CN115806255A

CN115806255A - Conveying equipment and control method

Info

Publication number: CN115806255A
Application number: CN202111069809.6A
Authority: CN
Inventors: 熊影辉; 谢金鑫
Original assignee: Suzhou Jizhijia Robot Co ltd
Current assignee: Suzhou Jizhijia Robot Co ltd
Priority date: 2021-09-13
Filing date: 2021-09-13
Publication date: 2023-03-17

Abstract

The embodiment of the application discloses a carrying device and a control method, wherein the carrying device is provided with a weighing sensor, and the weighing sensor is arranged on a load transmission part which is used for transmitting load from a chassis of the carrying device to wheels; the load cell is configured to collect load data on the load transfer member for determining load data on a corresponding wheel, thereby determining a total load of the handling apparatus. Through this application embodiment, can satisfy the demand of weighing under the condition that does not influence the major structure's of haulage equipment height.

Description

Conveying equipment and control method

Technical Field

The application relates to the technical field of logistics automation equipment, in particular to carrying equipment and a control method.

Background

The conveying equipment can finish the conveying work of workpieces in various shapes and states by installing different end effectors, and the heavy manual labor of human is greatly reduced. Moreover, various expected tasks can be completed through programming, and the system has the advantages of people and machines in self structure and performance, and particularly embodies artificial intelligence and adaptability. For example, in the application scenario of the logistics transfer robot, the goods shelf-to-person picking scheme can utilize the logistics transfer robot to transfer the storage shelves to the picking station, so that the traditional person goods finding mode is completely overturned, the labor intensity of pickers is obviously reduced, and the accuracy and the efficiency are greatly improved.

With the development of the carrying equipment, the use of the carrying equipment is gradually wider, and some newly developed application scenes gradually put forward more performance requirements on the carrying equipment, for example, the requirements of weighing carried goods through a logistics carrying robot and the like.

In order to meet the above requirements, in some solutions in the prior art, a three-point or four-point or other multi-point supporting manner may be adopted, and a spoke-type or cantilever-type weighing sensor is arranged directly below a platform part of the cargo pallet for placing the cargo, so as to perform weighing measurement on the loaded cargo. However, this method cannot weigh the loaded goods when the center of gravity of the goods deviates beyond the sensor arrangement point, or has the problem of large deviation of the weighing result. In addition, the two arrangement methods commonly used in the logistics transfer robot at present both increase the overall height of the logistics transfer robot to a certain extent, and are contrary to the development direction that the logistics transfer robot is lower for pursuing storage efficiency at present. Moreover, this method requires a plurality of sensors to be mounted on the same plane, and the parallelism of the planes is high; however, in practical applications, it is difficult to achieve absolute parallelism of the planes during operations such as fixing and mounting by screws and the like. This causes initial errors to occur for each sensor, which affects the accuracy of the final weighing.

Therefore, how to satisfy the weighing requirement without affecting the height of the main structure of the carrying device is a technical problem to be solved by the technical personnel in the field.

Disclosure of Invention

The application provides a carrying device and a control method, which can meet weighing requirements under the condition that the height of a main body structure of the carrying device is not influenced.

The application provides the following scheme:

a handling apparatus:

the carrying equipment is provided with a weighing sensor, and the weighing sensor is arranged on a load transfer part used for transferring load from a chassis of the carrying equipment to wheels;

the load cell is configured to collect load data on the load transfer member for determining load data on a corresponding wheel, thereby determining a total load of the handling apparatus.

A method for controlling a carrying apparatus is provided,

the carrying equipment is provided with at least two weighing sensors which are respectively arranged on load transfer parts corresponding to at least two wheels, and the load transfer parts are used for transferring load from a chassis of the carrying equipment to the wheels;

the method comprises the following steps:

determining load data on corresponding wheels according to the load data acquired by the at least two weighing sensors;

determining the cargo gravity center deviation condition or the equivalent gravity center deviation condition according to the load data on the corresponding wheel and the theoretical load sharing information of the corresponding wheel;

and controlling the motion performance parameters of the carrying equipment according to the gravity center deviation condition of the goods or the equivalent gravity center deviation condition.

According to the specific embodiments provided by the application, the application discloses the following technical effects:

the embodiment of the application can be provided with a specific weighing sensor on a load transmission part for transmitting load from a chassis of the carrying equipment to wheels. In this way, the weight of the carrying equipment or the weight of the loaded goods is finally borne by the specific wheels, so that the load of the whole machine can be reversely deduced by sensing the weight borne by the wheels. In this way, the weighing sensor is integrated on the internal structural member of the carrying equipment, so that the structure complexity is not increased, the height and the size of the robot are not forced to be increased, and the loaded goods can be weighed under the condition that the height and the complexity of the robot main body are not increased.

In addition, in a preferred embodiment, it is possible to achieve equivalent judgment of the cargo center of gravity deviation or the equivalent center of gravity deviation by arranging at least two load cells on the load transmission members corresponding to at least two wheels. The method is used for carrying out unbalance loading early warning or carrying out initialization configuration of operation performance parameters in a static load state. Or, in the motion state, the motion performance parameters can be adjusted in real time according to the real-time cargo gravity center deviation condition or the equivalent gravity center deviation condition, so that the speed and the safety are balanced.

Of course, it is not necessary for any product to achieve all of the above-described advantages at the same time for practicing the present application.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, 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 application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a handling apparatus according to an embodiment of the present disclosure;

FIG. 2 is a schematic illustration of a mid-drive axis bearing provided by an embodiment of the present application;

FIG. 3 is a schematic diagram of a central drive front and rear dual driven wheel arrangement provided by an embodiment of the present application;

FIG. 4 is a schematic structural view of a walking beam provided in an embodiment of the present application;

FIG. 5 is a schematic diagram of a central arrangement of a front single driven wheel and a rear single driven wheel of a central drive provided by an embodiment of the present application;

FIG. 6 is a schematic diagram of an eccentric arrangement of a front single driven wheel and a rear single driven wheel of a centrally-mounted drive provided by an embodiment of the application;

FIG. 7 is a schematic structural diagram of an adapter provided in an embodiment of the present application;

fig. 8 is a flowchart of a method provided by an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments that can be derived from the embodiments given herein by a person of ordinary skill in the art are intended to be within the scope of the present disclosure.

In the embodiment of the present application, the mounting position of the load cell is changed, and specifically, the load cell may be provided on a load transmission member for transmitting a load from a chassis of the conveying apparatus (which may be, for example, a logistics conveying robot or the like) to the wheel. Since the weight of the carrying device or the weight of the loaded goods is finally borne by the specific wheels, the weight of the whole machine can be reversely deduced by sensing the weight borne by the wheels (for a logistics carrying robot, the weight of the carrying device and the weight of the goods can be included, and if the logistics carrying robot is an inspection robot, the weight of the robot can be referred to).

Compared with the load cell installation mode in the prior art, the mode has the advantages that:

firstly, the weighing sensor is integrated on the internal structural part of the carrying equipment in the mode, the structural complexity is not increased, the height and the size of the robot are not forced to be increased, and therefore, the loaded goods can be weighed under the condition that the height of the robot main body is not increased.

Secondly, due to the arrangement mode of the traditional weighing system, in order to improve the weighing precision, a certain parallelism between the tray and the chassis is required to be kept, and the reason is that the weight of the goods is obtained by adding the weights obtained by the sensors in the traditional weighing system. When the parallelism of the tray and the chassis exceeds the error range, some sensors cannot return to zero, so that the types of the cargos finally acquired by the sensors are deviated. In the scheme provided by the embodiment of the application, the weight of the goods and the whole robot acts on each wheel no matter whether the chassis of the robot is horizontal or not, and only the sharing proportion of each wheel is different finally, so that the obtained weight of the whole robot can be ensured to be always kept in a target precision range through a corresponding algorithm, and the purpose of improving the accuracy of weighing the obtained weight is achieved.

Furthermore, by arranging two or more weighing sensors on the load transfer components corresponding to at least two wheels, equivalent judgment of the gravity center deviation condition of the goods (such as the load deviation condition of the goods, the gravity center deviation of the goods from the central point of a tray, and the like) or the equivalent gravity center deviation condition (such as the equivalent gravity center deviation caused by uneven ground, and the like) can be realized through information such as load ratios on different wheels. The advantage of making this kind of judgement lies in, on the one hand, the goods focus of gravity skew condition probably influences the computational accuracy of complete machine load, consequently, when pushing back complete machine load specifically, can confirm the goods focus of gravity skew condition at first, then according to the complete machine load of specific goods focus skew condition back thrust, can also guarantee the degree of accuracy of complete machine load even if the goods focus of gravity skew condition appears. On the other hand, the goods gravity center deviation condition can be used for carrying out goods unbalance loading early warning in a static loading state, or in a moving state, due to the fact that the goods are influenced by inertia force, pressure on wheels changes, for example, the ground is uneven, or when the goods meet the conditions of relatively urgent bump, rapid deceleration braking and the like, the goods may move or deviate relative to the actual position of the robot, and the weighing result on the wheels can be changed due to the phenomenon. For example, during rapid deceleration, the load on the rear wheels may decrease, the load on the front wheels may increase, and the load on the rear wheels may decrease. Therefore, in the embodiment of the application, the center of gravity deviation of the goods can be monitored in real time in a moving state, and if the center of gravity deviation of the goods reaches a set threshold, or the load of a certain wheel is smaller than a certain threshold (for example, 5% of the total load), and the like, the deceleration can be adaptively adjusted or the safety distance of the robot can be increased, and the instability of the robot can be avoided by such a way of extracting deceleration and the like.

In addition, the other is the inclination of the robot which is invisible to the naked eye or the inclination of the goods with respect to the robot, except for the case where the goods are actually deviated from the pallet. For example, factors such as acceleration and deceleration or ground jolts may cause a change in the equivalent center of gravity of the cargo, which may also result in a change in the on-wheel weighing. The equivalent center of gravity is the center point of gravity acting on each part of the object, and the position of the center of gravity is mainly related to the geometric shape, mass distribution and the like of the object in a static state; however, when the object is in motion, the position of the equivalent center of gravity may shift under the influence of the inertial force due to the influence of factors such as acceleration and deceleration or ground bump. Therefore, in the embodiment of the present application, the above-described case of the equivalent center of gravity deviation may be detected in real time based on the result of the on-wheel weighing, and if the equivalent center of gravity deviation is found, the motion parameter adjustment processing such as the early deceleration may be performed.

In addition, the above-described case of the deviation of the equivalent center of gravity may occur in other scenes such as a patrol robot and a service robot. Unlike a transfer robot, a patrol robot, a service robot, and the like do not need to load a load, and therefore, there is no case where the center of gravity of a load is deviated or the equivalent center of gravity of a load is deviated. At this point, a change in the weighing result on the wheel can still be manifested. Therefore, the change condition of the equivalent gravity center deviation of the vehicle body can be found through the change of the on-wheel weighing result detected in real time in the moving process of the robot, and the motion performance parameters can be adjusted in time.

In a word, no matter the goods gravity center deviation, the goods equivalent gravity center deviation condition or the robot equivalent gravity center deviation condition generated by the transfer robot in the goods conveying process can be reflected through the real-time change of the on-wheel weighing result. Therefore, in the moving process of the robot, early warning or adjustment of the movement performance parameters can be achieved through real-time detection of the pressure on the wheel, and therefore early warning processing is finished before the robot has more serious consequences such as instability.

It should be noted that the transfer robot may include a logistics transfer robot, or another type of transfer robot. In the case of the logistics transfer robot, the specific logistics may be further divided into a warehouse logistics robot and an industrial logistics robot, and thus the specific logistics transfer robot may be further divided into a warehouse logistics robot and an industrial logistics robot. The "rack-to-person" picking scheme described in the background section is a scenario of warehouse logistics, in which a logistics handling robot carries a certain cargo container (including but not limited to container forms such as a rack, a container, a pallet, and the like) to a picking station in a warehouse, so that an operator takes an order item required by an order from the container and places the order item into an order container corresponding to the order. In the industrial logistics scene, the logistics handling robot is used for handling materials from a certain upstream node to a certain downstream node of a production line so as to finish processing and production. The scheme provided by the embodiment of the application is suitable for various scenes and other similar scenes.

The following describes specific technical solutions provided in embodiments of the present application in detail.

Example one

First, this embodiment provides a carrying apparatus 1, which is provided with a load cell 11, see fig. 1, the load cell 11 being provided on a load transmitting member 14 for transmitting a load from a chassis 12 of the carrying apparatus 1 to wheels 13;

the load cell 11 is configured to collect load data on the load transfer part 14 for determining load data on the corresponding wheel 13, and thus determining the overall load of the handling device 1.

The overall load may be the total weight acting on the wheel. For example, in the case of a transfer robot, the sum of the weight of the vehicle body and the weight of the loaded cargo may be used (the weight of the entire vehicle and the weight of the cargo may be obtained by the peeling process).

In a specific implementation, the number of wheels 13 on a specific carrying device 1 is usually multiple groups, where each group of wheels 13 usually has respective theoretical load sharing (that is, there is no situation such as cargo center of gravity deviation or equivalent center of gravity deviation, and the load amount shared by each group of wheels). For example, assume that there are two front and rear sets of wheels, ideally each set of wheels bears 50% of the weight, and so on. Therefore, the load of the whole machine can be calculated by reverse calculation as long as the load of one group of wheels is obtained. Therefore, the number of load cells 11 may be one or more. For example, if the weighing device is only used for weighing the loaded goods in a static loading state, and the loaded goods are not eccentric (for example, in some situations, the goods may be required to be placed at an absolute central position of the tray when being loaded, and at this time, a positioner and the like may be also present on the tray), only one weighing sensor may be provided. For example, the load transmission member may be provided to the load transmission member 14 corresponding to any one of the wheels 13. At this time, the load of the whole machine can be calculated by reverse estimation according to the reading of the weighing sensor and the theoretical load sharing information of the corresponding wheel.

Of course, in practical applications, it is more common that no locators may be present on the pallet of the handling apparatus, and therefore, when loading the load, a situation may arise in which the center of gravity of the load deviates. In addition, whether the locator exists on the tray or not, after the carrying equipment moves, the gravity center of the goods is deviated or equivalent gravity center of the goods is deviated due to the inertia force of the goods caused by factors such as acceleration, sudden stop, uneven ground and the like.

The condition of the deviation of the center of gravity of the goods mainly refers to a condition that the projection of the center of gravity of the goods on the tray is deviated back and forth or left and right relative to the center point of the tray after the goods are placed on the tray of the carrying equipment. Specifically, if the center of gravity of the load is not placed at the center point of the pallet during loading of the load, or the load may be displaced in the front-rear direction or the left-right direction (generally, the front-rear direction) with respect to the pallet due to acceleration, deceleration, or the like, or due to an uneven road surface, or the like, during movement of the carrier, the center of gravity of the load may be deviated. If the center of gravity of the goods deviates, the distribution of the load on the wheels can change, so that if only one weighing sensor is used for weighing, the weighing result is inaccurate.

Therefore, in a preferred embodiment, the specific load cells 11 may include at least two load cells 11, and the at least two load cells 11 may be respectively disposed on the load transmission components corresponding to the at least two wheels, so that the gravity center deviation or the equivalent gravity center deviation of the cargo may be determined according to the load data on the at least two wheels and the theoretical load sharing information of the corresponding wheels, and then the specific overall load may be deduced reversely.

In this case, since the specific gravity center shift or the equivalent gravity center shift is usually generated in the front-rear direction in the moving state of the conveying device, in a more preferable aspect, the specific at least two load cells 11 may be provided on the load transmission members 14 corresponding to the wheels 13 at different positions in the front-rear direction of the vehicle body (the moving direction during the travel of the conveying device is the front-rear direction). In addition, the information of the gravity center deviation condition of the goods can be used for more accurately reversely pushing the load of the whole machine and can also have other applications. For example, the gravity center deviation condition of the goods can reflect whether the specific goods have the unbalance loading condition or not in the static loading state, so that the unbalance loading early warning can be carried out in the static loading state; initial configuration of operating performance parameters (including speed, acceleration, etc.) may also be performed. Or, in a moving state, due to the real-time change of the weighing result on the wheel, the conditions such as the deviation of the gravity center of the cargo or the deviation of the equivalent gravity center can be reflected, and the deviation of the gravity center of the cargo or the deviation of the equivalent gravity center is usually caused by the fact that the cargo is subjected to inertia force in a certain direction, and if the inertia force is too large, the transportation equipment can be unstable or even overturn. Therefore, in the embodiment of the application, the motion performance parameters can be adjusted in real time according to the change condition of the weighing result on the wheel, so that the motion performance parameters can be processed before severe consequences such as instability or overturn occur, and the generation of more severe consequences is avoided.

In the above manner of providing at least two weighing sensors, a cargo center of gravity deviation value or an equivalent center of gravity deviation condition may be determined according to information such as a ratio between load data on at least two wheels, and information such as theoretical load sharing corresponding to a specific wheel. For example, assuming that the theoretical load sharing of the wheels a and B at two positions is 30%, that is, the ratio of the theoretical load sharing of the wheels a and B is 1:1; however, if the loads of the wheels a and B are detected to be 10kg and 20kg, respectively, that is, the ratio of the actual load shares of the wheels a and B is 1:2, it can be determined that the wheel B actually carries more weight, which may be caused by the cargo shifting in the direction of the wheel B, or the equivalent center of gravity shifting in the direction of the wheel B. Therefore, the specific cargo center of gravity deviation direction and eccentricity values, or the equivalent center of gravity deviation direction and inclination degree values, etc. can be calculated according to the above situations. And then, the specific load of the whole machine can be further calculated according to the specific gravity center deviation value of the cargo, the information such as the actual load and the theoretical load sharing corresponding to the specific wheels and the like, and further, the self weight of the carrying equipment is usually fixed, so that the weight of the cargo can be calculated.

In the specific implementation, in the above-mentioned manner of setting at least two weighing sensors, the number, the positions, and the like of the specific weighing sensors may be different according to the different carrying architectures of the specific chassis of the conveying equipment, and the following description is given by way of example.

Situation one

The handling device may comprise at least one set of wheels distributed at different positions in front of and behind the body, and each set of wheels may be independently connected to the chassis by means of an adapter. In this case, the specific adapter is a load transmission member that transmits load from the chassis to the corresponding wheel. Therefore, the weighing sensors can be respectively arranged on the adaptor corresponding to the plurality of groups of wheels. Each set of wheels may include one or more wheels, that is, each position may specifically include one wheel, or may include a plurality of wheels mounted side by side, and so on. For example, a specific handling apparatus includes four wheels, one on each of the front, rear, left, and right sides of the chassis, each wheel being independently connected to the chassis; a respective weighing cell can be provided on the adapter part for each of the four wheels for determining the respective load of the four wheels.

At this time, the loads corresponding to the wheel sets can be directly added, and the load of the whole machine can be obtained. In addition, when the eccentricity condition is determined, the loads of the two front groups of wheels can be added to obtain a load F1; adding the loads of the two groups of wheels to obtain a load F2; then, according to the ratio between the load F1 and the load F2, the cargo center of gravity deviation value (which can be calculated further based on the ratio to obtain the above eccentricity value) or the equivalent center of gravity deviation degree value in the front-rear direction can be determined. In addition, the loads of the two groups of wheels on the left side are added to obtain a load F3, and the loads of the two groups of wheels on the right side are added to obtain a load F4; and then according to the ratio of the load F3 to the load F4, determining the eccentricity value or the equivalent gravity center deviation degree value in the left-right direction, and the like.

Situation two

The handling apparatus chassis may have a dual-bearing architecture; the double-bearing type mechanism comprises a front set of wheels and a rear set of wheels, and each set of wheels is connected through a wheel shaft. Each set of wheels may include at least one pair of wheels, for example, a front wheel, a rear wheel, a left wheel, a right wheel, a front wheel, a pair of wheels, and a common axle, so as to form a front set of dual-wheel mechanism; the left and right rear wheels also form a pair of wheels, share the other wheel shaft and form a rear group of double-wheel mechanisms. Of course, the left and right sides of the front part can be respectively provided with two wheels to form two pairs of wheels which share the same wheel shaft, the left and right sides of the rear part can be respectively provided with two wheels to form two pairs of wheels which share the other wheel shaft, and the like.

Under the double-shaft bearing type framework, load transmission is carried out to two groups of wheels through wheel shafts, so that two weighing sensors can be arranged on the wheel shafts in the two groups of double-wheel mechanisms respectively. At this time, the load F1 of the front wheel group (one or more left and right pairs of wheels) can be determined based on the weighing result of the load cell on the front wheel shaft, and the load F2 of the rear wheel group (one or more left and right pairs of wheels) can be determined based on the weighing result of the load cell on the rear wheel shaft.

At this time, the load F1 and the load F2 are directly added to obtain the overall load. When determining the eccentricity, the cargo center of gravity deviation value or the equivalent center of gravity deviation degree value in the front-rear direction can be determined according to the ratio between the load F1 and the load F2. It should be noted that, in this case, the cargo center of gravity deviation value in the left-right direction cannot be directly determined, but if it is in the motion state, since the specific cargo center of gravity deviation value or the equivalent center of gravity deviation condition is mainly used for controlling the motion performance parameter, and in practical applications, the deviation in the front-back direction occurs more, and therefore, there is less need to obtain the left-right direction deviation value.

In a static load state of the conveying equipment, for example, a state before the completion of loading and the start of transportation of the load, if it is necessary to determine whether or not there is a serious unbalance load, it may be necessary to acquire an eccentricity value in the left-right direction. At this time, it can be realized by: in one approach, the tray of a particular handling apparatus may be rotatable, i.e., the handling apparatus may have a rotating tray mechanism that may specifically carry a rack, a tray rack, etc. Like this, after the goods focus offset value of direction about acquireing, can rotate target number of degrees such as 90 degrees with the goods through rotation type tray mechanism, then reacquire two epaxial weighing sensor's weighing result, alright like this with according to the ratio between the two, determine the goods focus offset value of direction about. Or, in another mode, the goods can be jacked up in situ by a jacking mechanism of the carrying equipment to calculate the eccentricity of the goods shelf in one direction, then after the goods are put down, the carrying equipment rotates by 90 degrees and other target degrees and then lifts the goods again to obtain the eccentricity of the goods shelf in the other direction; then, the center of gravity deviation value of the goods in the left and right directions can be determined according to the obtained weighing results of the weighing sensors on the two axes and the ratio between the two weighing sensors, and the like.

Situation three

In this case, the handling device chassis may have a three-axis load-bearing architecture; the three-shaft bearing type framework comprises three groups of wheels which are distributed at different positions in front of and behind the vehicle body. At this time, the specific at least two load cells are respectively provided on the load transmission members corresponding to at least two of the three sets of wheels. That is, in the case of triaxial bearing, load cells may be provided on the load transmitting members of any two sets of wheels therein, or load cells may be provided on the load transmitting members of all three sets of wheels, or the like.

In a typical architecture, the three specific sets of wheels may include: a driving wheel is arranged in the middle and a group of driven wheels are arranged in the front and the back respectively. At this time, any two of the three sets of wheels may be provided with load cells. For example, as shown in fig. 2, assuming that 13A, 13B, and 13C are respectively a left view or a right view of three sets of wheels (that is, a state viewed from the side of the vehicle body), two sets of wheels among the three sets of

wheels

13A, 13B, and 13C may be selected to arrange the load cells, two of the loads F1, F2, and F3 on the wheel set are obtained, and then, the cargo center of gravity deviation, the equivalent center of gravity deviation, and the entire machine load may be determined. For example, for the cargo center of gravity deviation condition, the cargo center of gravity deviation value can be calculated according to the ratio between any two loads; and for the load of the whole machine, the load can be obtained by calculation according to the information such as the gravity center deviation value of the goods and the theoretical load sharing corresponding to the two selected groups of wheels.

Certainly, in practical applications, since the driving wheel 13B generally needs to take on the functions of traction braking, etc., the load sharing is often relatively large, and therefore, the requirement of the weight range that the weighing sensor can bear is relatively high. Therefore, in a preferred mode, in the above-described configuration, two load cells may be used, and the load cells may be provided on the load transmission member corresponding to each of the front and rear driven wheels.

At this time, the cargo gravity center deviation value or the equivalent gravity center deviation degree value in the front-back direction can be determined according to the ratio of the load data of the front driven wheel and the rear driven wheel. In addition, the specific overall load can be reversely deduced according to theoretical load sharing between the front driven wheel and the rear driven wheel, actually detected load data and the like.

In addition, under the three-axis bearing structure formed by the middle driving wheel and the front and rear driven wheels, different structures may exist for the driven wheels. For example, a front and rear double driven wheel architecture is possible, and a front and rear single driven wheel architecture is also possible.

In this case, the so-called front and rear dual driven wheel structure, see fig. 3, is that one or more driven wheels are respectively arranged at the front and the left and the right, and one or more driven wheels are respectively arranged at the rear and the left and the right. At this moment, the front and rear two groups of driven wheels can be respectively connected by using a common wheel shaft, so that the two weighing sensors can be directly arranged on the two wheel shafts respectively.

Alternatively, in a preferred structure, in order to better adapt to the conditions of ground surface fluctuation and the like during movement, as shown in fig. 4, the front and rear sets of double driven wheels can be connected by a swing beam 141 respectively, and the swing beam 141 can be connected to the chassis 12 through an optical axis 1411. For example, when the swing beam is specifically arranged, the swing beam can be arranged in a notch formed in the chassis in a free state, the optical axis is fixedly connected with the chassis, the swing beam is connected with the optical axis in a relatively rotatable manner, and the driven wheel is fixedly connected with the swing beam. Thus, when the ground is uneven, for example, when the ground through which one of the driven wheels passes rises, the driven wheel rises, and the driven wheel drives the swing beam to rotate around the optical axis by a certain angle, so that the surface of the chassis cannot incline due to the uneven ground.

In the above-described configuration, the specific optical axis serves as a load transmission member for transmitting a load to the specific driven wheel, and therefore, the specific two load cells may be provided on the optical axes corresponding to the front and rear two swing beams, respectively. In specific implementation, the optical axis is directly replaced by the optical axis with the weighing sensing function, and the like. For the framework form that the double driven wheels are matched with the swinging beam and the space is very compact, the weighing sensor is integrated and arranged on the optical axis, the structural complexity is not increased, and the height of the robot is not influenced, so that the robot has good advantages in the weighing arrangement.

The so-called single-wheel driven structure is shown in fig. 5, i.e. a front and a rear set of single driven wheels, wherein each set of single driven wheels may be composed of one or more driven wheels, but even if there are a plurality of driven wheels in front, these driven wheels are not distributed on the left and right sides, but are concentrated on the left and right center lines (or their vicinities). As shown in fig. 7, the sets of single driven wheels are now connected to the chassis 12 via adapters 142, respectively. And the specific adaptor becomes a load transmitting member that transmits load to the single driven wheel set. Therefore, two weighing sensors can be respectively arranged on the adapter corresponding to the front and rear single driven wheels. At this time, the specific load cell includes any one of a cantilever-type load cell, a spoke-type load cell, or a load cell having a customized mechanical interface.

Here, as shown in fig. 5, the front and rear two sets of single driven wheels may be arranged centrally in the left-right direction, or, as shown in fig. 6, may be arranged eccentrically in the left-right direction, and the front and rear two sets of single driven wheels have different eccentric directions (for example, the front single driven wheel is biased to the left, the rear single driven wheel is biased to the right, and so on). That is, the two sets of single driven wheels may be arranged coaxially or not in the front-rear direction of the carrying apparatus. When the front and rear single driven wheels are coaxially arranged in the front and rear direction, if the weighing sensor is arranged on the switching part of the front and rear single wheels, the eccentric condition in the front and rear direction can only be obtained under the static load state. If it is desired to obtain eccentricity in the left-right direction, this can be achieved by rotating the load or rotating the handling device, as described above. However, with the front and rear single driven wheels disposed on either side of the longitudinal centerline axis of the chassis, the front and rear and left and right eccentricity can be calculated simultaneously without the need to rotate the load or rotate the handling equipment.

The deployment modes of specific weighing sensors under various chassis bearing architectures and the corresponding modes of acquiring the overall machine load, the cargo gravity center deviation condition and the equivalent gravity center deviation condition are introduced. It is understood that the above only describes some typical cases, and in practical applications, there may be other load cell arrangements. For example, in order to form a firm-support two-axle-bearing type machine, three wheels can be arranged, and the three wheels are independently connected with the chassis by adopting a mode that one wheel and the other two wheels share one wheel axle to realize connection with the chassis. When the number of the weighing sensors is selected, two sensors or three sensors can be selected. When two sensors are used, one of the sensors may be arranged on a single wheel to chassis adapter (single wheel axle assembly), the other one being arranged in a suitable position on an axle common to the other two wheels, etc.

In addition, the number of the load cells provided in the embodiment of the present application is not as large as possible, because each load cell often has a certain error when acquiring the load on the wheel set, and thus the error accumulated by the load cells with the larger number is larger. Therefore, in practical applications, it is preferable to use a smaller number of load cells to acquire the load on a smaller number of wheel sets. For example, by arranging two weighing sensors, the total load and the eccentricity of the whole machine can be measured through a corresponding algorithm.

After the load data of the wheel at a plurality of positions are obtained by the load cell, the specific calculation and control process can be implemented in a variety of specific ways.

For example, in one mode, the data processing module may be configured to directly transport the equipment, and at this time, the load data on the corresponding wheel may be determined locally on the transport equipment according to the load data collected by the load cell, and the complete machine load, the cargo center of gravity deviation condition, and/or the equivalent center of gravity deviation condition may be determined by combining the theoretical load sharing information of the wheel used for the transportation. For example, the cargo center-of-gravity deviation value may be determined specifically according to a ratio between load data on wheels at different positions in front and rear, and a theoretical load sharing condition on the wheels at different positions in front and rear; and then calculating the load of the whole machine according to the gravity center deviation value of the cargo and the theoretical load sharing of the wheels at different positions in front and at the back, and the like.

Or, in another mode, in order to save the computing resources of the handling equipment, a communication module may be provided for the handling equipment, and the communication module may be configured to submit the load data acquired by the weighing sensor to a server, and then, a data processing module configured at the server determines the load data on the corresponding wheel, and determines the complete machine load, the deviation of the center of gravity of the cargo, and/or the deviation of the equivalent center of gravity by combining the theoretical load sharing information on the corresponding wheel.

As described above, in the scenario of the logistics handling robot, the specific data processing module may acquire the gravity center deviation condition of the cargo and/or the overall load in the static load state. At this time, the carrying apparatus may further include: and the early warning module is used for providing unbalance loading early warning information when the cargo gravity center deviation value is greater than a certain threshold value. That is to say, if the unbalance loading condition is too serious, the staff can be prompted to correct the loading position of the goods in a manual intervention mode and the like. In addition, the system can further comprise a first control module, wherein the first control module is used for configuring the motion performance parameters of the logistics handling robot according to the complete machine load and/or the cargo gravity center deviation condition in the static load state of the logistics handling robot. For example, specific athletic performance parameters may include speed, acceleration, stopping distance, and the like.

In addition, the specific data processing module can also acquire the gravity center deviation condition of the goods or the equivalent gravity center deviation condition in real time according to the load data acquired by the weighing sensor in real time under the motion state of the carrying equipment; at this time, the specific transporting apparatus may further include a second control module, configured to adjust the motion performance parameter of the transporting apparatus in real time according to the cargo gravity center deviation condition or the equivalent gravity center deviation condition obtained in real time in the motion state of the transporting apparatus.

Wherein, as described above, the handling apparatus may include a logistics handling robot, an inspection robot, a service robot, or the like. For the logistics transfer robot, the gravity center deviation condition of the goods acquired in real time in the motion state can reflect whether the specific goods and the logistics transfer robot tray are displaced or not and the severity of the displacement in the process of transferring the goods by the logistics transfer robot. For the inspection robot or the service robot, the equivalent gravity center deviation condition obtained in real time in the motion state can reflect whether the inspection robot or the service robot inclines due to the condition of uneven ground in the motion process. Namely, equivalent gravity center deviation determined according to the ratio of wheel loads at different positions is equivalent to detection of inertia acting force generated by the robot.

Specifically, the motion performance parameters may be configured or adjusted in real time according to a specific cargo center of gravity deviation condition or an equivalent center of gravity deviation condition, and the configuration may be performed according to a pre-configured mapping relationship. The specific mapping relationship may be a correspondence relationship between a plurality of eccentricity/equivalent gravity center deviation degree values and motion performance parameter values, or may be expressed by a functional relationship or the like, so as to implement more sensitive control, and the like.

In summary, according to the embodiments of the present application, a specific load cell can be provided on a load transmission member for transmitting a load from a chassis of the carrying apparatus to a wheel. In this way, the weight of the carrying equipment or the weight of the loaded goods is finally borne by the specific wheels, so that the load of the whole machine can be reversely deduced by sensing the weight borne by the wheels. In this way, the weighing sensor is integrated on the internal structural part of the carrying equipment, so that the structure complexity is not increased, the height and the size of the robot are not forced to be increased, and the loaded goods can be weighed under the condition that the height and the complexity of the robot main body are not increased.

In addition, by arranging at least two weighing sensors on the load transmission members corresponding to at least two wheels, equivalent judgment of the gravity center deviation condition of the cargo or the equivalent gravity center deviation condition can be realized. The method is used for carrying out unbalance loading early warning or carrying out initialization configuration of operation performance parameters in a static load state. Or, in the motion state, the motion performance parameters can be adjusted in real time according to the real-time cargo gravity center deviation condition or the equivalent gravity center deviation condition, so that the speed and the safety are balanced.

Example two

In accordance with the second embodiment, there is provided a method for controlling a handling apparatus, wherein,

referring to fig. 8, the method may include:

s801: determining load data on corresponding wheels according to the load data acquired by the at least two weighing sensors;

s802: determining the gravity center deviation condition of the cargo or the equivalent gravity center deviation condition according to the load data on the corresponding wheels and the theoretical load sharing information of the corresponding wheels;

s803: and controlling the motion performance parameters of the carrying equipment according to the gravity center deviation condition of the cargo or the equivalent gravity center deviation condition.

The method comprises the following steps that specifically, under a static load state after the carrying equipment bears the goods, the gravity center deviation condition of the goods caused by the unbalanced loading of the goods can be determined; and carrying out initialization configuration on the motion performance parameters of the carrying equipment according to the gravity center deviation condition of the goods in the static load state. In addition, early warning information about cargo unbalance loading can be provided when the cargo gravity center deviation condition reaches a target threshold value.

Or in the moving process of the carrying equipment, determining the change condition of the cargo gravity center deviation degree or the change condition of the equivalent gravity center deviation degree under the moving state of the carrying equipment according to the load data acquired by the at least two weighing sensors in real time; in this case, the motion performance parameters of the transporting device may be adjusted in real time according to a change of the degree of gravity center deviation of the cargo or a change of the degree of equivalent gravity center deviation in the motion state of the transporting device.

In addition, the embodiment of the application also provides:

a1, carrying equipment is provided with a weighing sensor, wherein the weighing sensor is arranged on a load transmission part for transmitting load from a chassis of the carrying equipment to wheels;

A2. The conveying apparatus according to the above-mentioned item A1,

the weighing sensors comprise at least two weighing sensors, and the at least two weighing sensors are respectively arranged on the load transfer parts corresponding to the at least two wheels, so that at least one of the complete machine load, the cargo gravity center deviation condition and the equivalent gravity center deviation condition can be determined according to the load data on the at least two wheels.

A3. The carrying apparatus according to A2, wherein the at least two load cells are respectively provided on the load transmission members corresponding to the at least two wheels at different positions in front and rear of the vehicle body.

A4. The carrying equipment according to the A3, wherein the carrying equipment comprises at least one group of wheels distributed at different positions in front and at different positions behind a vehicle body, and the wheels are independently connected to the chassis through adapters respectively;

the weighing sensors are respectively arranged on the adaptor corresponding to each group of wheels.

A5. The conveying apparatus according to the above-mentioned item A3,

the carrying equipment chassis is provided with a double-bearing type framework; the double-bearing type framework comprises a front group of wheels and a rear group of wheels, and each group of wheels are connected through a wheel axle;

and the two weighing sensors are respectively arranged on the wheel shafts corresponding to the front and rear groups of wheels.

A6. The carrying apparatus according to the above-mentioned item A3,

the carrying equipment chassis is provided with a three-axis bearing type framework; the three-axis bearing type framework comprises three groups of wheels distributed at different positions from front to back;

the at least two weighing sensors are respectively arranged on the load transfer parts corresponding to at least two groups of wheels in the three groups of wheels.

A7. The carrying apparatus according to the above-mentioned item A6,

the three sets of wheels include: a middle driving wheel and a front and a rear driven wheels;

and the two weighing sensors are respectively arranged on the load transmission parts corresponding to the front and rear driven wheels.

A8. The carrying apparatus according to the above-mentioned item A7,

each group of driven wheels comprises: a front group of double driven wheels and a rear group of double driven wheels are respectively arranged; each group of double driven wheels is respectively connected through a swinging beam, and the swinging beam is connected to the chassis through an optical axis;

the two weighing sensors are respectively arranged on the optical axes corresponding to the front swing beam and the rear swing beam.

A9. The carrying apparatus according to the above-mentioned item A7,

each of the front and rear driven wheels includes: a front group of single driven wheels and a rear group of single driven wheels are respectively arranged; each group of single driven wheels is connected to the chassis through a connector;

the two weighing sensors are respectively arranged on the adapter corresponding to the front and rear single driven wheels.

A10. The conveying apparatus according to the above item A9,

the front and rear groups of single driven wheels are arranged in the middle in the left-right direction; alternatively, the first and second electrodes may be,

the front and rear groups of single driven wheels are eccentrically arranged in the left-right direction, and the eccentric directions of the front and rear groups of single driven wheels are different.

A11. The carrying apparatus according to the above-mentioned item A9,

the load cell comprises any one of a cantilevered load cell, a spoke-style load cell, or a load cell with a custom mechanical interface.

A12. The carrying apparatus according to any one of A1 to a11,

the carrying equipment further comprises a rotatable tray mechanism, and the loading direction of the goods is changed by rotating the tray mechanism, so that the gravity center deviation conditions of the goods in different directions can be obtained.

A13. The conveying apparatus according to any one of A1 to a11,

the carrying equipment further comprises a data processing module which is used for determining load data on corresponding wheels according to the load data collected by the weighing sensors, and determining at least one of the whole machine load, the cargo gravity center deviation condition and the equivalent gravity center deviation condition by combining theoretical load sharing information of the corresponding wheels.

A14. The carrying apparatus according to any one of A1 to a11,

the carrying equipment further comprises a communication module which is used for submitting the load data acquired by the weighing sensor to a server, determining the load data on the corresponding wheel by a data processing module configured at the server, and determining at least one of the complete machine load, the cargo gravity center deviation condition and the equivalent gravity center deviation condition by combining the theoretical load sharing information on the corresponding wheel.

A15. The carrying apparatus according to a13 or a14,

the data processing module is specifically used for acquiring the gravity center deviation condition of the whole machine load and/or the goods according to the load data acquired by the weighing sensor under the static load state of the carrying equipment;

the handling apparatus further comprises:

the first control module is used for configuring the motion performance parameters of the handling equipment according to the complete machine load and/or the deviation condition of the gravity center of the goods in the static load state of the handling equipment; and/or the presence of a gas in the atmosphere,

and the early warning module is used for providing early warning information of the unbalanced loading of the goods when the gravity center deviation condition of the goods is greater than a target threshold value.

A16. The carrying apparatus according to a13 or a14,

the data processing module is specifically used for acquiring the gravity center deviation condition of the goods or the equivalent gravity center deviation condition in real time according to the load data acquired by the weighing sensor in real time under the motion state of the carrying equipment;

the carrying equipment further comprises a second control module which is used for adjusting the motion performance parameters of the carrying equipment in real time according to the real-time acquired cargo gravity center deviation condition or equivalent gravity center deviation condition under the motion state of the carrying equipment.

B17. A method for controlling a carrying apparatus,

the method comprises the following steps:

determining the gravity center deviation condition of the cargo or the equivalent gravity center deviation condition according to the load data on the corresponding wheels and the theoretical load sharing information of the corresponding wheels;

B18. According to the method as set forth in B17,

the determination of the cargo center of gravity deviation condition or the equivalent center of gravity deviation condition comprises:

determining the gravity center deviation condition of the goods caused by the unbalanced loading of the goods in the static load state after the carrying equipment bears the goods;

the controlling the motion performance parameters of the carrying equipment comprises the following steps:

and in the static load state, performing initialization configuration on the motion performance parameters of the logistics handling robot according to the gravity center deviation condition of the goods.

B19. The method according to B18, further comprising:

and when the gravity center deviation condition of the goods reaches a target threshold value, providing early warning information about the goods unbalance loading.

B20. According to the method as set forth in B17,

the determination of the cargo center of gravity deviation condition or the equivalent center of gravity deviation condition comprises the following steps:

in the moving process of the carrying equipment, determining the change condition of the gravity center deviation degree of the goods under the moving state of the carrying equipment or the change condition of the equivalent gravity center deviation degree according to the load data acquired by the at least two weighing sensors in real time;

and under the motion state of the carrying equipment, the motion performance parameters of the carrying equipment are adjusted in real time according to the change condition of the cargo gravity center deviation degree or the change condition of the equivalent gravity center deviation degree.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.

The above description is only for the preferred embodiment of the present application, and is not intended to limit the scope of the present application. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application are included in the scope of protection of the present application.

Claims

1. A handling apparatus characterized by:

2. The transfer apparatus of claim 1,

3. The conveyance apparatus according to claim 2, wherein the at least two load cells are provided on the load transmission members corresponding to at least two wheels at different positions in front and rear of the vehicle body, respectively.

4. The handling apparatus according to claim 3,

the carrying equipment chassis is provided with a three-axis bearing type framework; the three-axis bearing type framework comprises three groups of wheels distributed at different positions in the front and the back;

5. The transfer apparatus of claim 4,

the three sets of wheels include: a middle driving wheel and a front and a rear double driven wheels respectively; each group of double driven wheels is connected through a swinging beam respectively, and the swinging beam is connected to the chassis through an optical axis;

6. The handling apparatus according to claim 4,

the three sets of wheels include: a middle driving wheel and a front and a rear single driven wheels; each group of single driven wheels is connected to the chassis through a connector;

7. The transfer apparatus according to any one of claims 1 to 6,

the carrying equipment further comprises a data processing module, wherein the data processing module is used for determining load data on corresponding wheels according to the load data acquired by the weighing sensors, and determining at least one of the complete machine load, the cargo gravity center deviation condition and the equivalent gravity center deviation condition by combining theoretical load sharing information of the corresponding wheels; alternatively, the first and second liquid crystal display panels may be,

and the communication module is used for submitting the load data acquired by the weighing sensor to a server, determining the load data on the corresponding wheel by a data processing module configured at the server, and determining at least one of the complete machine load, the cargo gravity center deviation condition and the equivalent gravity center deviation condition by combining the theoretical load sharing information on the corresponding wheel.

8. The transfer apparatus of claim 7,

the handling apparatus further comprises:

9. The transfer apparatus of claim 7,

the carrying equipment further comprises a second control module, and the second control module is used for adjusting the motion performance parameters of the carrying equipment in real time according to the real-time acquired cargo gravity center deviation condition or equivalent gravity center deviation condition in the motion state of the carrying equipment.

10. A method for controlling a conveyance apparatus, comprising,

the method comprises the following steps: