing the two unit cells 212 are provided in the opening of the storage compartment 21, and the two compartment doors 5 are of a split door structure, so that when a user uses the through compartment 213, the compartment doors 5 are prevented from interfering with the second type specimen box 32 when the through compartment 213 is placed.
In this embodiment, the transportation robot includes a plurality of storage modes, which are a separate storage mode, a through storage mode and a mixed storage mode.
As shown in fig. 1, the compartment mode: the transport robot is set to a compartment mode, and the compartment has four cells 212 (but not limited to 4, and may be adjusted as required). The container 2 comprises an upper layer of storage bin 21 and a lower layer of storage bin 21, a partition plate 211 is additionally arranged in the storage bin 21 to symmetrically divide the storage bin 21 into a left cell 212 and a right cell 212, each cell 212 is provided with a separately controlled compartment door 5, and one compartment door 5 corresponds to one cell 212. One RFID detection unit 41 for each cell 212. The use way is as an example: each cell 212 may be placed in a first model specimen box 31, and the RFID detection unit 41 in the cell 212 detects the label on the bottom of the first model specimen box 31. The RFID detection unit 41 prompts that the door can be closed after the first model specimen box 31 is detected. After the partition door 5 is manually closed, the transportation robot starts to execute a task after detecting that the partition door 5 is closed.
As shown in fig. 2, the through-bin mode: the transport robot is set to be in a warehouse-through mode, and the transport robot starts the warehouse-through mode. In this embodiment, two through bins 213 are disposed in the container 2, that is, the container 2 includes two storage bins 21, each storage bin 21 has a partition 211 removed therein, and two cells 212 form one through bin 213. Wherein, the opening of one through bin 213 corresponds to two partition doors 5. Each silo 213 enables two RFID detection units 41, using for example: the warehouse-through mode is started, the two symmetrical warehouse-separating doors 5 are opened by the transportation robot, the second type specimen box 32 is put in, and two ID cards are arranged at the bottom of the second type specimen box 32. When two RFID detection units 41 simultaneously identify the ID card, it can be determined that the second type specimen box 32 is detected, and a door closing signal is sent. After the door is manually closed, the robot main body 1 detects the closing of the two partition doors 5, and the robot starts to execute a task. It should be noted that the two ID cards of the 1 second model specimen box 32 need to be different from the ID cards of the 2 first model specimen boxes 31, so as to prevent the user from placing the two first model specimen boxes 31 into the through warehouse 213, and to achieve precise management of the articles.
As shown in fig. 3, the hybrid bin mode: the transport robot sets for mixing the storehouse mode, and the transport robot starts mixing the storehouse mode, and the robot has two stories storing storehouse 21 altogether, can independently set for the mode of single one deck. For example: one layer is a through bin mode, and the other layer is a separation bin mode. The first model specimen box 31 is put into the warehouse-through mode, only one RFID detection unit 41 detects the ID card of the first model specimen box 31, or two RFID detection units 41 of the warehouse-through 213 detect the ID cards of two first model specimen boxes 31 at the same time, and the transportation robot is considered to be a storage error and does not send a door-closing prompt.
The transportation robot in the embodiment further comprises a server, the robot sends the current warehousing mode to the server, and the server designates the robot for executing the delivery tasks according to the warehousing mode and the type of the transportation robot in the delivery tasks created by the user, so that the transportation efficiency is improved.
Further, the present implementation also provides a control method of a transport robot, including the steps of:
s1, sending distribution information, and moving the transport robot to a goods loading position according to the distribution information;
s2, placing the specimen box 3 containing goods into the corresponding cell 212 or the through bin 213;
s3, detecting whether the specimen box 3 is correctly placed in the cell 212 or the through bin 213 by a detection mechanism; if yes, go to S4;
when the detection result is that the specimen box 3 is correctly placed in the cell 212 or the through bin 213, the user is informed to close the partition door 5, and the task is executed to prevent the upper worker from randomly placing and misplacing under the through bin mode, so that the precise management of the goods is realized. The control method of the transport robot can monitor the loading behavior, prevent the user from calling the robot at will and improve the dispatching efficiency of the robot.
In step S3, if not, the operation is not appropriate and the transport robot does not move. When the detection result is that the specimen box 3 is not correctly placed in the cell 212 or the through bin 213, the user is prompted. For example, when the current mode is the through bin mode or the mixed bin mode, when the two RFID detection units 41 in the through bin 213 on the same floor respectively detect the tags of the first model specimen boxes 31, the robot will give a prompt to the user for the user to adjust. When the user ignores the prompt and forcibly closes the compartment door 5, the robot main body 1 does not go to the destination to perform the task. And the goods can not be taken away by the goods taking personnel, and the robot main body 1 can start to execute the task only after the identity of the goods taking personnel is identified and adjusted.
And S4, the transportation robot moves to the goods taking position according to the distribution information.
The delivery information includes: a loading end, a picking end, a delivery time period, and a type of transport robot. The transport robot arrives at the goods loading position according to the goods loading end in the distribution information, and arrives at the position of the goods taking personnel according to the goods taking end in the distribution information.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A transport robot, comprising:
a robot main body (1);
the cargo box (2) is arranged on the robot main body (1), the cargo box (2) comprises at least one layer of storage bin (21), the storage bin (21) is divided into a plurality of unit cells (212) through partition plates (211) in the horizontal direction, the partition plates (211) are detachably mounted in the storage bin (21) so that the adjacent unit cells (212) can be spliced to form a through bin (213), and the unit cells (212) and the through bin (213) are both corresponding to specimen boxes (3) of preset models;
the detection mechanism is in signal connection with the robot main body (1) and is used for detecting whether the specimen box (3) is correctly placed in the cell (212) or the through bin (213) and sending a first detection signal;
the robot main body (1) judges whether to move or not according to the first detection signal.
2. Transport robot according to claim 1, characterized in that the detection means comprise an RFID detection unit (41), the RFID detection unit (41) being arranged within the cell (212), the RFID detection unit (41) being able to identify a label arranged on the specimen container (3).
3. Transport robot according to claim 2, characterized in that each cell (212) is provided with the RFID detection unit (41).
4. Transport robot according to claim 3, characterized in that a number of said labels is arranged on said specimen boxes (3) adapted to said through compartment (213), said number of labels being the same as the number of said RFID detection units (41) within said through compartment (213).
5. Transport robot according to claim 1, characterized in that the opening of the storage compartment (21) is provided with a compartment door (5).
6. The transfer robot according to claim 5, wherein a partition (211) is installed in each storage compartment (21) to form two unit cells (212), the opening of the storage compartment (21) is provided with two compartment doors (5) for closing the two unit cells (212), and the two compartment doors (5) are of a split door structure.
7. Transport robot as claimed in claim 1, characterized in that a detection member is arranged in the storage compartment (21) for detecting whether the partition (211) is removed and for sending a second detection signal, wherein the detection mechanism receives the second detection signal.
8. A transport robot as claimed in claim 1, characterised in that the top and bottom walls of the storage compartment (21) are provided with sliding slots in which the partition (211) is slidably mounted; or
The top wall and the bottom wall of the storage bin (21) are hinged to fixing plates, and the partition plate (211) is connected to the fixing plates through fixing pieces.
9. A control method of a transport robot, applied to the transport robot according to any one of claims 1 to 8, comprising the steps of:
s1, sending distribution information, and moving the transport robot to a goods loading position according to the distribution information;
s2, placing the specimen box (3) containing goods into the cell (212) or the through bin (213);
s3, detecting whether the specimen box (3) is correctly placed in the cell (212) or the through bin (213) by a detection mechanism; if yes, go to S4;
and S4, the transportation robot moves to a goods taking position according to the distribution information.
10. The method of controlling a transport robot according to claim 9, wherein in the step S3, if not, an improper operation is indicated and the transport robot does not move.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210136281.8A CN114313570A (en) | 2022-02-15 | 2022-02-15 | Transport robot and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210136281.8A CN114313570A (en) | 2022-02-15 | 2022-02-15 | Transport robot and control method thereof |
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| CN114313570A true CN114313570A (en) | 2022-04-12 |
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| KR100792739B1 (en) * | 2006-09-14 | 2008-01-08 | 주식회사 대한에스엠 | Delivery baggage keeping box with interworking function of partition |
| CN108840009A (en) * | 2018-08-03 | 2018-11-20 | 苏州艾斯达克智能科技有限公司 | Intelligent movable storage |
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