CN207440616U - A kind of modern logistics mobile robot self-control system - Google Patents
A kind of modern logistics mobile robot self-control system Download PDFInfo
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- CN207440616U CN207440616U CN201721423208.XU CN201721423208U CN207440616U CN 207440616 U CN207440616 U CN 207440616U CN 201721423208 U CN201721423208 U CN 201721423208U CN 207440616 U CN207440616 U CN 207440616U
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- 238000001514 detection method Methods 0.000 claims description 7
- 238000004891 communication Methods 0.000 abstract description 9
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 230000007812 deficiency Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000011161 development Methods 0.000 description 1
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Abstract
The utility model is related to a kind of modern logistics mobile robot self-control systems, belong to merchandising machine people's technical field.Including logistics mobile robot, video camera, infrared sensor, obliquity sensor, microcontroller, computer, image pick-up card, wireless sensor network node, image pick-up card obtains the image information of camera acquisition, transfers to computer disposal.Infrared sensor and obliquity sensor perceive environment, and computer is sent to by communication module after microcontroller acquisition infrared sensor and obliquity sensor data.The quantity of wireless sensor network node is several and configuration is in each logistics mobile robot and surrounding working environment, and computer is connected with several wireless sensor network nodes, forms wireless sensor network.By the cooperation between above-mentioned module, mobile robot accurately flexible autonomous control is realized.
Description
Technical field
The utility model is related to a kind of modern logistics mobile robot self-control systems, belong to merchandising machine people technology neck
Domain.
Background technology
The development advanced by leaps and bounds in recent years with e-commerce, logistics distribution are increasingly becoming the key element of e-commerce.
Due to needing to coordinate the resource quantity and huge number with scheduling, brought to the Operations Management at warehouse logistics center unprecedented
Challenge.According to correlation study, the time that worker has 60%~70% in the warehouse of traditional mode is all expended in picking.
Further, since the quick rise of soil, human cost, China Logistics cost is higher always, always searches in the industry
Storage area, the intelligent Logistics Equipment for improving logistic efficiency can be saved.Including transporting, storing in a warehouse, loading and unloading, carrying, wrapping
The logistic resources such as dress, circulation and process, dispatching, information platform are united, except intelligentized handling facility, it is also necessary to which having can replace
For artificial handling, carrying, packaging facilities, wherein Intelligent logistics robot is exactly a Typical Representative.By autonomous machine
People is introduced into storage space, instead of manually transporting goods, can be efficiently reduced the labor intensity of worker, be reduced maintenance cost,
Operational efficiency is improved, and there is good reconfigurability to the layout of storage space.
But current robot also there are many deficiencies part, existing logistics system robot mostly using centralization
Control system, the intelligent and independence of itself is insufficient, in the working environment for the relative quiescent for being usually used in structuring, for variable
The adaptability of environment is inadequate, therefore can be only done relatively simple and fixed logistics operation.Robot in many cases
Working environment is uncertain or even unknown, and robot at this stage, which still cannot be fully finished to position under strange environment, to be led
It navigates and realizes avoidance.It needs Intelligent mobile robot being combined with logistics system, by the autonomous of intelligent mobile robot
Property control realize logistics system intelligent operation.
The content of the invention
It is real the technical problem to be solved by the present invention is to provide a kind of modern logistics mobile robot self-control system
Existing independent navigation of the logistics mobile robot in strange environment and avoidance technology.
The technical solution adopted in the utility model is：A kind of modern logistics mobile robot self-control system, including object
Flow mobile robot, video camera, infrared sensor, obliquity sensor, microcontroller, computer, image pick-up card, wireless senser
Network node, video camera, infrared sensor, obliquity sensor are separately mounted in each logistics mobile robot, Image Acquisition
Module one end is connected with video camera, and the other end is connected with computer, microcontroller one end respectively with infrared sensor, obliquity sensor
Connection, the other end are connected with computer, and the quantity of wireless sensor network node for several and is configured in each logistics movement
In robot and surrounding working environment, computer is connected with several wireless sensor network nodes, forms wireless sensing
Device network, computer-internal are equipped with positioning navigation module and obstacle avoidance module, and computer is pacified according in each logistics mobile robot
The wireless sensor network node of dress obtains the location information of each logistics mobile robot, and computer is adopted according to image pick-up card
The information of each logistics mobile robot ambient enviroment of information acquisition of the video camera shooting of collection, each logistics mobile robot root
The location information of other logistics mobile robots and surrounding's ring of other logistics mobile robots are obtained according to wireless sensor network
Border information, infrared sensor for detect each logistics mobile robot front obstacle and with barrier and its distance, incline
Angle transducer is used to detecting the direction of front obstacle, and positioning navigation module is according to the location information of each logistics mobile robot
And the ambient condition information of video camera shooting plans the track route of each logistics mobile robot, obstacle avoidance module is used for according to red
Outer sensor, the detection information of obliquity sensor instruct logistics mobile robot avoiding obstacles or are stopped.
Further include the language module being connected with logistics mobile robot and with computer, the obstacle avoidance module
Obstacle distance logistics mobile robot distance and angle are detected according to infrared sensor, obliquity sensor, logistics is moved
Region around robot is divided into protection zone and alarm region from the near to the remote, when barrier appears in alarm region, calculates
Machine control language module is alarmed, and when barrier appears in alarm region, then computer control logistics mobile robot is stopped.
The infrared sensor selects Germany SICK companies S3000 laser scan type area protection devices.
The video camera uses the full firmware video camera of charge coupled device ccd.
The beneficial effects of the utility model are：Compared with existing logistics system robot using the control system of centralization
So as to cause the intelligent and independence deficiency of itself, the utility model is by by wireless sensor network and mobile robot knot
It closes, and robot can realize robot accurate autonomous movement under foreign environment by sensor senses external environment
And avoidance.And high with positioning accuracy, cost is relatively low, it is stable the advantages that.
Description of the drawings
Fig. 1 is the structure diagram of the modern logistics autonomous mobile robot control system of the utility model embodiment；
Fig. 2 is wireless sensor network node hardware structure diagram；
Fig. 3 is the communication system schematic diagram based on wireless sensor network；
Fig. 4 is obstacle avoidance module schematic diagram.
Specific embodiment
In the following with reference to the drawings and specific embodiments, it is further clear to the utility model work, intactly illustrate.
Embodiment 1：As shown in Figs 1-4, a kind of modern logistics mobile robot self-control system, including logistics moving machine
Device people, video camera, infrared sensor, obliquity sensor, microcontroller, computer, image pick-up card, wireless sensor network section
Point, video camera, infrared sensor, obliquity sensor are separately mounted in each logistics mobile robot, image capture module one
End is connected with video camera, and the other end is connected with computer, and microcontroller one end is connected respectively with infrared sensor, obliquity sensor,
The other end is connected with computer, and the quantity of wireless sensor network node for several and is configured in each logistics mobile robot
And in surrounding working environment, computer is connected with several wireless sensor network nodes, forms wireless sensor network,
Computer-internal is equipped with positioning navigation module and obstacle avoidance module, and computer is wireless according to being installed in each logistics mobile robot
Sensor network nodes obtain the location information of each logistics mobile robot, the camera shooting that computer is gathered according to image pick-up card
The information of each logistics mobile robot ambient enviroment of information acquisition of machine shooting, each logistics mobile robot are passed according to wireless
Sensor network obtains the location information of other logistics mobile robots and the ambient condition information of other logistics mobile robots, red
Outer sensor for detect each logistics mobile robot front obstacle and with barrier and its distance, obliquity sensor use
In the direction of detection front obstacle, positioning navigation module is clapped according to the location information and video camera of each logistics mobile robot
The ambient condition information taken the photograph plans the track route of each logistics mobile robot, obstacle avoidance module be used for according to infrared sensor,
The detection information of obliquity sensor instructs logistics mobile robot avoiding obstacles or is stopped.
Image pick-up card obtains the image information of camera acquisition, transfers to computer disposal, and infrared sensor and inclination angle pass
Sensor perceives environment, and meter is sent to by communication module after microcontroller acquisition infrared sensor and obliquity sensor data
Calculation machine.By the configuration of several wireless sensor network nodes in each logistics mobile robot and its ambient enviroment of operation,
It is mutually communicated by wireless sensor network between each logistics mobile robot, the complication system that common completion coordinated with each other is big
Control job task.The function that so logistics mobile robot can not only utilize wireless sensor network information to perceive is timely
Carry out the perception of running state information, and can by obtain neighbouring logistics mobile robot status information and by itself
Status information informs neighbouring logistics mobile robot, realizes the communication of this distributed system.Each object in logistics system
Stream robot can be considered an intelligentized individual, and entire logistics system then can be considered the cooperative system of multiple agent, i.e., entire
Logistics system resolves into several intelligent bodies according to every robot, is mutually communicated between each intelligent body, is coordinated with each other common
Complete the control job task of big complication system.
By the cooperation between above-mentioned module, mobile robot accurately flexible autonomous control is realized.
Further, the language module for further including with logistics mobile robot and being connected with computer, it is described
Obstacle avoidance module obstacle distance logistics mobile robot distance and angle are detected according to infrared sensor, obliquity sensor,
Region around logistics mobile robot is divided into protection zone and alarm region from the near to the remote, when barrier appears in alarm
Region, the alarm of computer control language module, when barrier appears in alarm region, then computer controls logistics mobile robot
It is stopped.
Further, the infrared sensor selects Germany SICK companies S3000 laser scan type area protection devices.
Further, the video camera uses the full firmware video camera of charge coupled device ccd.
In the utility model, wireless sensor network node hardware configuration as shown in Fig. 2, wireless sensor network node by
Sensor assembly, processor module, wireless communication module and four part of energy supply module composition.Sensor assembly is responsible for detection
The acquisition of information and data conversion in region；Processor module is responsible for controlling entire sensor node, handles the data collected
And the data that other nodes are sent；Wireless communication module is responsible for communicating with other sensors node, exchange of control information
With transmitting-receiving gathered data；Energy supply module provides energy needed for operation for sensor node, using minicell.
In the utility model, the communication module is as shown in figure 3, network communication of wireless sensor technology and logistics are moved
Mobile robot is combined, configure in logistics mobile robot wireless sensor network node can ad-hoc network, also there is acquisition
The function of peripheral information.One major advantage of wireless sensor network is to support mobility, is mainly deposited in wireless sensor network
It is moved in node motion and event.The former refers to node the moving freely in a network for carrying wireless communication function, Hou Zheshi
Refer in event detection or in special tracking application, the induction source of event or tracking target may be mobile.
In the utility model, the obstacle avoidance module is as shown in figure 4, the infrared detection sensor and inclination angle of the utility model
Sensor is mounted on before logistics mobile robot A, it ceaselessly outwards emits the infrared pulse rotated with constant speed
Beam will be reflected back when light beam runs into objects in front, and computer is by measuring between transmitting light beam and reflection light
Time difference calculates objects in front and its distance, the direction of the detectable objects in front of obliquity sensor.The distance of objects in front
It is determined with direction, the position of logistics mobile robot itself and state are also determined.When having detected that object enters zone of alarm
During domain, the voice module of obstacle avoidance module control logistics mobile robot A sends alarm signal, when having detected that object appears in guarantor
Region is protected, obstacle avoidance module control logistics mobile robot sends stopping signal, logistics mobile robot, and computer receives the signal
With regard to it is helped to select other feasible paths or carries out emergency braking to logistics mobile robot.
Specific embodiment of the present utility model is explained in detail above in association with attached drawing, but the utility model is not
It is limited to the above embodiment, within the knowledge of a person skilled in the art, this practicality can also be not being departed from
Various changes can be made on the premise of new objective.
Claims (4)
1. a kind of modern logistics mobile robot self-control system, it is characterised in that：Including logistics mobile robot, camera shooting
Machine, infrared sensor, obliquity sensor, microcontroller, computer, image pick-up card, wireless sensor network node, video camera,
Infrared sensor, obliquity sensor are separately mounted in each logistics mobile robot, image capture module one end and video camera
Connection, the other end are connected with computer, and microcontroller one end is connected respectively with infrared sensor, obliquity sensor, the other end and meter
Calculation machine connects, and the quantity of wireless sensor network node is several and configuration in each logistics mobile robot and surrounding
In working environment, computer is connected with several wireless sensor network nodes, forms wireless sensor network, computer-internal
Equipped with positioning navigation module and obstacle avoidance module, computer is according to the wireless sensor network installed in each logistics mobile robot
Node obtains the location information of each logistics mobile robot, the letter that the video camera that computer is gathered according to image pick-up card is shot
Breath obtains the information of each logistics mobile robot ambient enviroment, and each logistics mobile robot is obtained according to wireless sensor network
The location information of other logistics mobile robots and the ambient condition information of other logistics mobile robots are obtained, infrared sensor is used
In detect each logistics mobile robot front obstacle and with barrier and its distance, obliquity sensor for detecting in front of
The direction of barrier, surrounding's ring that positioning navigation module is shot according to the location information and video camera of each logistics mobile robot
The track route of each logistics mobile robot of border information planning, obstacle avoidance module are used for according to infrared sensor, obliquity sensor
Detection information instruct logistics mobile robot avoiding obstacles or be stopped.
2. a kind of modern logistics mobile robot self-control system according to claim 1, it is characterised in that：It further includes
The language module being connected with logistics mobile robot and with computer, the obstacle avoidance module is according to infrared sensing
Device, obliquity sensor detect obstacle distance logistics mobile robot distance and angle, around logistics mobile robot
Region is divided into protection zone and alarm region from the near to the remote, when barrier appears in alarm region, computer control language mould
Block is alarmed, and when barrier appears in alarm region, then computer control logistics mobile robot is stopped.
3. a kind of modern logistics mobile robot self-control system according to claim 1, it is characterised in that：Described
Infrared sensor selects Germany SICK companies S3000 laser scan type area protection devices.
4. a kind of modern logistics mobile robot self-control system according to claim 1, it is characterised in that：Described
Video camera uses the full firmware video camera of charge coupled device ccd.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721423208.XU CN207440616U (en) | 2017-10-31 | 2017-10-31 | A kind of modern logistics mobile robot self-control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721423208.XU CN207440616U (en) | 2017-10-31 | 2017-10-31 | A kind of modern logistics mobile robot self-control system |
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| CN207440616U true CN207440616U (en) | 2018-06-01 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112327884A (en) * | 2020-11-30 | 2021-02-05 | 东南大学扬州研究院 | Based on SLAM autonomous navigation intelligence logistics robot |
| CN114153208A (en) * | 2021-11-30 | 2022-03-08 | 上汽通用五菱汽车股份有限公司 | Unmanned logistics transportation system, method, equipment and readable storage medium |
-
2017
- 2017-10-31 CN CN201721423208.XU patent/CN207440616U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112327884A (en) * | 2020-11-30 | 2021-02-05 | 东南大学扬州研究院 | Based on SLAM autonomous navigation intelligence logistics robot |
| CN114153208A (en) * | 2021-11-30 | 2022-03-08 | 上汽通用五菱汽车股份有限公司 | Unmanned logistics transportation system, method, equipment and readable storage medium |
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