CN116330301B - Robot movement system and automatic movement route planning method thereof - Google Patents
Robot movement system and automatic movement route planning method thereof Download PDFInfo
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- CN116330301B CN116330301B CN202310603322.4A CN202310603322A CN116330301B CN 116330301 B CN116330301 B CN 116330301B CN 202310603322 A CN202310603322 A CN 202310603322A CN 116330301 B CN116330301 B CN 116330301B
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- 230000033001 locomotion Effects 0.000 title claims abstract description 119
- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000013439 planning Methods 0.000 title claims abstract description 21
- 230000005236 sound signal Effects 0.000 claims description 47
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000002159 abnormal effect Effects 0.000 abstract description 4
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention relates to the technical field of robots, in particular to a robot motion system and an automatic motion route planning method thereof, wherein the robot motion system comprises sound wave positioning equipment and a robot, and the sound wave positioning equipment is arranged on a ceiling of a using place; the sound wave positioning device is used for transmitting modeling sound waves; the inside of robot installs first control chip, and the outer wall of robot can be dismantled and be connected with at least one sound wave location label and with the sound wave receiver that sound wave location label electricity is connected, sound wave location label be used for transmitting with the real-time position of robot corresponding location sound wave, sound wave receiver receives location sound wave and modeling sound wave, and turn into location signal and modeling signal. According to the robot movement system disclosed by the technical scheme of the invention, the real-time position of the robot is positioned by utilizing the acoustic wave medium, and the movement route of the robot in a use place is automatically planned, so that the robot can be normally used under abnormal conditions or stored in a light-shielding product.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot motion system and an automatic motion route planning method thereof.
Background
Warehousing plays a critical role in the overall supply chain of the enterprise, and if proper incoming and inventory control and delivery cannot be guaranteed, an increase in management costs will result, so that achieving rapid and accurate incoming and delivery will directly affect the sales of the enterprise.
In order to improve the goods entering and exiting speed of enterprises, warehouse robots are arranged at present, and the goods entering and exiting time of the warehouse is greatly increased through the warehouse robots, so that the goods entering and exiting efficiency of the warehouse is greatly improved. The conventional warehouse robot is generally matched with a sensor or an inductor in the aspect of vision to avoid the obstacle and provide real-time monitoring for planning a travel route, but when the warehouse robot with the structure encounters a power failure or stores a warehouse of a product needing to be protected from light, the warehouse robot is easy to fail in obstacle avoidance and monitoring and fail, so that the warehouse robot cannot work normally.
Disclosure of Invention
The invention mainly aims to provide a robot movement system and a movement route automatic planning method thereof, which aim at utilizing sound wave media to position a real-time position of a robot and automatically plan a final movement route of the robot in a use place, so that the robot can be normally used under abnormal conditions or for storing light-shielding products.
In order to achieve the above object, the present invention provides a robot motion system, including:
the sound wave positioning device is arranged on a ceiling of a use place and is used for emitting modeling sound waves;
the robot is internally provided with a first control chip, the outer wall of the robot is detachably connected with at least one sound wave positioning tag and a sound wave receiver electrically connected with the sound wave positioning tag, the sound wave positioning tag is used for transmitting positioning sound waves corresponding to the real-time position of the robot, and the sound wave receiver receives the positioning sound waves and the modeling sound waves and converts the positioning sound waves and the modeling sound waves into positioning signals and modeling signals;
the first control chip receives the positioning signal and the modeling signal sent by the sound wave receiver and combines task signals input by a user to determine a final movement route of the robot corresponding to the task signals.
In an embodiment, the acoustic locating apparatus comprises:
an equipment housing fixed to a ceiling fixed to a place of use;
the second control chip is arranged in the equipment shell, the first control chip is in signal connection with the second control chip, and the second control chip is used for receiving a modeling work instruction sent by the first control chip so as to output an audio signal;
the ultrasonic power amplifier is arranged in the equipment shell and is electrically connected with the second control chip, and the ultrasonic power amplifier is used for receiving the audio signal sent by the second control chip and amplifying the audio signal;
and the sound wave loudspeaker is electrically connected with the ultrasonic power amplifier and is used for receiving the audio signal so as to play the modeling sound wave.
In an embodiment, the acoustic wave positioning device further comprises a matched filter connected between the ultrasonic power amplifier and the acoustic wave speaker, the matched filter being configured to receive and demodulate the audio signal and transmit the demodulated audio signal to the acoustic wave speaker.
In an embodiment, the robot motion system further includes a plurality of the acoustic positioning devices, wherein one of the acoustic positioning devices is fixed on the ceiling of the use place, and the other acoustic positioning devices are movably connected to the ceiling of the use place.
In one embodiment, the sonic locating tag comprises:
a label carrier detachably connected to an outer wall of the robot;
the micro-speaker is arranged on the tag carrier and is electrically connected with the first control chip, and the micro-speaker is used for playing the positioning sound wave after receiving the positioning instruction sent by the first control chip.
The invention also provides a method for automatically planning the movement route of the robot movement system, which comprises the following steps:
the method comprises the steps that an acoustic wave receiver receives modeling acoustic waves emitted by acoustic wave positioning equipment and converts the modeling acoustic waves into modeling signals;
the first control chip receives the modeling signal and determines a three-dimensional model of the place of use according to the modeling signal;
the sound wave receiver receives positioning sound waves emitted by the sound wave positioning tag and converts the positioning sound waves into positioning signals;
and the first control chip receives a task signal input by a user and combines the three-dimensional model of the using place and the positioning signal to determine the final movement route of the robot.
In one embodiment, the step of receiving the modeled acoustic wave transmitted by the acoustic wave positioning device by the acoustic wave receiver includes:
the second control chip receives the modeling work instruction sent by the first control chip and outputs an audio signal;
the ultrasonic power amplifier receives the audio signal sent by the second control chip, and amplifies the audio signal;
and the sound wave loudspeaker receives the audio signal sent by the ultrasonic power amplifier, converts the audio signal into modeling sound waves, and plays the modeling sound waves.
In one embodiment, the first control chip receives the modeling signal, and the step of determining the three-dimensional model of the usage site according to the modeling signal includes:
the first control chip obtains the first time of the acoustic wave positioning equipment for transmitting modeling acoustic waves;
the first control chip acquires a second time when the modeling sound wave is received by the sound wave receiver;
the first control chip calculates the height data of each coordinate position in the using place from the ceiling of the using place to the ground surface of the using place according to the first time, the second time and the sound transmission speed;
the first control chip integrates the height data of each coordinate position in the using place to form the modeling signal, and a three-dimensional model of the using place is established according to the modeling signal.
In an embodiment, the step of the first control chip receiving a task signal input by a user and determining a final movement route of the robot according to the three-dimensional model of the use place and the positioning signal includes:
the first control chip receives a task signal input by a user;
the first control chip analyzes an obstacle distribution pattern in the use place according to the three-dimensional model of the use place;
the first control chip is used for preparing a plurality of effective movement routes executable by the robot according to the obstacle distribution pattern in the using place and the task signals;
and the first control chip determines a final movement route of the robot according to the positioning signals and the effective movement routes.
In an embodiment, the step of the first control chip making a plurality of effective movement routes executable by the robot according to the obstacle distribution pattern of the use place and the task signal includes:
the first control chip outputs a movement space pattern of the use place for the robot to move according to the obstacle distribution pattern of the use place;
the first control chip analyzes the current position of the goods to be carried by the robot and the goods placement end position according to the task signal;
the first control chip is used for preparing a plurality of effective movement routes executable by the robot according to the movement space graph, the current position of the goods and the goods placement end position.
The robot motion system comprises sound wave positioning equipment and a robot, wherein the sound wave positioning equipment is arranged on a ceiling of a use place; the sound wave positioning device is used for transmitting modeling sound waves; the robot comprises a robot body, wherein a first control chip is arranged in the robot body, at least one sound wave positioning tag and a sound wave receiver electrically connected with the sound wave positioning tag are detachably connected to the outer wall of the robot body, the sound wave positioning tag is used for transmitting positioning sound waves corresponding to the real-time position of the robot body, the sound wave receiver receives the positioning sound waves and modeling sound waves, and the positioning sound waves and the modeling sound waves are converted into positioning signals and modeling signals; the first control chip receives a positioning signal and a modeling signal sent by the sound wave receiver and combines a task signal input by a user to determine a final movement route of the robot corresponding to the task signal; therefore, the robot motion system is mutually cooperated with the sound wave receiver through the sound wave positioning equipment, the sound wave positioning label and the sound wave receiver, the real-time position of the robot is positioned by utilizing the sound wave medium, and the final motion route of the robot in the use place is automatically planned, so that the robot can be normally used when encountering the abnormal lamplight of the use place or the use place is used for storing the light-shading product.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a robotic motion system of the present invention in a use site;
FIG. 2 is a schematic diagram of the structure of an acoustic positioning apparatus of the robotic motion system of the present invention;
FIG. 3 is a schematic view of a robot of the robot motion system of the present invention;
FIG. 4 is a flow chart of an automatic planning method for a movement route of a robot movement system according to the present invention;
fig. 5 is a schematic diagram of a refinement flow of step S10 in the automatic motion route planning method of the robot motion system according to the present invention;
fig. 6 is a schematic diagram of a refinement flow of step S20 in the automatic motion route planning method of the robot motion system according to the present invention;
fig. 7 is a schematic diagram of a refinement flow of step S40 in the automatic motion route planning method of the robot motion system according to the present invention;
fig. 8 is a detailed flowchart of step S43 in the automatic planning method of the movement path of the robot movement system according to the present invention.
Reference numerals illustrate:
the achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.
Furthermore, the description of "first," "second," etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.
The invention provides a robot motion system.
In an embodiment of the present invention, referring to fig. 1 to 5, the robot motion system includes an acoustic wave positioning apparatus 10 and a robot 20, the acoustic wave positioning apparatus 10 is provided at a ceiling of a use place, and the acoustic wave positioning apparatus 10 is used for emitting modeling acoustic waves; the first control chip 30 is installed in the robot 20, at least one sound wave positioning tag 40 and a sound wave receiver 50 electrically connected with the sound wave positioning tag 40 are detachably connected to the outer wall of the robot 20, the sound wave positioning tag 40 is used for transmitting positioning sound waves corresponding to the real-time position of the robot 20, and the sound wave receiver 50 receives the positioning sound waves and modeling sound waves and converts the positioning sound waves and the modeling sound waves into positioning signals and modeling signals; the first control chip 30 receives the positioning signal and the modeling signal sent by the acoustic receiver 50, and combines the task signal input by the user to determine a final movement route of the robot 20 corresponding to the task signal.
Specifically, the robot motion system of the embodiment can be applied to an unmanned warehouse or a common warehouse for storing light-shielding products; when the robot movement system is initially used, the acoustic positioning device 10 is firstly installed at the ceiling position of a using place, so that the acoustic positioning device 10 can emit modeling acoustic waves at the position with the widest using place, and further the modeling acoustic waves emitted by the acoustic positioning device 10 are comprehensively transmitted in the using place.
When the robot motion system is put into use, the first control chip 30 in the robot 20 controls the acoustic wave positioning device 10 to emit modeling acoustic waves according to the requirements of a user, the first control chip 30 controls the acoustic wave receiver 50 to receive the modeling acoustic waves of the acoustic wave positioning device 10 until the modeling acoustic waves completely cover the whole internal space of a use place, the acoustic wave receiver 50 integrates and converts the collected modeling acoustic waves into modeling signals, and the acoustic wave receiver 50 transmits the modeling signals to the first control chip 30; the first control chip 30 controls the sound wave positioning tag 40 on the outer wall of the robot 20 to emit positioning sound waves, and the positioning sound waves are received by the sound wave receiver 50 and then converted into positioning signals, namely the real-time position of the robot 20 in the use place; the first control chip 30 substitutes the modeling signal transmitted from the acoustic wave receiver 50 into a preset algorithm, calculates height data of each coordinate position of the use place, and simulates a three-dimensional model of the use place by using the height data of each coordinate position of the use place. The first control chip 30 then combines the localization signals transmitted from the sonic receiver 50 with the three-dimensional model of the use site and the task signals input by the user, thereby creating a final movement path of the robot 20. After the first control chip 30 outputs the final movement route, the robot can control its own traveling direction and traveling distance according to the final movement route.
In view of the above-mentioned planning process, the robot motion system of the present embodiment uses the acoustic wave medium to position the real-time position of the robot 20 by the cooperation of the acoustic wave positioning device 10, the acoustic wave positioning tag 40 and the acoustic wave receiver 50, and automatically plans the final motion route of the robot 20 at the use place, so that the robot 20 can be normally used when encountering the abnormal light of the use place or the use place is used for storing the light-shielding product.
Referring to fig. 1 to 5, the acoustic wave positioning apparatus 10 includes an apparatus housing 11, a second control chip 12, an ultrasonic power amplifier 13, and an acoustic wave speaker 14, the apparatus housing 11 being fixed to a ceiling fixed at a place of use; the second control chip 12 is arranged in the equipment shell 11, the first control chip 30 is in signal connection with the second control chip 12, and the second control chip 12 is used for receiving a modeling work instruction sent by the first control chip 30 so as to output an audio signal; the ultrasonic power amplifier 13 is arranged in the equipment shell 11 and is electrically connected with the second control chip 12; the ultrasonic power amplifier 13 is used for receiving the audio signal sent by the second control chip 12 and amplifying the audio signal; an acoustic wave speaker 14 is electrically connected to the ultrasonic power amplifier 13, the acoustic wave speaker 14 being configured to receive an audio signal to play a modeled acoustic wave.
The outer wall of the equipment shell 11 of the acoustic wave positioning equipment 10 is provided with a connecting piece, and the acoustic wave positioning equipment is fixed on the ceiling of a using place through the connecting piece; the second control chip 12 receives the modeling working instruction sent by the first control chip 30, so that the second control chip 12 can output an audio signal according to the modeling working instruction, and the ultrasonic power amplifier 13 amplifies the audio signal generated by the second control chip 12, so that the amplified audio signal can be converted by the acoustic speaker 14 to form a modeling acoustic wave with more stable frequency, thereby improving the positioning accuracy of the acoustic positioning device 10.
The acoustic wave positioning apparatus 10 further comprises a matched filter connected between the ultrasonic power amplifier 13 and the acoustic wave speaker 14, the matched filter being for receiving and demodulating the audio signal and transmitting the demodulated audio signal to the acoustic wave speaker 14. When the audio signal is amplified by the ultrasonic power amplifier 13, the audio signal enters a matched filter, and the noise of the amplified audio signal is filtered by the matched filter, so that the signal-to-noise ratio of the audio signal is improved, and the positioning accuracy of the acoustic wave positioning device 10 is improved.
Referring to fig. 1 to 5, the robot motion system further includes a plurality of sonic positioning apparatuses 10, wherein one sonic positioning apparatus 10 is fixed to the ceiling of the use place, and the remaining sonic positioning apparatuses 10 are movably connected to the ceiling of the use place.
The modeling sound waves are played by the plurality of sound wave positioning devices 10 for the use sites, and the modeling sound waves of the plurality of sound wave positioning devices 10 provide enough data for modeling for the first control chip 30, so that the first control chip 30 can conveniently establish a more accurate three-dimensional model, and the positioning accuracy of the sound wave positioning devices 10 is improved. The wavelengths of the modeling sound waves played by the plurality of sound wave positioning devices 10 are different, so that the first control chip 30 can conveniently distinguish the plurality of sound wave positioning devices 10, and the first control chip 30 can conveniently distinguish and compare and analyze the data of the modeling sound waves of the plurality of sound wave positioning devices 10.
One of the acoustic locating devices 10 is fixed on the ceiling of the use place through a connecting piece and is located at the center of the ceiling of the use place, and the other acoustic locating devices 10 can be connected to other positions of the ceiling of the use place in a sliding mode through matching of sliding rails and sliding blocks, so that the acoustic locating devices 10 which are connected to the ceiling of the use place in a sliding mode can adjust the installation positions, a plurality of acoustic locating devices 10 can cover the ceilings of the use place with different areas conveniently, and therefore data of more real modeling acoustic waves are provided for the first control chip 30 of the robot to reference.
Referring to fig. 1 to 5, the sonic positioning tag 40 includes a tag carrier detachably attached to the outer wall of the robot 20 and a micro speaker 14; the micro-speaker 14 is disposed on the tag carrier and electrically connected to the first control chip 30; the micro-speaker 14 is configured to play the positioning sound wave after receiving the positioning instruction sent by the first control chip 30.
Specifically, the outer wall of the robot 20 is detachably connected with the tag carrier by arranging a connecting piece, and the connecting piece can be a buckle structure, a magnetic attraction mechanism or a screw structure and the like; the micro-speaker 14 on the label carrier immediately plays the positioning sound wave after receiving the positioning instruction sent by the first control chip 30, so that the current position of the robot 20 in the use place can be determined, and the first control chip 30 can accurately plan the final movement route according to the current position of the robot 20.
Referring to fig. 1 to 8, the present invention further provides a method for automatically planning a movement path of a robot movement system, and the specific structure of the robot movement system refers to the above embodiment, and the method for automatically planning a movement path of a robot movement system includes the following steps:
s10: the acoustic receiver 50 receives the modeling acoustic wave emitted by the acoustic locating device 10 and converts the modeling acoustic wave into a modeling signal;
s20: the first control chip 30 receives the modeling signals and determines a three-dimensional model of the place of use according to the modeling signals;
s30: the acoustic receiver 50 receives the positioning acoustic wave emitted from the acoustic positioning tag 40 and converts the positioning acoustic wave into a positioning signal;
s40: the first control chip 30 receives a task signal input by a user and combines the three-dimensional model of the location with the positioning signal to determine a final movement route of the robot 20.
Before the robot motion system starts to work, a user can input a task signal through an input module of the robot 20; after the user inputs the task signal, the first control chip 30 starts the robot motion system to start working according to the input default of the task signal.
Firstly, the first control chip 30 controls the acoustic positioning device 10 to emit modeling acoustic waves, after the modeling acoustic waves are propagated to the acoustic receiver 50 of the robot 20 on the ground, the acoustic receiver 50 can convert the modeling acoustic waves into modeling signals, and the modeling signals are transmitted to the first control chip 30; wherein the modeling signal includes height data for a plurality of coordinate locations within the use site, the coordinate locations referring to locations of any coordinates extending along a horizontal direction of the floor of the use site, and the height data referring to heights of the ceiling of the use site to the surface of the use site, such as: stacking cargoes at a coordinate position on the floor of the use place, namely, the height data is the height from the ceiling of the use place to the top surface of the cargoes; the other coordinate position of the floor of the use place is not piled with goods, namely the height data is the height from the ceiling of the use place to the floor of the use place; the first control chip 30 then builds a three-dimensional model of the use place according to the modeling rules from the modeling signals, so that the robot 20 can use the built three-dimensional model as a basis for formulating a final movement route of the robot. The first control chip 30 controls the sound wave positioning tag 40 on the outer wall of the robot 20 to emit positioning sound waves and convert the positioning sound waves into positioning signals, so that the first control chip 30 can use the positioning signals as real-time positions of the robot 20 in a use place, and the first control chip 30 can conveniently compare and analyze the positioning signals with a three-dimensional model. Finally, the first control chip 30 combines the task signals input by the user on the basis of the positioning signals and the three-dimensional model, so that the final movement route which better accords with the robot 20 is more easily formulated.
Referring to fig. 1 to 8, S10: the step of the acoustic receiver 50 receiving the modeled acoustic wave emitted by the acoustic locating device 14 includes:
s11: the second control chip 12 receives the modeling work instruction sent by the first control chip 30 and outputs an audio signal;
s12: the ultrasonic power amplifier 13 receives the audio signal sent by the second control chip 12, and the ultrasonic power amplifier 13 amplifies the audio signal;
s13: the acoustic wave speaker 14 receives the audio signal transmitted from the ultrasonic power amplifier 13, and the acoustic wave speaker 14 converts the audio signal into a modeling acoustic wave and plays the modeling acoustic wave.
When a user inputs a task signal, the first control chip 30 starts the motion system of the robot 20 to start working by default according to the input of the task signal, and then the first control chip 30 sends a modeling working instruction to the second control chip 12, wherein the modeling working instruction is used for controlling the second control chip 12 to output an audio signal and transmitting the audio signal to the ultrasonic power amplifier 13; the audio signal is amplified by the ultrasonic power amplifier 13, so that the audio signal is transmitted more stably in the transmission process, and the loss of the audio signal in the transmission process is reduced; finally, after receiving the audio signal through the acoustic speaker 14, the audio signal of the electrical signal is converted into a modeling acoustic wave of the acoustic signal, thereby realizing the function of the acoustic positioning device 10 for emitting the modeling acoustic wave.
Referring to fig. 1 to 8, S20: the first control chip receives the modeling signal, and the step of determining the three-dimensional model of the use place according to the modeling signal comprises the following steps:
s21: the first control chip 30 acquires a first time of the acoustic locating device 10 at which the modeling acoustic wave is emitted;
s22: the first control chip 30 acquires a second time at which the acoustic wave receiver 50 receives the modeling acoustic wave;
s23: the first control chip 30 calculates height data of each coordinate position in the use place from the ceiling of the use place to the ground surface of the use place according to the first time, the second time and the sound propagation speed;
s24: the first control chip 30 integrates the height data of the respective coordinate positions within the usage site to form the modeling signal, and builds a three-dimensional model of the usage site based on the modeling signal simulation.
At the time when the acoustic speaker 14 of the acoustic positioning device 10 plays the modeling acoustic wave, the second control chip 12 transmits a first electrical signal to the first control chip 30, where the first electrical signal is a first time, and the first time is a starting time of emission of the modeling acoustic wave; the second control chip 12 also synchronously transmits a second electrical signal to the first control chip 30 when the acoustic wave receiver 50 receives the modeling acoustic wave, where the second electrical signal is a second time, and the second time is a receiving time of the modeling acoustic wave; the coordinate position refers to a position of any one of coordinates extending in a horizontal direction of the floor of the use place, and the height data refers to a height from the ceiling of the use place to the surface of the use place, for example: stacking cargoes at a coordinate position on the floor of the use place, namely, the height data is the height from the ceiling of the use place to the top surface of the cargoes; the other coordinate position of the floor of the use place has no stacked goods, namely the height data is the height from the ceiling of the use place to the floor of the use place.
The first control chip 30 calculates the sound transmission distance formula: height data=sound propagation speed (second time-first time), height data of any position is calculated by substituting a sound transmission distance formula, and finally the first control chip 30 gradually simulates a three-dimensional model of the use place through the height data of a plurality of coordinate positions, so as to provide a basis for the subsequent establishment of a final route of the robot 20.
Referring to fig. 1 to 8, S40: the first control chip 30 receives a task signal input by a user, and determines a final movement route of the robot 20 according to a three-dimensional model of a use place and a positioning signal, including:
s41: the first control chip 30 receives a task signal input by a user;
s42: the first control chip 30 analyzes the obstacle distribution pattern in the use place according to the three-dimensional model of the use place;
s43: the first control chip 30 makes a plurality of effective movement routes executable by the robot 20 according to the obstacle distribution pattern and task signals in the use place;
s44: the first control chip 30 determines a final movement path of the robot 20 according to the positioning signal and the plurality of effective movement paths.
Specifically, an interaction component electrically connected with the first control chip 30 is disposed on the outer wall of the robot 20, and the interaction component may be a touch screen, a keyboard, a voice microphone, or the like; the user triggers the interaction component on the outer wall of the robot 20, on one hand, the interaction component is utilized to input a task signal to the first control chip 30 of the robot 20, and on the other hand, the first control chip 30 can start the robot motion system to work after receiving the task signal transmitted by the interaction component.
After the robot motion system starts to work, the first control chip 30 obtains modeling signals through the acoustic positioning device 10 and establishes a three-dimensional model of a use place according to the modeling signals, the obstacle distribution graph in the use place can be clearly obtained on the three-dimensional model, and then the position without the obstacle in the use place is intuitively known according to the obstacle distribution graph in the use place, so that the first control chip 30 can conveniently plan a plurality of effective motion routes from the position without the obstacle in the use place, the function of automatically planning a final motion route of the robot motion system is realized, the plurality of effective motion routes are selected by the first control chip 30, if the robot 20 encounters a sudden change condition in the advancing process, the first control chip 30 can select to advance from other effective motion routes, the robot 20 can timely correct the final motion route, and the advancing efficiency of the robot motion system is improved.
The positioning signal is the current position of the robot 20, and the first control chip 30 selects a final movement path among a plurality of effective movement paths according to the positioning signal, and the final movement path selected in this way is closer to the current position of the robot 20, and can shorten the travel time of the robot 20, thereby enabling the robot 20 to rapidly complete a task.
Referring to fig. 1 to 8, S43: the first control chip 30 creates a plurality of effective movement routes executable by the robot 20 according to the obstacle distribution pattern and the task signal of the use place, including:
s431: the first control chip 30 outputs a movement space pattern for the robot 20 to move at the use place according to the obstacle distribution pattern at the use place;
s432: the first control chip 30 analyzes the current position of the goods to be carried and the final position of the goods placement of the robot 20 according to the task signals;
s433: the first control chip 30 creates a plurality of effective movement routes executable by the robot 20 according to the movement space pattern, the current position of the cargo, and the cargo placement end position.
Specifically, the first control chip 30 may analyze all travel routes that the robot 20 can move in the use place according to the obstacle distribution pattern of the use place and the movement space pattern that the robot 20 can move in the use place, and then further analyze a plurality of effective movement routes that the robot 20 can execute in combination with the cargo current position and the cargo placement end position of the task signal, where the effective movement routes refer to a first movement route that the robot 20 moves from its current position to the cargo current position and a second movement route that the robot 20 moves from the cargo current position to the cargo placement end position after picking up the cargo.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the description of the present invention and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the invention.
Claims (9)
1. A robotic motion system, the robotic motion system comprising:
the sound wave positioning device is arranged on a ceiling of a use place and is used for emitting modeling sound waves;
the robot is internally provided with a first control chip, the outer wall of the robot is detachably connected with at least one sound wave positioning tag and a sound wave receiver electrically connected with the sound wave positioning tag, the sound wave positioning tag is used for transmitting positioning sound waves corresponding to the real-time position of the robot, and the sound wave receiver receives the positioning sound waves and the modeling sound waves and converts the positioning sound waves and the modeling sound waves into positioning signals and modeling signals;
the first control chip receives the positioning signal and the modeling signal sent by the sound wave receiver and combines task signals input by a user to determine a final movement route of the robot corresponding to the task signals;
the acoustic wave positioning apparatus includes:
an equipment housing fixed to a ceiling of a use place;
the second control chip is arranged in the equipment shell, the first control chip is in signal connection with the second control chip, and the second control chip is used for receiving a modeling work instruction sent by the first control chip so as to output an audio signal;
the ultrasonic power amplifier is arranged in the equipment shell and is electrically connected with the second control chip, and the ultrasonic power amplifier is used for receiving the audio signal sent by the second control chip and amplifying the audio signal;
and the sound wave loudspeaker is electrically connected with the ultrasonic power amplifier and is used for receiving the audio signal so as to play the modeling sound wave.
2. The robotic motion system of claim 1, wherein the acoustic positioning device further comprises a matched filter coupled between the ultrasonic power amplifier and the acoustic speaker, the matched filter configured to receive and demodulate the audio signal and transmit the demodulated audio signal to the acoustic speaker.
3. The robotic movement system of claim 1, wherein the robotic movement system includes a plurality of the sonic positioning devices, wherein one of the sonic positioning devices is secured to the ceiling of the use site and the remaining sonic positioning devices are movably coupled to the ceiling of the use site.
4. The robotic motion system of claim 1, wherein the sonic locating tag comprises:
a label carrier detachably connected to an outer wall of the robot;
the micro-speaker is arranged on the tag carrier and is electrically connected with the first control chip, and the micro-speaker is used for playing the positioning sound wave after receiving the positioning instruction sent by the first control chip.
5. A method for automatically planning a movement path of a robot movement system according to any one of claims 1 to 4, characterized in that the method for automatically planning a movement path of a robot movement system comprises the steps of:
the method comprises the steps that an acoustic wave receiver receives modeling acoustic waves emitted by acoustic wave positioning equipment and converts the modeling acoustic waves into modeling signals;
the first control chip receives the modeling signal and determines a three-dimensional model of the place of use according to the modeling signal;
the sound wave receiver receives positioning sound waves emitted by the sound wave positioning tag and converts the positioning sound waves into positioning signals;
and the first control chip receives a task signal input by a user and combines the three-dimensional model of the using place and the positioning signal to determine the final movement route of the robot.
6. The method for automatic planning of a course of a robot motion system according to claim 5, wherein the step of receiving the modeling sound wave transmitted from the sound wave positioning device by the sound wave receiver comprises:
the second control chip receives the modeling work instruction sent by the first control chip and outputs an audio signal;
the ultrasonic power amplifier receives the audio signal sent by the second control chip, and amplifies the audio signal;
and the sound wave loudspeaker receives the audio signal sent by the ultrasonic power amplifier, converts the audio signal into modeling sound waves, and plays the modeling sound waves.
7. The method for automatic planning of a course of a robot motion system according to claim 5, wherein the first control chip receives the modeling signal, and the step of determining a three-dimensional model of a place of use based on the modeling signal comprises:
the first control chip obtains the first time of the acoustic wave positioning equipment for transmitting modeling acoustic waves;
the first control chip acquires a second time when the modeling sound wave is received by the sound wave receiver;
the first control chip calculates the height data of each coordinate position in the using place from the ceiling of the using place to the ground surface of the using place according to the first time, the second time and the sound transmission speed;
the first control chip integrates the height data of each coordinate position in the using place to form the modeling signal, and a three-dimensional model of the using place is established according to the modeling signal.
8. The method of claim 5, wherein the first control chip receives a task signal input by a user and determines a final movement route of the robot according to the three-dimensional model of the use place and the positioning signal, comprising:
the first control chip receives a task signal input by a user;
the first control chip analyzes an obstacle distribution pattern in the use place according to the three-dimensional model of the use place;
the first control chip is used for preparing a plurality of effective movement routes executable by the robot according to the obstacle distribution pattern in the using place and the task signals;
and the first control chip determines a final movement route of the robot according to the positioning signals and the effective movement routes.
9. The method of automatic planning a course of motion of a robot motion system according to claim 8, wherein the first control chip creates a plurality of effective courses of motion executable by the robot based on the obstacle distribution pattern of the use location and the task signal, comprising:
the first control chip outputs a movement space pattern of the use place for the robot to move according to the obstacle distribution pattern of the use place;
the first control chip analyzes the current position of the goods to be carried by the robot and the goods placement end position according to the task signal;
the first control chip is used for preparing a plurality of effective movement routes executable by the robot according to the movement space graph, the current position of the goods and the goods placement end position.
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| CN115328115A (en) * | 2022-07-06 | 2022-11-11 | 苏州触达信息技术有限公司 | Internet of things joint positioning method and application |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| ES2905883T3 (en) * | 2015-01-21 | 2022-04-12 | Univ Ramot | agricultural robot |
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| CN101763120A (en) * | 2009-12-17 | 2010-06-30 | 长安大学 | Robot locating device based on sound guidance and locating method thereof |
| CN105955266A (en) * | 2016-05-11 | 2016-09-21 | 深圳乐行天下科技有限公司 | Map building device and map building method |
| CN114995493A (en) * | 2022-05-29 | 2022-09-02 | 浙江大学 | Method and device for recycling unmanned aerial vehicle based on sound waves |
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