CN114873178A

CN114873178A - Production workshop deployment-free AMR system

Info

Publication number: CN114873178A
Application number: CN202210542875.9A
Authority: CN
Inventors: 张建政; 董易; 韦鲲; 邹金沛
Original assignee: Shanghai Sazhi Intelligent Technology Co ltd
Current assignee: Shanghai Sazhi Intelligent Technology Co ltd
Priority date: 2022-05-18
Filing date: 2022-05-18
Publication date: 2022-08-09

Abstract

The invention belongs to the technical field of automatic factories, and particularly relates to an AMR (automatic repeat request) system without arrangement in a production workshop, which comprises a preset system, a navigation identifier, a material box identifier and AMR (automatic repeat request), wherein the preset system is used for configuring working rules of robots and storing the working rules in each robot, and the autonomous working of mobile robots is realized based on the navigation identifier and the material box identifier. All AMRs running in the range of a factory production line workshop are independently operated, and control and unified scheduling of an upper group control system are not needed, so that the method has the advantages of low modification cost, high flexibility and simplicity and quickness in deployment.

Description

Production workshop deployment-free AMR system

Technical Field

The invention belongs to the technical field of automatic factories, and particularly relates to an AMR system free of deployment in a production workshop.

Background

The intelligent commodity circulation dolly of mill bears important effect in the aspect of the material transportation of mill within range, replaces the human labor, improves transportation efficiency, eliminates the potential danger aspect of manual operation and has very big advantage.

In automated production plants, there is often a need to transfer material from one area to another, typically by:

and establishing a special material conveying line or a special conveying belt, and placing the materials on the conveying line or the special conveying belt to convey the materials to a specified place. The method has the disadvantages that the special conveying line needs to be established, the investment is large at one time, the occupied area is large, the method belongs to an electromechanical integrated control system, the system is complex, the conveying line is fixed once being established, and the reconstruction cost is high and the flexibility is poor if the later-stage reconstruction is carried out according to the production requirement.

The intelligent logistics trolley is adopted for transferring, such as various AGVs (automated Guided vehicles), AMR (autonomous mobile robots) and the like. The system is a novel factory logistics system based on intelligent robot technology, which is started in recent years. The requirement of a flexible production line is met. However, in general, such intelligent logistics trolleys in the market need to reliably operate within the scope of an automated production factory, not only are the control systems and sensing systems of the trolleys reliable and stable, but also intelligent group control systems need to be established correspondingly, and the working conditions of a plurality of logistics trolleys are uniformly commanded and scheduled. Therefore, a whole set of complex system is formed by the intelligent trolleys, the upper group control dispatching system and the communication system, each link is indispensable, and any link, such as communication interruption and the like, can cause interruption and even paralysis of the corresponding logistics transfer link. When the system is initially deployed, the debugging workload is large, the deployment time is long, the dependence on links such as environment, system scheduling, communication and the like is large, and the debugging and deployment work basically needs AMR product suppliers to complete on site.

Disclosure of Invention

In view of the above, the invention provides an automatic production workshop deployment-free AMR system, which configures working rules of robots based on a preset system and stores the working rules in each robot, and realizes autonomous work of mobile robots based on navigation identifiers and material box identifiers. All AMRs running in the range of a factory production line workshop are independently operated, and control and unified scheduling of an upper group control system are not needed, so that the method has the advantages of low modification cost, high flexibility and simplicity and quickness in deployment.

In order to achieve the technical purpose, the invention adopts the following specific technical scheme:

a shop drop-and-use deployment-free AMR system, comprising:

the system comprises a preset system, a control system and a processing system, wherein the preset system is used for dividing a functional module into region modules based on a production space, configuring paths among the region modules and configuring a handling rule;

the navigation mark is arranged in the production space and used for calibrating the path between the area modules;

the material box mark is arranged on the material box and used for displaying the material state of the material box;

and the AMR stores and identifies the navigation identifier and the material box identifier to move in the production space to carry the material box based on the information elements of the area module, the information elements of the path, the information elements of the navigation identifier, the information elements of the material state and the carrying rule.

Further, the information elements of the area module include label information and carrying position information of the area module; the preset system is further configured to set a relative positional relationship between the region modules, and the AMR stores the relative positional relationship.

Further, the AMR is operated to the region module based on a calling instruction.

Furthermore, the bottom of the material box is provided with a passing space, and the AMR moves to the passing space to carry the material box from the bottom of the material box.

Further, the AMR includes:

a moving part for realizing the movement of the AMR;

the identification part is used for identifying the label information, the material box identification and the navigation identification;

the obstacle avoidance part is used for detecting an obstacle when the AMR moves to the target area module;

and the carrying part is used for taking/placing the material box.

Further, the carrying section includes:

the servo motor is fixed on the AMR;

the screw rod is in transmission arrangement with the output shaft of the servo motor and converts the rotary motion of the output shaft into linear motion of the screw rod along the axial direction;

the two groups of driving rods are driven by the lead screw to move in parallel to the shaft of the lead screw, and the moving directions of the two groups of driving rods are opposite;

four groups of scissor bases which are all fixed on the AMR;

the first scissor comprises two scissor rods, the middle parts of which are connected based on a first scissor rotating pin; one end part of one group of scissor rods is connected with the first group of scissor bases based on a rotating pin, and the other end part of the other group of scissor rods is connected with one end of a first radial connecting rod based on the rotating pin; one end part of the other group of scissors is connected with one end of the first group of driving rods based on the rotating pin, and the other end part of the other group of scissors is connected with the first fixed seat based on the rotating pin;

the second scissor comprises two scissor rods, the middle parts of which are connected based on a second scissor rotating pin; one end part of one group of scissor rods is connected with the second group of scissor bases based on a rotating pin, and the other end part of the other group of scissor rods is connected with the other end of the first radial connecting rod based on the rotating pin; one end part of the other group of scissors is connected with the other end of the first group of driving rods based on the rotating pin, and the other end part of the other group of scissors is connected with the second fixed seat based on the rotating pin; the first scissor rotary pin and the second scissor rotary pin are coaxially arranged;

the third scissor comprises two scissor rods, the middle parts of which are connected based on a third scissor rotating pin; one end part of one group of scissor rods is connected with a third group of scissor base on the basis of a rotating pin, and the other end part of the other group of scissor rods is connected with one end of a second radial connecting rod on the basis of the rotating pin; one end part of the other group of scissors is connected with one end of the second group of driving rods based on the rotating pin, and the other end part of the other group of scissors is connected with the third fixed seat based on the rotating pin;

the fourth scissor comprises two scissor rods, the middle parts of which are connected based on a rotating pin of the fourth scissor; one end of one group of scissor rods is connected with a fourth group of scissor bases based on a rotating pin, and the other end of the scissor rods is connected with the other end of the second radial connecting rod based on the rotating pin; one end part of the other group of scissors is connected with the other end of the second group of driving rods based on the rotating pin, and the other end part of the other group of scissors is connected with the fourth fixed seat based on the rotating pin; the fourth scissor rotary pin and the third scissor rotary pin are coaxially arranged;

the first fixing seat is connected with the third fixing seat on the basis of an axial connecting rod parallel to the axial direction of the lead screw;

the bracket is fixedly arranged with the first fixing seat, the second fixing seat, the third fixing seat and/or the fourth fixing seat.

The first radial connecting rod and the second connecting rod are connected with the bracket in a sliding mode through sliding rods.

Furthermore, the servo motor is externally connected with a speed reducer, the servo motor and the lead screw are arranged side by side, and the speed reducer and the lead screw are in gear transmission

Furthermore, the first scissor fork, the second scissor fork, the third scissor fork and the fourth scissor fork move along with each other.

Further, the carrying part further comprises a linear guide rail which is fixed on the AMR, is parallel to the axial direction of the lead screw, is in sliding connection with the driving rod and limits the driving plate to move only parallel to the axial direction of the lead screw.

Further, the AMR also comprises a chassis, and the electrical control components and the batteries of the AMR are tiled and distributed on the chassis.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments 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 it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic diagram of an AMR external structure of a production shop deployment-free AMR system according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of an external structure of a material tank according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a manufacturing shop space configuration and navigation configuration according to an embodiment of the present invention;

FIG. 4 is a schematic structural view of a carrying part according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of a robot control flow according to an embodiment of the present invention;

FIG. 6 is a schematic view of the spatial relationship at the console in accordance with an embodiment of the present invention;

FIG. 7 is a logic diagram of a robot vision recognition process in accordance with an embodiment of the present invention;

FIG. 8 is a schematic diagram of an operation interface of a default system according to an embodiment of the present invention;

wherein: 1. an operation table; 11. numbering the operation platforms; 2. a material box; 21. identifying a material box; 3. a robot; 31. a rolling wheel; 32. a bracket; 33. a servo motor; 34. a speed reducer; 35. a lead screw; 36. a first set of drive rods; 37. a second set of drive rods; 38. a first set of scissor mounts; 39. a first fixed seat; 310. a third fixed seat; 311. a fourth fixed seat; 312. a first radial connecting rod; 313. a second radial connecting rod; 314. an axial connecting rod; 315. a second set of scissor mounts; 316. a third set of scissor mounts; 317. a fourth set of scissors mount; 318. a second fixed seat; 4. a navigation identifier; 41. a passing area; 5. an operation table module; 6. a charging module; 7. ground navigation marking information; 8. a bin module.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It is noted that various aspects of the embodiments are described below within the scope of the appended claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the disclosure, one skilled in the art should appreciate that one aspect described herein may be implemented independently of any other aspects and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. Additionally, such an apparatus may be implemented and/or such a method may be practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.

It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the drawings only show the components related to the present invention rather than the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.

In addition, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects may be practiced without these specific details.

In an embodiment of the present invention, an AMR (autonomous mobile robot, hereinafter referred to as robot) system is provided in a production shop, including:

the system comprises a preset system, a processing system and a control system, wherein the preset system is used for dividing the functional modules into region modules based on the production space, configuring paths among the region modules and configuring handling rules;

the navigation mark 4 is arranged in the production space and used for calibrating the path between the area modules;

the material tank identification 21 is arranged on the material tank 2 and used for displaying the material state of the material tank 2;

and the robot 3 stores and identifies the navigation mark 4 and the material box mark 21 to move in the production space to convey the material box 2 based on the information elements of the area module, the information elements of the path, the information elements of the navigation mark 4, the information elements of the material state and the conveying rule.

The preset system of the embodiment is integrated on a terminal operating system, and configured with a visual editing interface (as shown in fig. 8), before the robot 3 is deployed, the production space is first divided according to functions based on the visual editing interface, and the area modules include but are not limited to: the operation panel 1, charging station and material case 2 storage areas, the operation panel 1 is manual operation panel 1 or mechanical operation panel 1, can be the multiunit and all have the serial number for process raw materials or semi-manufactured goods through different production technology. The preset system determines the carrying rules and carrying places among the operation platforms 1 with different numbers according to a specific production process, the carrying places are set based on plane distances, and the carrying places are a certain area, so that the robot 3 can automatically recognize and automatically adjust the pose to carry the material box 2 after arriving at the carrying places. After the terminal operating system is set, the preset working rules can be transmitted to all the robots 3 based on wireless communication.

In some embodiments, the preset system may also preset the robot 3 as a patrol response or an adduction response.

When the robot 3 responds, firstly, uniformly numbering the operation platforms 1 with material transfer requirements on a workshop site; an empty skip area and a full material box 2 stacking area are defined and numbered respectively; marking lines and areas of the walking route of the robot 3; each robot 3 identifies the operation type according to the different areas to which the serial numbers belong; a wireless calling device is arranged on the surface of each operating platform 1 and used for calling the robot 3 to transfer the material box 2. After the robot 3 transfers the full material tank 2 to the designated area, if a call instruction is not received, the robot moves to the area of the empty material tank 2 by itself to be ready.

Among this technical scheme, go on through the manual work to material case 2 material loading, unloading, consequently, this embodiment is more applicable to those degree of automation low, and is sensitive to once only great input, but wants to improve production efficiency again, reduces certain manufacturing enterprise of cost of labor.

In order to simplify the deployment process, the information elements of the area module of the present embodiment only include the label information of the area module and the carrying position information of the material tank 2. The carrying position information comprises a material placing area and a material receiving area.

The preset system is also used for setting the relative position between the area modules and the navigation mark 4; the robot 3 stores the relative positions between the area modules and the navigation mark 4.

The preset system is also used for setting the relative position relationship among the area modules, and the relative position relationship is stored on the robot 3.

The processed raw materials or semi-finished products are stored in logistics material boxes, the material box identification 21 on each material box 2 is changed according to the filling state of the stored raw materials, semi-finished products or finished products, and the reflected states of the material boxes 2 at least comprise: the material tank 2 is empty, the material tank 2 is full, and the material tank 2 can be half full to match with a specific production process. The material tank mark 21 is an induction mark or a visual mark.

The navigation mark 4 of this embodiment is a visual mark or a magnetic stripe mark or the like that can specify the correctness of the moving direction.

After the preparation work is finished, the robot 3 is placed in the production space, the robot 3 directly and automatically carries out specific movement and carrying actions through analysis of the work rules, and an upper control logic is not needed to send a real-time command in the working process, so that the learning process of the traditional carrying robot 3 in deployment is omitted, and the action implementation can be independently finished even if the communication is interrupted.

At the same time, a plurality of robots 3 operating in the same production space will also be numbered, each with a unique number.

In one embodiment, the material identifier is a color card identifier, and the color card identifiers with different colors are selectively arranged in front of the material box 2 according to the material state in the material box 2 to mark whether materials exist in the material box 2, red is displayed if materials exist, green is displayed if materials do not exist, and yellow is displayed if materials are not full. The mark can be placed manually or electronically.

Fig. 2 shows the simplest embodiment of this embodiment, and a manual identification is adopted. When the material box 2 is filled with materials which can be transported, red cards are placed; otherwise, a green or yellow card is placed.

The robot 3 recognizes the color by means of a vision sensor mounted at its front end to decide whether the material tank 2 is transferred.

The main task of the robot 3 is to transfer the material tank 2 from one place to another, and the start point and the end point (i.e. the start point area module and the end point area module) need to be identified or numbered to guide the robot 3 to walk.

In one embodiment, the provisioning system is also used to set the recruitment function for the robot 3, as shown in fig. 3, which is a diagram of a factory floor related configuration. 1-5 are production line operation panel 1, and the material on the production line can be put into material case 2 by the manual work, and when material case 2 was full, the manual work pressed the calling ware, and there is robot 3 to transport empty material case 2 to carry away full material case 2, put full skip storage area.

In one embodiment, the robot 3 includes:

a moving section for realizing movement of the robot 3;

the identification part is used for identifying the label information, the material box identification 21 and the navigation identification 4;

the obstacle avoidance part is used for detecting an obstacle when the robot 3 moves to the target area module;

a carrying part for taking/putting the material box 2.

The robot 3 of this embodiment has automatic navigation, keeps away the barrier function automatically, sets up to ultra-thin robot 3, and autonomous operation degree is higher, need not upper group control system.

The robot 3 is integrated with an ultrasonic sensor and a visual sensor, can sense a front obstacle, correctly identifies a color mark card on the material box 2, and can automatically avoid obstacles to walk by means of the parameter setting of a guided operation site scene map or site position elements according to a navigation marking mark paved on the ground.

In order to realize the carrying of the ultrathin robot 3, the bottom of the material box 2 is provided with a passing space, and the robot 3 moves to the passing space to carry the material box 2 from the bottom of the material box 2.

In some embodiments, the identification portion includes a visual sensor and a magnetic sensor, the obstacle avoidance portion is an ultrasonic detector or a visual sensor, the identification portion identifies the material tank identifier 21 based on the visual sensor, the magnetic sensor identifies the path information based on the magnetic stripe navigation identifier 4, the ultrasonic detector or the visual sensor identifies the obstacle, and the robot 3 performs an obstacle avoidance maneuver in the passage allowing area 41.

In one embodiment, in order to achieve the ultra-thin property of AMR, as shown in fig. 4, the carrying portion includes:

a servo motor 33 fixed to the robot 3;

the screw 35 is in transmission arrangement with the output shaft of the servo motor 33 and converts the rotary motion of the output shaft into the linear motion of the screw 35 along the axial direction;

two groups of driving rods, which are driven by the screw 35 to move in parallel with the shaft of the screw 35 and have opposite moving directions;

four groups of scissor bases which are all fixed on the robot 3;

the first scissor comprises two scissor rods, the middle parts of which are connected based on a first scissor rotating pin; one end of the set of scissor levers is connected to the first set of scissor mounts 38 based on a pivot pin, and the other end is connected to one end of the first radial link 312 based on a pivot pin; one end part of the other group of scissors is connected with one end of the first group of driving rods 36 based on a rotating pin, and the other end part is connected with the first fixed seat 39 based on the rotating pin;

the second scissor comprises two scissor rods, the middle parts of which are connected based on a second scissor rotating pin; one end of one set of scissor levers is connected with a second set of scissor bases 315 based on a rotation pin, and the other end is connected with the other end of the first radial connecting rod 312 based on a rotation pin; one end of the other set of scissors is connected with the other end of the first set of driving rods 36 based on a rotating pin, and the other end is connected with the second fixed seat 318 based on a rotating pin; the first scissor rotary pin and the second scissor rotary pin are coaxially arranged;

the third scissor comprises two scissor rods, the middle parts of which are connected based on a third scissor rotating pin; one end of one set of scissors rod is connected with the third set of scissors base 316 based on the rotating pin, and the other end is connected with one end of the second radial connecting rod 313 based on the rotating pin; one end part of the other set of scissors is connected with one end of the second set of driving rods 37 based on the rotating pin, and the other end part is connected with the third fixed seat 310 based on the rotating pin;

the fourth scissor comprises two scissor rods, the middle parts of which are connected based on a rotating pin of the fourth scissor; one end of one set of scissor rods is connected with a fourth set of scissor bases 317 based on a rotating pin, and the other end of the other set of scissor rods is connected with the other end of the second radial connecting rod 313 based on a rotating pin; one end part of the other group of scissors is connected with the other end of the second group of driving rods 37 based on a rotating pin, and the other end part is connected with the fourth fixed seat 311 based on the rotating pin; the fourth scissor rotary pin and the third scissor rotary pin are coaxially arranged;

the first fixed seat 39 and the third fixed seat 310 are connected by an axial connecting rod 314 parallel to the axial direction of the lead screw 35;

the bracket 32 is fixed to the first fixing seat 39, the second fixing seat 318, the third fixing seat 310 and/or the fourth fixing seat 311.

Based on the structure, the motion modes of the first scissor fork, the second scissor fork, the third scissor fork and the fourth scissor fork are all the following motions. The common carrier 32, in some embodiments the carrier 32 is planar, and in the non-lifted state is first flush with the top of the robot 3.

In some embodiments, to increase the lift torque, the first radial connecting rod 312 and the second connecting rod are both slidably connected to the bracket 32 via a sliding rod.

In one embodiment, in order to ensure the moving direction, as shown in fig. 4, the carrying part further comprises a linear guide fixed on the robot 3, parallel to the axial direction of the lead screw 35, and slidably connected with the driving rod, so as to limit the driving plate to move only parallel to the axial direction of the lead screw 35.

In one embodiment, in order to reduce the axial length of the robot 3, the servo motor 33 is externally connected with a speed reducer 34, the servo motor 33 is arranged in parallel with a lead screw 35, and the speed reducer 34 and the lead screw 35 are in gear transmission.

In one embodiment, in order to achieve the ultra-thin characteristic of the robot 3, a series of unique designs are adopted for the structural design and the internal component layout of the robot 3. For example, small diameter wheels are used to reduce height; the jacking device compresses the lifting space; devices in the body, such as an electric control part, a battery and the like, need to be flatly laid on the bottom plate of the chassis so as to further reduce the height and be more suitable for the material box 2 frame with lower bottom space height; the centre of gravity of the material tank 2 is lowered.

In the embodiment, the intelligent robot 3 trolley is ultra-thin so as to be more suitable for the material boxes 2 with different bottom heights; the robot 3 has automatic navigation and automatic obstacle avoidance, and can set tasks and parameters by a mobile phone or a tablet personal computer through wireless or Bluetooth. The material box 2 is used for loading materials in a workshop, and 4 rolling wheels 31 are installed at the bottom of the material box 2 and used for moving the material box 2.

In one embodiment, fig. 5 shows a basic control program flow of the robot 3. The description is as follows:

when the robot 3 is in the idle state, it is set to stand by in the empty box area. All robots 3 are numbered and the console 1 call interface can see the current status of each robot 3: armed, in transit, failed, etc. The operator station 1 can call any one of the robots 3 in the standby state by clicking, and the corresponding robot 3 automatically goes to the operator station 1.

The workshop traveling route map and the corresponding console numbers 11 and the mutual positional relationship have been established in the robot 3 control system, so that, when a call is received from the console 1, the robot 3 recognizes the ground traveling reticle and the corresponding console numbers 11 by means of the vision sensor, thereby reaching the vicinity of the corresponding console 1.

The main objects of the robot 3 in this embodiment for visual recognition are: the ground navigation marking line is numbered by 11 on the operating platform, the empty material box storage area is numbered, and the full material box storage area is numbered;

the numbering rule is that the number of the operation table is 11 ranges from 0 to 99; the number range of the empty box storage areas is 100-199; the number range of the full storage area of the material box ranges from 200 to 299.

In front of each console 1, facing the front of the robot walking passing area 41, a corresponding console 1 code number needs to be arranged for the robot to visually recognize, as shown in fig. 6.

When the robot 3 is called to request to go to a certain operation platform 1 and the robot 3 reaches the position near the corresponding operation platform 1, adjusting the pose, and identifying the number in front of the operation platform 1 to confirm that the number is the target platform; then, the vehicle runs to the position near the material box, the colored card mark in front of the material box is identified, if the colored card mark is red, the empty material box is unloaded, then the empty material box is aligned with the full material box to be lifted, then the full material box is transferred to the full material box area to be put down, and then the empty material box area is returned to for standby; next, when a call is received from a certain station 1, the empty box in the area is lifted up and goes to the target station 1.

In the walking process of the robot 3, the area nearby is identified as a walking area according to the ground navigation identifier 4, the width of the walking area can be set, but the robot 3 does not necessarily need to walk in the area and cannot surmount, when the robot 3 encounters an obstacle and cannot completely hide in the walking area, the robot 3 borrows a part of area outside the walking area to hide, and then returns to the walking passing area 41 to continue walking; the area has a high priority drive.

In the walking process of the robot 3, the visual sensor not only visually identifies the ground navigation mark 4, but also identifies the operating platform number 11, the empty box area number and the full box area number so as to facilitate corresponding operation.

In the empty bin area and the full bin area, similar to the method for placing the operating platform number 11, the number plate also needs to be arranged in the corresponding area so that the robot 3 can correctly recognize the number plate, and although the map is built in the robot 3, the external navigation mark 4 and the number plate are necessary to assist in improving the operation reliability of the robot 3 and reducing the error rate.

In the running process of the robot 3, the state of the robot can be inquired by the calling interface of the operation panel 1 at any time.

Fig. 7 is a logic diagram of the robot 3 visual recognition operation.

As shown in fig. 7, if the robot 3 determines that the target area has been reached by the built-in map and the real-time navigation data, the robot 3 needs to adjust its pose to identify the code number of the front marker, and if the target number is determined, the corresponding operation is performed. And entering the next running program after the operation is finished.

In the technical solution of this embodiment, there is no upper robot 3 management system, that is, there is no so-called robot 3 group control and scheduling system, because one of the advantages of this project is that the deployment steps are few, the deployment time is short, that is, the project is put into use, except for the controller integrated with the robot 3 itself, the technical solution for realizing the coordinated operation of a plurality of robots 3 in the same manufacturing shop is as follows:

on the face of each console 1, a summons device is placed, which can communicate with each robot 3 through wifi or mobile data. Each robot 3 is internally provided with a wifi or mobile internet of things card and can perform data communication. A plurality of robots 3 operating in the same plant are each numbered, and the number of each robot 3 is unique.

The summoning device can inquire the running state of each robot 3 in real time, when the robot 3 needs to be summoned on the surface of an operation panel 1 to transport materials, an operator clicks any robot 3 in an idle state on a summoning device interface, the robot 3 is summoned successfully, and the operation is started immediately to go to the operation panel 1. This process is a process in which the caller and the robot 3 communicate bidirectionally.

As can be seen, in the present embodiment, although there is no group control system for the robot 3, the state query and call operation for the robot 3 can be realized on the call device.

The caller function may also be implemented by a cell phone app.

The summons may issue a stop operation instruction to the robot 3 that is executing the self-summoning task.

In order to further reduce the time for the robot 3 to enter the factory and be deployed on site, the embodiment further has the following technical scheme.

The robot 3 is set according to the default coding rule before leaving the factory, and therefore, the numbering label is arranged on the workshop site. Because the visual identification technology is utilized, the on-site numbering label rule has no more strict requirements, but the label needs to be marked in a more obvious place, and the marking area is beneficial to the identification of the robot 3.

In addition, the red, yellow and green sign cards of the material box are also generally required to be arranged in front of the material box so as to be beneficial to the identification of the robot 3. As shown in fig. 2. The yellow card is marked that the material is filled in the bin but the material is not filled, but the operator calls a certain robot 3 to the operation platform 1, in this case, when the robot 3 arrives near the operation platform 1, the color of the bin card is yellow, which indicates that waiting is needed, the robot 3 stays near the operation platform 1 to wait, at this time, the robot 3 is equivalently locked, and other operation platforms can not call the robot 3 any more.

When monitoring the low electric quantity of the robot, the robot 3 automatically returns to the charging station to be charged.

When the robot 3 transports the full bin to the full bin area, the full bin is unloaded and returns to the empty bin area to stand by.

In some embodiments, an additional task of transferring empty magazines may be provided for a certain robot or robots 3, depending on the actual conditions at the production site. After the material box in the full material box area is unloaded to become an empty material box, the unloading staff can change the color of a card of the material box to green and place the card in the original position, then call the robot 3 with the function of returning the empty material box through a call device, the called robot 3 can move to the full material box area, identify the material box with the green color of the card and carry the material box to the empty material box area to place the material box, then lower the self jacking device, and stay in the original position to be in a standby state.

In the technical scheme of this embodiment, in the initial setting of the robot 3, the robot 3 needs to be correspondingly set according to specific conditions such as a workshop site production line, the operation console 1, and settings of various areas, and the method is mainly based on setting key parameters of various nodes related to the operation of the robot 3 by using a simple coordinate system graphical 'drawing' method developed in the technical scheme of this embodiment according to related parameters in the technical scheme determined by project planning and design stages. The parameters comprise the distance between each operation platform 1 in a workshop, the distance between each operation platform 1 and a ground navigation marking, the shape and length parameters of the ground navigation marking, the position of an empty material box area, the position of a full material box area and the like, and all the parameters are rapidly determined in the same coordinate system by adopting a graphical dragging modular method. As shown in fig. 8.

FIG. 8 is a diagram illustrating a graphical "map building" method according to the present invention, taking the certain plant item shown in FIG. 3 as an example.

The operation interface of the preset system of the embodiment is implemented in a unified coordinate system, in which a plurality of commonly used area modules, such as the operation table module 5, the bin module 8, the charging module 6, and the like, are established, and meanwhile, the ground navigation marking information 7 between the modules is established. Each module can be dragged, copied, numbered. When the module is dragged in the coordinate system, the corresponding coordinate of the module in the coordinate system is displayed; the modules can be arranged at a relative distance and distance from each other, and the modules can be arranged at a placement angle. By means of the mode, simple and easy input of mutual position parameters among key elements on site is carried out; in this way, instead of the direct mapping mode, after the project is determined, the position relation parameters are set in the control system of the robot 3 before formal deployment and factory shipment.

The robot 3 control system further analyzes the data and uses the data as a basis for initial navigation parameters when the robot 3 walks in an actual workshop. These key parameters are consistent with the parameters in the actual scene, and this step can be set before the robot 3 leaves the factory.

When the robot 3 enters the actual factory workshop, it is general to call a certain idle robot 3 from the console 1 with the number 1 for the first time, that is, the console 1 No. 1. When the robot 3 successfully identifies the number 1 of the operating platform 1 on site, the robot starts to walk, and when the robot walks to the position and posture identification number 2 near the operating platform 1 with the number 2 according to the built-in parameters, the robot 3 can adjust the position and posture identification number 2. . . Until each built-in valid number is successfully identified, the robot 3 has completed calibration of the built-in data and the field data and can start formal work.

The mode of utilizing the coordinate system to carry out 'drawing' in advance is very suitable for a factory workshop scene with simple field environment, uncomplicated walking route of the robot 3 and regular field arrangement, can greatly reduce the field deployment workload and time, and achieves the purpose of being applied immediately.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are also within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. An AMR system is exempted from to deploy in workshop, which characterized by comprising:

2. The deploymentless AMR system according to claim 1, wherein the information elements of the region module comprise a label information and a carrying position information of the region module; the preset system is further configured to set a relative positional relationship between the region modules, and the AMR stores the relative positional relationship.

3. The deployerless AMR system of claim 1, wherein the AMR is run to the region module based on a call instruction.

4. The deploymentless AMR system of claim 1, wherein a bottom of the material tank is provided with a passage space, and the AMR moves into the passage space to carry the material tank from the bottom of the material tank.

5. The deployerless AMR system of claim 4, wherein the AMR comprises:

a moving part for realizing the movement of the AMR;

and the carrying part is used for taking/placing the material box.

6. The deployerless AMR system of claim 5, wherein the handling portion comprises:

the servo motor is fixed on the AMR;

four groups of scissor bases which are all fixed on the AMR;

the fourth scissor comprises two scissor rods, the middle parts of which are connected based on a fourth scissor rotating pin; one end of one group of scissor rods is connected with a fourth group of scissor bases based on a rotating pin, and the other end of the scissor rods is connected with the other end of the second radial connecting rod based on the rotating pin; one end part of the other group of scissors is connected with the other end of the second group of driving rods based on the rotating pin, and the other end part of the other group of scissors is connected with the fourth fixed seat based on the rotating pin; the fourth scissor rotary pin and the third scissor rotary pin are coaxially arranged;

the bracket is fixedly arranged with the first fixed seat, the second fixed seat, the third fixed seat and/or the fourth fixed seat;

7. The deployerless AMR system according to claim 6, wherein a reducer is externally connected to the servo motor, the servo motor is arranged side by side with the lead screw, and the reducer and the lead screw are based on gear transmission.

8. The deploymentless AMR system of claim 6, wherein the first scissor, the second scissor, the third scissor, and the fourth scissor move with one another.

9. The deployerless AMR system according to claim 6, wherein the handling part further comprises a linear guide fixed on the AMR, parallel to an axial direction of the lead screw, and slidably connected to the driving rod, and limiting the driving plate to move only parallel to the axial direction of the lead screw.

10. The deployerless AMR system of claim 4, wherein the AMR further comprises a chassis, electrical control components of the AMR and a tiling of batteries are distributed on the chassis.