CN115593839A - Material handling robot and control method thereof - Google Patents
Material handling robot and control method thereof Download PDFInfo
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- CN115593839A CN115593839A CN202211611527.9A CN202211611527A CN115593839A CN 115593839 A CN115593839 A CN 115593839A CN 202211611527 A CN202211611527 A CN 202211611527A CN 115593839 A CN115593839 A CN 115593839A
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- material handling
- control module
- instruction
- handling robot
- lifting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0485—Check-in, check-out devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
Abstract
The invention relates to the technical field of intelligent robots, in particular to a material handling robot and a control method and a transportation mechanism thereof; a mechanical arm; the battery module is arranged on the base in the transportation mechanism; the control module is arranged on the battery module; the material handling robot comprises mechanical arms for sorting materials, the mechanical arms are used for taking different types of materials on a multi-layer shelf in a large material storage warehouse, a control module transports the corresponding materials to corresponding discharge ports according to preset material scheduling instructions, ultra-low delay networks provided by a 5G technology are matched with positioning labels and positioning base stations during transportation, real-time navigation and position monitoring of multiple material handling robots are achieved, and meanwhile, a built-in artificial intelligence algorithm is used for enabling each material handling robot to determine the current material transportation state by self.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a material handling robot.
Background
Large-scale material or raw and other materials storage warehouse are because the area is great, the material article type is numerous, and the shipment mouth distributes in the not equidirectional in warehouse, if the letter sorting that leads to the material is accomplished through the manpower only with the dispatch, very easily make mistakes, and simultaneously inefficiency, and along with artificial intelligence, the popularization and the application of new technologies such as 5G, how let the better material sorting and the dispatch of serving in large-scale material storage warehouse of these new technologies, and then more accurate, sort the material high-efficiently and be called as the problem of waiting to solve urgently.
Disclosure of Invention
The invention mainly aims to provide a material handling robot and an air conditioner, and aims to solve the technical problems of low material sorting efficiency and low scheduling accuracy of a large material storage warehouse in the prior art.
To achieve the above object, the present invention provides a material handling robot, comprising:
the transport mechanism comprises a base and driving parts arranged at four end corners of the base, the driving parts comprise Mecanum wheels and servo motors, the servo motors are used for controlling the rotating speed and the steering direction of the Mecanum wheels, and the four Mecanum wheels are used for driving the base to move along any direction; the mechanical arm is arranged on the base in the conveying mechanism and used for storing or taking different types of materials on the goods shelf;
the battery module is arranged on the base in the transportation mechanism, is positioned on one side of the mechanical arm, is used for providing electric energy for the electric part on the mechanical arm and the servo motor, and is used as a counterweight module at the same time, so that the material handling robot cannot topple when the mechanical arm takes goods; the control module is arranged on the battery module and used for controlling the operation of the mechanical arm and the transportation mechanism; the mechanical arm comprises two symmetrically arranged lifting beams, a telescopic arm and a guide wheel lifting mechanism, wherein the telescopic arm is arranged between the two lifting beams and can move up and down along the vertical direction of the lifting beams, the guide wheel lifting mechanism is arranged on the lifting beams and is used for lifting the telescopic arm, and the bottom of the lifting beams is arranged on the base.
Optionally, guide pulley elevating system is including locating the elevator motor of elevator roof beam bottom, locating the transmission assembly pulley and the haulage rope at elevator roof beam top, the one end of haulage rope with the elevator motor output is connected, and the other end warp the transmission assembly pulley with elevating platform in the flexible arm is connected, flexible arm includes the elevating platform and locates flexible platform on the elevating platform, the elevating platform is embedded to have flexible motor, the lower surface of flexible platform is equipped with flexible rack, flexible motor's output pinion with flexible rack toothing, and then the drive horizontal migration about the flexible platform, the elevator medial surface is equipped with the guide rail, the both sides of elevating platform be equipped with guide rail complex guide pulley group, and then make the elevating platform reciprocates along vertical direction.
Optionally, a camera is arranged on one side of the lifting table, an acceleration sensor and a gyroscope are arranged at the bottom of the lifting table, a pressure sensor is arranged between the telescopic table and the lifting table, and a positioning label is arranged on the base;
the camera is used for identifying the goods identification code on the goods shelf, so that the goods types to be carried are distinguished, the acceleration sensor, the gyroscope and the pressure sensor are used for acquiring the state of current goods transportation, and the positioning label is matched with the positioning base station to provide accurate navigation for the material handling robot in the warehouse.
In a second aspect, the present invention provides a method of controlling a materials handling robot, the method comprising:
s1, a control module acquires material handling instructions sent by a plurality of master control consoles, wherein the material handling instructions comprise material information, end point position information and time node information, and the time node information is the latest time when a material reaches a preset end point position;
s2, the control module carries out priority sequencing on the material handling instructions according to the time node information, and records the material handling instruction with the highest priority as a first instruction;
s3, the control module analyzes the material information in the first instruction and obtains position information of a material taking point in the warehouse mimicry graph according to the material information;
s4, the control module sends the position information of the material taking point to a positioning label so as to send first current position information of the material handling robot and the position information of the material taking point to a positioning base station, the positioning base station formulates a first navigation route according to the first current position and the position information of the material taking point and feeds the first navigation route back to the positioning label;
s5, the control module receives a first navigation route fed back by the positioning tag, controls the transportation mechanism to enable the material handling robot to move according to the first navigation route, simultaneously acquires position information of other material handling robots in real time through the positioning tag, controls the moving speed according to the position information and avoids collision;
s6, after the material handling robot reaches the material taking position, the control module controls the lifting motor to enable the lifting plate to move up and down along the lifting beam, and further enables a camera arranged on the lifting platform to sequentially scan a plurality of layers of material information two-dimensional codes on the same row on the goods shelf from bottom to top;
s7, the control module controls the lifting motor to enable the height of the lifting plate to be lowered to a transportation height, meanwhile, a delivery route planning request is sent to the positioning tag according to the destination position information in the first instruction, so that the positioning tag sends second current position data and destination position data to the positioning base station, and the positioning base station formulates a second navigation route according to the second current position data and the destination position data and feeds the second navigation route back to the positioning tag;
s8, the control module receives a second navigation route fed back by the positioning tag, controls the transportation mechanism to enable the material handling robot to move according to the second navigation route, simultaneously obtains position information of other material handling robots in real time through the positioning tag, controls the moving speed according to the position information and avoids collision;
and S9, after the material handling robot reaches the end point position, the control module sends a first completion instruction to enable a worker to go to the end point position to take the material, after the received instruction fed back by the worker is received, the next-level material handling instruction is called, and the steps S2 to S9 are repeatedly executed.
Optionally, during the time that the control module executes steps S1 to S9, the control module continuously collects accelerations and angular velocities fed back by the acceleration sensor and the gyroscope, when any one of the accelerations and angular velocities is greater than a corresponding maximum safe operation threshold, stops the operation of the material handling robot, starts a self-checking operation to determine communication states of the four servo motors, and if the communication is normal, generates a first abnormal transportation record containing current position information, and sends the first abnormal transportation record to a master control console, so that a worker calls a monitoring video at an abnormal occurrence position;
control module receives the exception handling instruction of total console feedback, if the exception handling instruction is first operation instruction, then continues the transportation material, if the exception handling instruction is second operation instruction, then opens warning sign, waits for staff to arrive the site processing, first operation instruction representation staff confirms through the control video that the material is unusual, can continue the instruction of normal transportation, second operation instruction representation staff confirms through the control video that the material inclines or the damage is revealed, can't continue the instruction of normal transportation.
Optionally, during the step S8, the control module continuously obtains a pressure value fed back by the pressure sensor, stops transportation when a difference value between the monitored pressure value and an initial pressure value during goods taking is greater than a preset threshold value, generates a material leakage early warning instruction, and sends the material leakage early warning instruction to a master control console, so that a worker can arrive at a site for processing.
Optionally, in step S9, after the next-level material handling instruction is called, the method further includes:
the control module analyzes material information, end point position information and time node information in the next-level material handling instruction;
the control module obtains position information of the material according to the material information in the next-level material handling instruction and records the position information as passing position information;
the control module obtains estimated carrying time according to the current position information, the passing position information and the end point position information of the material carrying robot;
the control module obtains estimated material delivery time based on current time and estimated carrying time, when the estimated material delivery time is later than a time node in a next-level material carrying instruction, the next-level material carrying instruction is marked as a state to be distributed and is sent to the master control platform, so that the master control platform distributes the next-level material carrying instruction to other material carrying robots which are closer to the passing positions.
Optionally, in step S5, the obtaining, in real time, position information of other material handling robots through the positioning tags, and controlling a moving speed according to the position information to avoid a collision includes:
acquiring the running tracks of a plurality of other material handling robots within the early warning range, predicting whether the running tracks intersect with a first navigation route or not according to the running tracks, and if so, marking the intersection as a first intersection;
screening a first intersection closest to the position of the local material handling robot from the plurality of first intersections, marking the first intersection as a second intersection, marking the running track corresponding to the second intersection as a second running track, and marking the material handling robot corresponding to the second running track as a second material handling robot;
calculating the time of the second material handling robot reaching the second intersection according to the second running track, and recording the time as second arrival time;
calculating the time of the current local material handling robot reaching the second intersection according to the moving speed of the current local material handling robot, and recording the time as the first arrival time;
and under the condition that the first arrival time is later than the second arrival time and the difference between the first arrival time and the second arrival time is smaller than the preset safe intersection time difference, the moving speed of the current local material handling robot is reduced until the difference between the corresponding first arrival time and the second arrival time after the moving speed is reduced is larger than the preset safe intersection time difference, and then the collision with the second material handling robot is avoided.
The material handling robot comprises mechanical arms for sorting materials, the mechanical arms are used for achieving taking of materials of different types on a multi-layer shelf in a large material storage warehouse, a control module transports the corresponding materials to corresponding discharge ports according to preset material scheduling instructions after the materials are taken, an ultra-low delay network provided by a 5G technology is matched with a positioning label and a positioning base station during transportation, real-time navigation and position monitoring of a plurality of material handling robots are achieved, meanwhile, a built-in artificial intelligence algorithm is adopted, each material handling robot can self-judge the current material transportation state, and related monitoring personnel are informed to intervene when the material transportation state is abnormal.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, 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 structures shown in the drawings without creative efforts.
FIG. 1 is a schematic mechanical diagram of a materials handling robot according to an embodiment of the present invention;
FIG. 2 is an exploded view of a transport mechanism according to an embodiment of the present invention;
FIG. 3 is an enlarged view of a portion of FIG. 1 at B;
FIG. 4 is an enlarged view of a portion of a drive pulley assembly according to an embodiment of the present invention;
FIG. 5 is a schematic view of a telescopic arm mechanism according to an embodiment of the present invention;
fig. 6 is an assembly view of the material, the containing unit and the telescopic table.
The reference numbers in the figures mean: 1-a transportation mechanism, 11-Mecanum wheels, 12-a servo motor, 2-a mechanical arm, 21-a lifting motor, 22-a lifting beam, 221-a guide rail, 23-a lifting platform, 231-a guide wheel, 24-a camera, 25-a telescopic platform, 26-a transmission pulley block, 3-a battery module, 4-a control module, 5-a bearing unit and 6-materials.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
It should be noted that all the directional indicators (such as upper, lower, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the motion situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout includes three juxtapositions, exemplified by "A and/or B" including either A or B or both A and B. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
Example 1
As shown in fig. 1, the present embodiment provides a materials handling robot comprising:
the transportation mechanism shown in fig. 2 includes a base and driving parts disposed at four corners of the base, where the driving parts include mecanum wheels 11 and servo motors 12, the servo motors 12 are used to control the rotation speed and the steering direction of the mecanum wheels 11, and the four mecanum wheels 11 are used to drive the base to move in any direction, so that the transportation mechanism can drive the whole material handling robot to move, and for a specific driving manner, the present embodiment is not described in detail;
as shown in fig. 1, the mechanical arm 2 is arranged on the base of the transportation mechanism 1 and used for storing or taking different types of materials 6 on the goods shelf, and the mechanical arm 2 can move up and down and back and forth, and the specific implementation mode can be as follows:
the mechanical arm 2 comprises two symmetrically arranged lifting beams 22, a telescopic arm which is arranged between the two lifting beams 22 and can move up and down along the vertical direction of the lifting beams, and a guide wheel lifting mechanism which is arranged on the lifting beams and used for lifting the rope arm, wherein the bottom of the lifting beams 22 is arranged on the base;
as shown in fig. 1, 3, and 4, the guide wheel lifting mechanism specifically includes: the lifting motor 21 is arranged at the bottom of the lifting beam 22, and the transmission pulley block 26 and the traction rope are arranged at the top of the lifting beam 22, wherein one end of the traction rope is connected with the output end of the lifting motor 21, and the other end of the traction rope is connected with the lifting platform 23 in the telescopic arm through the transmission pulley block 26;
as shown in fig. 3 and 5, the telescopic arm includes: elevating platform 23 with locate flexible platform 25 on the elevating platform 23, elevating platform 23 is embedded to have flexible motor, the lower surface of flexible platform 25 is equipped with flexible rack, flexible motor the output gear with flexible rack toothing, and then the drive horizontal migration about the flexible platform, the inside surface of lifing beam 22 is equipped with guide rail 221, the both sides of elevating platform 23 be equipped with guide rail 221 complex guide pulley group 231, and then make elevating platform 23 reciprocates along vertical direction.
When the lifting device works, the two lifting motors 21 on the two sides of the lifting beam 22 are controlled to rotate forwards or reversely at the same time, so that the traction ropes are collected and released, and the lifting platform 23 moves up and down along the guide rail 221 under the action of the guide wheel 231;
the battery module 3 is arranged on a base in the transportation mechanism 1, is positioned on one side of the mechanical arm 2, is used for providing electric energy for the electric parts on the mechanical arm 2 and the servo motor 12, and is used as a counterweight module, so that the material handling robot cannot topple when the mechanical arm 2 takes goods;
the control module 4 is arranged on the battery module 3 and used for controlling the operation of the mechanical arm 2 and the transportation mechanism 1;
in order to make the transportation robot more intelligent, some sensors may be added to sense the change of the surrounding environment, specifically:
a camera 24 is arranged on one side of the lifting platform 23, an acceleration sensor and a gyroscope are arranged at the bottom of the lifting platform 23, a pressure sensor is arranged between the telescopic platform 25 and the lifting platform 23, and a positioning label is arranged on the transportation mechanism 1;
the camera is used for identifying goods identification codes on the goods shelf and distinguishing goods types to be carried, the acceleration sensor, the gyroscope and the pressure sensor are used for acquiring the state of current goods transportation, abnormal acceleration or angular acceleration can be monitored by the acceleration sensor and the gyroscope when collision or dumping of materials 6 occurs, and then operation postures are checked, the positioning label cooperation positioning base station is used for providing accurate navigation for the material handling robot in a warehouse, and meanwhile the robot is enabled to master the positions of other robots in real time, so that corresponding avoiding actions are made in advance, such as stopping and waiting.
Example 2
Before carrying out relevant explanation, the layout of a large material storage warehouse and the working scene of a material handling robot are explained firstly, a plurality of goods shelves are placed in the large material storage warehouse, each goods shelf is of a multilayer structure, each layer is provided with a plurality of storage units, each storage unit can be used for placing one material 6, the specific bearing mode of the material 6 is shown in figure 6, each material 6 is placed in a bearing unit 5, when the material 6 is taken, a telescopic table 25 enters a cavity below the bearing unit 5 to be lifted, each direction of the warehouse is provided with a plurality of material taking doors, workers fill in required material types and take goods time on a control terminal, the materials are uniformly distributed to the material handling robots in the warehouse by a master control table, and material handling instructions received by the material handling robots do not coincide.
The present embodiments provide a material handling robot control method, comprising:
s1, a control module 4 acquires material handling instructions sent by a plurality of master control consoles, wherein the material handling instructions comprise material information, end point position information and time node information, and the time node information is the latest time when a material 6 reaches a preset end point position;
s2, the control module 4 carries out priority sequencing on the material handling instructions according to the time node information, and records the material handling instruction with the highest priority as a first instruction;
s3, the control module 4 analyzes the material information in the first instruction and acquires position information of a material taking point in the warehouse mimicry map according to the material information;
s4, the control module 4 sends the position information of the material taking point to a positioning label so as to send the first current position information of the material handling robot and the position information of the material taking point to a positioning base station, the positioning base station formulates a first navigation route according to the first current position and the position of the material taking point, and the first navigation route is fed back to the positioning label;
s5, the control module 4 receives a first navigation route fed back by a positioning tag, controls the transportation mechanism 1 to enable the material handling robot to move according to the first navigation route, simultaneously obtains position information of other material handling robots in real time through the positioning tag, controls the moving speed according to the position information and avoids collision;
s6, after the material 6 transportation robot reaches the material taking position, the control module 4 controls the lifting motor 21 to enable the lifting plate 23 to move up and down along the lifting beam 22, and further enables the camera 24 arranged on the lifting platform 23 to sequentially scan the multiple layers of material information two-dimensional codes in the same column on the goods shelf from bottom to top, when the scanned material information two-dimensional codes are matched with the material information in the first instruction, the lifting platform 23 is adjusted to the corresponding goods taking height, the telescopic platform 25 is moved to the position below the corresponding material 6 by controlling the telescopic motor, the height of the lifting platform 23 is finely adjusted, the telescopic platform 25 is enabled to support the material 6 and receive the material weight fed back by the pressure sensor, if the material weight is smaller than a maximum bearing threshold value, the telescopic platform 25 is controlled to enable the telescopic platform 25 to bring the material 6 back to a sliding cavity of the lifting platform 23, wherein the maximum bearing threshold value is used for preventing the material 6 on the telescopic platform 25 from being overweight and leading the material transportation robot to topple before taking place;
s7, the control module 4 controls the lifting motor 21 to enable the height of the lifting plate 23 to be lowered to a transportation height, the transportation height is usually lower than a goods taking height, meanwhile, a goods delivery route planning request is sent to the positioning label according to destination position information in a first instruction, so that the positioning label sends second current position data and destination position data to a positioning base station, and the positioning base station formulates a second navigation route according to the second current position data and the destination position data and feeds the second navigation route back to the positioning label;
because the starting point and the end point are different in position, the goods taking route and the goods delivering route are different, and simultaneously, because the goods taking time and the real-time change position of the material handling robot cannot be estimated, the route planning is better in one-way planning, on one hand, the redundancy degree of the algorithm is reduced, on the other hand, the timeliness of the algorithm is improved, and the shorter the transportation time or the distance planned by the algorithm is, the higher the timeliness of the algorithm is, the more the algorithm can adapt to the complex transportation requirement;
s8, the control module 4 receives a second navigation route fed back by the positioning tag, controls the transportation mechanism to enable the material handling robot to move according to the second navigation route, simultaneously obtains position information of other material handling robots in real time through the positioning tag, controls the moving speed according to the position information and avoids collision;
s9, after the material 6 transporting robot reaches the end point position, the control module 4 sends a first finishing instruction to enable a worker to go to the end point position to take the material 6, after the received instruction fed back by the worker is received, the next-level material transporting instruction is called, and the steps S2-S9 are repeatedly executed.
In the transportation process of material 6, if cause other robots to lose contact because of network or other reasons, when making current robot can't know the position of other robot and lead to bumping each other, the robot needs to know current transport state through acceleration sensor and gyroscope this moment, can be specifically: during the control module executes the steps S1-S9, the control module continuously collects the accelerated speed and the angular velocity fed back by the acceleration sensor and the gyroscope, when any numerical value of the accelerated speed and the angular velocity is larger than a corresponding maximum safe operation threshold value, the operation of the material handling robot is stopped, at the moment, the system judges that abnormal collision occurs, self-checking operation needs to be started to determine the communication states of the four servo motors, if the communication is normal, a first abnormal transportation record containing current position information is generated, the first abnormal transportation record is sent to a master control console, so that a worker can call a monitoring video at the position where the abnormality occurs, the first abnormal transportation record represents that the transportation mechanism 1 is complete in functionality, and the master control console can continue to execute a transportation task after the material 6 is still safe and correct;
control module 4 receives the exception handling instruction of total console feedback, if the exception handling instruction is first operation instruction, then continues to transport material 6, if the exception handling instruction is second operation instruction, then opens warning sign, waits for the staff to arrive the field processing, first operation instruction sign staff confirms through the control video that material 6 is unusual, can continue the instruction of normal transportation, second operation instruction sign staff confirms through the control video that material 6 inclines or the damage reveals, can't continue the instruction of normal transportation.
Secondly, during the step S8, the control module 4 continuously acquires the pressure value fed back by the pressure sensor, when the difference value between the monitored pressure value and the initial pressure value during goods taking is larger than a preset threshold value, the transportation is stopped, a material leakage early warning instruction is generated and sent to a master control platform, so that workers can arrive at the site for processing, when the material 6 leaks, the detection value of the pressure sensor can continuously descend, and after the detection value descends to a certain degree, the transportation is stopped, and further the material 6 is prevented from leaking in a large range.
In an actual operation scene, after the material handling robot reaches a preset terminal, the material handling robot needs to wait for the taking of materials by a material taking person, and the delay time in the process cannot be estimated, so that after each transportation is completed, whether the time node of the next task conflicts with the current time needs to be detected again, and conflicts exist, namely, the transportation cannot be completed before the time node of the next task according to the calculation of the current time, at the moment, the transportation instruction needs to be skipped, and meanwhile, the skipped transportation instruction is sent to a master control platform, so that the skipped transportation instruction is sent to other material handling robots again, and the specific operation can be as follows:
after the next material handling instruction is called in step S9, the method further includes:
the control module 4 analyzes material information, end point position information and time node information in a next-level material handling instruction, wherein the next-level material handling instruction is a next-level material transportation instruction which is executed and has the highest priority level;
the control module 4 obtains the position information of the material 6 according to the material information in the next-level material handling instruction, and records the position information as passing position information;
the control module 4 obtains estimated carrying time according to the current position information, the passing position information and the end point position information of the material handling robot, wherein the estimated carrying time is the shortest transportation time in a rational state and is usually shorter than the actual transportation time;
the control module 4 obtains estimated material 6 delivery time based on current time and estimated delivery time, when the estimated material 6 delivery time is later than a time node in a next-level material handling instruction, the next-level material 6 handling instruction is marked as a state to be distributed and sent to the master control station, so that the master control station distributes the next-level material handling instruction to other material handling robots close to passing positions again, and the estimated material delivery time is obtained after superposition calculation is carried out on the current time and the estimated handling time.
Secondly, in step S5, the obtaining of the position information of the other material handling robots in real time through the positioning tags, controlling the moving speed according to the position information, and avoiding collision includes:
the control module 4 acquires the running tracks of a plurality of other material handling robots within the early warning range, predicts whether the running tracks intersect with the first navigation route or not according to the running tracks, and marks the intersection as a first intersection if the running tracks intersect with the first navigation route;
the control module 4 screens out a first intersection closest to the position of the local material handling robot from the plurality of first intersections, marks the first intersection as a second intersection, marks the running track corresponding to the second intersection as a second running track, and marks the material handling robot corresponding to the second running track as a second material handling robot;
the control module 4 calculates the time of the second material handling robot reaching the second intersection according to the second running track, and records the time as second arrival time;
the control module 4 calculates the time of the local material handling robot reaching the second intersection according to the moving speed of the current local material handling robot and records the time as the first arrival time;
control module 4 is later than at first arrival time the second arrival time, and the difference between the two is less than under the condition of predetermined safe time difference of crossing, reduces current local material handling robot's the speed of moving, and the difference that corresponds after reducing the speed of moving is greater than with the second arrival time the predetermined safe time difference of crossing, and then avoid with second material handling robot's collision.
The above description is only an alternative embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (8)
1. A materials handling robot, comprising:
the conveying mechanism comprises a base and driving parts arranged at four end corners of the base, wherein each driving part comprises a Mecanum wheel and a servo motor, the servo motors are used for controlling the rotating speed and the steering direction of the Mecanum wheels, and the four Mecanum wheels are used for driving the base to move along any direction;
the mechanical arm is arranged on the base in the conveying mechanism and used for storing or taking different types of materials on the goods shelf;
the battery module is arranged on the base in the transportation mechanism, is positioned on one side of the mechanical arm, is used for providing electric energy for the electric part on the mechanical arm and the servo motor, and is used as a counterweight module at the same time, so that the material handling robot cannot topple when the mechanical arm takes goods;
the control module is arranged on the battery module and used for controlling the operation of the mechanical arm and the transportation mechanism;
the mechanical arm comprises two symmetrically arranged lifting beams, a telescopic arm and a guide wheel lifting mechanism, wherein the telescopic arm is arranged between the two lifting beams and can move up and down along the vertical direction of the lifting beams, the guide wheel lifting mechanism is arranged on the lifting beams and is used for lifting the telescopic arm, and the bottom of the lifting beams is arranged on the base.
2. The material handling robot as claimed in claim 1, wherein the guide wheel lifting mechanism comprises a lifting motor disposed at the bottom of the lifting beam, a transmission pulley block and a traction rope disposed at the top of the lifting beam, one end of the traction rope is connected to the output end of the lifting motor, the other end of the traction rope is connected to a lifting platform in the telescopic arm through the transmission pulley block, the telescopic arm comprises a lifting platform and a telescopic platform disposed on the lifting platform, the lifting platform is embedded with a telescopic motor, the lower surface of the telescopic platform is provided with a telescopic rack, an output single gear of the telescopic motor is engaged with the telescopic rack to drive the telescopic platform to move horizontally left and right, a guide rail is disposed on the inner side of the lifting beam, guide wheel sets matched with the guide rail are disposed on both sides of the lifting platform, and the lifting platform is made to move up and down along a vertical direction.
3. The material handling robot as recited in claim 2, wherein a camera is disposed on one side of the lift platform, an acceleration sensor and a gyroscope are disposed at a bottom of the lift platform, a pressure sensor is disposed between the telescoping platform and the lift platform, and a positioning tag is disposed on the base;
the camera is used for identifying goods identification codes on the goods shelf and further distinguishing goods types to be carried, the acceleration sensor, the gyroscope and the pressure sensor are used for acquiring the state of current goods transportation, and the positioning label is matched with the positioning base station and used for providing accurate navigation for the material handling robot in the warehouse.
4. A method of material handling robot control, the method comprising:
s1, a control module acquires material handling instructions sent by a plurality of master control consoles, wherein the material handling instructions comprise material information, end point position information and time node information, and the time node information is the latest time when a material reaches a preset end point position;
s2, the control module carries out priority sequencing on the material handling instructions according to the time node information, and records the material handling instruction with the highest priority as a first instruction;
s3, the control module analyzes the material information in the first instruction and obtains position information of a material taking point in the warehouse mimicry graph according to the material information;
s4, the control module sends the position information of the material taking point to a positioning label so as to send the first current position information of the material handling robot and the position information of the material taking point to a positioning base station, the positioning base station formulates a first navigation route according to the first current position and the position of the material taking point, and the first navigation route is fed back to the positioning label;
s5, the control module receives a first navigation route fed back by the positioning tag, controls the transportation mechanism to enable the material handling robot to move according to the first navigation route, simultaneously obtains position information of other material handling robots in real time through the positioning tag, controls the moving speed according to the position information and avoids collision;
s6, after the material handling robot reaches the material taking position, the control module controls the lifting motor to enable the lifting plate to move up and down along the lifting beam, and further enables a camera arranged on the lifting platform to sequentially scan a plurality of layers of material information two-dimensional codes on the same row on the goods shelf from bottom to top;
s7, the control module controls the lifting motor to enable the height of the lifting plate to be lowered to a transportation height, meanwhile, a delivery route planning request is sent to the positioning tag according to the destination position information in the first instruction, so that the positioning tag sends second current position data and destination position data to the positioning base station, and the positioning base station formulates a second navigation route according to the second current position data and the destination position data and feeds the second navigation route back to the positioning tag;
s8, the control module receives a second navigation route fed back by the positioning tag, controls the transportation mechanism to enable the material handling robot to move according to the second navigation route, simultaneously obtains position information of other material handling robots in real time through the positioning tag, controls the moving speed according to the position information and avoids collision;
and S9, after the material handling robot reaches the end point position, the control module sends a first completion instruction to enable a worker to go to the end point position to take materials, after the received instruction fed back by the worker is received, the next-level material handling instruction is called, and the steps S2 to S9 are repeatedly executed.
5. The material handling robot control method according to claim 4, wherein during the control module executes steps S1 to S9, the control module continuously collects accelerations and angular velocities fed back by the acceleration sensor and the gyroscope, when any one of the accelerations and angular velocities is greater than a corresponding maximum safe operation threshold value, stops the material handling robot from operating, starts a self-checking operation to determine communication states of the four servo motors, and if the communication is normal, generates a first abnormal transportation record containing current position information, and sends the first abnormal transportation record to a master console, so that a worker can call a monitoring video at an abnormal occurrence position;
the control module receives an exception handling instruction fed back by the master control console, if the exception handling instruction is a first operation instruction, the material is continuously transported, if the exception handling instruction is a second operation instruction, a warning mark is opened, the worker waits for the worker to arrive at the site for processing, the first operation instruction represents an instruction that the worker confirms that the material is abnormal through the monitoring video and can continuously and normally transport, and the second operation instruction represents an instruction that the worker confirms that the material is inclined or damaged and leaked through the monitoring video and cannot continuously and normally transport.
6. The material handling robot control method according to claim 4, wherein during the execution of step S8, the control module continuously obtains a pressure value fed back by the pressure sensor, stops transportation when a difference value between the monitored pressure value and an initial pressure value at the time of picking is larger than a preset threshold value, generates a material leakage early warning instruction, and sends the material leakage early warning instruction to a general control console so that a worker can arrive at a site for processing.
7. The control method of claim 4, wherein after the next material handling command is invoked in step S9, the method further comprises:
the control module analyzes material information, end point position information and time node information in the next-level material handling instruction;
the control module obtains position information of the material according to the material information in the next-level material handling instruction and records the position information as passing position information;
the control module obtains estimated carrying time according to the current position information of the material carrying robot, the passing position information and the end point position information;
the control module obtains estimated material delivery time based on current time and estimated carrying time, when the estimated material delivery time is later than a time node in a next-level material carrying instruction, the next-level material carrying instruction is marked as a state to be distributed and is sent to the master control platform, so that the master control platform distributes the next-level material carrying instruction to other material carrying robots which are closer to the passing positions.
8. The material handling robot control method according to claim 4, wherein in step S5, the obtaining of the position information of the other material handling robots in real time by the positioning tags and the controlling of the moving speed according to the position information to avoid collision comprise:
the control module acquires the running tracks of a plurality of other material handling robots within the early warning range, predicts whether the running tracks intersect with the first navigation route or not according to the running tracks, and marks the intersection as a first intersection if the running tracks intersect with the first navigation route;
the control module screens out a first intersection closest to the position of the local material handling robot from the plurality of first intersections, the first intersection is marked as a second intersection, the running track corresponding to the second intersection is marked as a second running track, and the material handling robot corresponding to the second running track is marked as a second material handling robot;
the control module calculates the time of the second material handling robot reaching the second intersection according to the second running track and records the time as second arrival time;
the control module calculates the time of the local material handling robot reaching the second intersection according to the moving speed of the current local material handling robot and records the time as the first arrival time;
the control module reduces the moving speed of the current local material handling robot under the condition that the first arrival time is later than the second arrival time and the difference between the first arrival time and the second arrival time is smaller than the preset safe intersection time difference until the difference between the first arrival time and the second arrival time corresponding to the moving speed is reduced and is greater than the preset safe intersection time difference, and then collision with the second material handling robot is avoided.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115826589A (en) * | 2023-02-17 | 2023-03-21 | 成都思越智能装备股份有限公司 | Anti-collision control method for trolley |
| CN115826589B (en) * | 2023-02-17 | 2023-04-25 | 成都思越智能装备股份有限公司 | Trolley anti-collision control method |
| CN116409571A (en) * | 2023-06-09 | 2023-07-11 | 陕西西煤云商信息科技有限公司 | Automatic identification and classification goods shelf for logistics storage |
| CN116409571B (en) * | 2023-06-09 | 2023-09-01 | 陕西西煤云商信息科技有限公司 | Automatic identification and classification goods shelf for logistics storage |
| CN116495677A (en) * | 2023-06-30 | 2023-07-28 | 苏州托玛斯机器人集团有限公司 | Transfer robot with guiding mechanism |
| CN116495677B (en) * | 2023-06-30 | 2023-08-29 | 苏州托玛斯机器人集团有限公司 | Transfer robot with guiding mechanism |
| CN117213501A (en) * | 2023-11-09 | 2023-12-12 | 成都工业职业技术学院 | Robot obstacle avoidance planning method based on distributed model prediction |
| CN117213501B (en) * | 2023-11-09 | 2024-02-02 | 成都工业职业技术学院 | Robot obstacle avoidance planning method based on distributed model prediction |
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