RU2688914C2 - Method for transfer of cargoes in warehouse of packed pieces - Google Patents

Abstract

FIELD: transportation, packaging and storage.

SUBSTANCE: invention relates to the field of robotics and to warehouses of enterprises and shops, and can be used for mechanization and automation of displacements of packed-piece cargoes in a warehouse. Method for transfer of cargoes in a warehouse of packed-piece cargoes is carried out using two mobile robots, in mode of automatic operation of these robots. Each robot comprises a mobile platform, a robot arm, a robot wrist, a gripping device. According to the invention, movement of cargo from the storage area to another warehouse zone of packed-piece cargoes is performed by throwing cargo by the first mobile robot, which has phase of cargo free flight and cargo acceleration phase. Acceleration phase consists of forced movement of cargo with simultaneous holding of said load by gripping device of first mobile robot, by means of movement of robot arm, robot wrist, gripper, which holds this load, in automatic operation mode of the first mobile robot and by gripping on the fly of this load by the gripping device of the second mobile robot in the automatic operation mode of this mobile robot. When throwing cargo, said mobile robots are arranged such that minimum distance between orthogonal projection (on upper horizontal plane of floor of room of said storage) space swept by central point of robot wrist, on which gripping device of first mobile robot is installed, when it is moved into location when carrying out cargo throwing, and orthogonal projection (on upper horizontal plane of room floor of this warehouse) space swept by robot wrist centre point, on which the gripping device of the second mobile robot is installed, when it is moved into the position when performing the load grip on the fly, exceeds the diameter of the space swept by the robot wrist centre point, on which the first mobile robot gripping device is installed, with the first mobile robot fixed platform location.

EFFECT: technical result, achievement of which is claimed by the claimed invention, is reduction of total distance of mobile robots mobile platforms displacement together with cargo when cargoes are moved in stock of piece-by-piece loads.

1 cl, 6 dwg

Description

The technical field to which the invention relates.

The invention relates to the field of robotics and to warehouses of enterprises and shops, and can be used to mechanize and automate the movement of packaged piece goods in a warehouse.

The level of technology

The use of packaged goods warehouses is of great importance for the organization of work of industrial enterprises.

Technological equipment of warehouses includes: lifting and transport equipment; lifting devices for lifting and transport equipment, including semi-automatic and automatic; small-scale mechanization; weight measuring equipment; shelves (see: NTP-APK 1.10.17.001-03. Standards for technological design of bases and warehouses for general-purpose enterprises for resource provision. - Introduced. 2003-11-01. - M .: FGNU NPTs Giproniselkhoz, 2003. - 56 p .).

For transportation and control of packaged cargoes in the picking area of the automated warehouse, special lifting and transport equipment is used (see: GOST 27873-88. Equipment for expedition areas of automated warehouses equipped with rack stacking cranes. Types. - Int. 1989-01-01 - M .: Publishing house of standards, 1989. - 5 p.).

Warehouse cargo warehouse has the following storage areas: unloading area, goods acceptance area, storage area, picking area, loading area. Storage area equipped with multi-tiered shelving. In the storage area create drives for internal warehouse mechanization and technological passages between the equipment. The organization of the following warehouse operations is of great importance for the organization of the work of the warehouse: selection of goods from storage sites, internal warehouse movements of goods, in particular, movement of goods from the storage area to the picking area.

In the prior art, a warehouse for packaged goods is known (see: patent document RU 2077466 C1, “Warehouse for storing and transporting packaged goods”, publ. 04/20/1997), containing stacked racks, conveyors, elevators for supplying and removing goods from conveyors. In the prior art, a plow discharger of material from a conveyor belt is known (see: patent document SU 1558825 A1, “A plow discharger of material from a conveyor belt”, published Apr. 23, 1990), by means of which weights are dropped from the conveyor.

In the document: GOST R ISO 8373-2014. Robots and robotic devices. Terms and Definitions. - Enter 2016-01-01. - M .: Standardinform, 2015. - 33 pp., Defined terms used in relation to robots and robotic devices operating in both industrial and non-industrial areas. In the document: ISO 9787: 2013. Robots and robotic devices. Systems of coordinates and symbols of movements (see: ISO 9787: 2013. Robots and robotic devices. - URL: https://www.iso.org/standard/59444.html, appeal date: 14.06. 2017), established and defined coordinate systems of robots.

In the patent document US 2015/0032252 A1 "System and method for piece-picking or put-away with a mobile manipulation robot" (Assignee: IAM Robotics, LLC, publ. 01/29/2015), describes how to organize the work of a warehouse of piece goods , in which the intra-warehouse movement of goods, the selection of goods from the place of storage is made through the use of a mobile robot. Thus, a mobile robot is used as a lifting and transporting equipment, which, as an automatic lifting device, contains a robot arm, a gripping device, by means of which packaged goods placed in high-bay racks installed in the cargo storage area are selected. Intra-warehouse movement of goods from the storage area to the picking area is carried out by transporting goods on a mobile robot. At the same time, they carry out the dumping of packaged cargo into a special container intended for the transportation of cargo and placed on this mobile robot. This patent document states that data exchange between the central server and the mobile robot is carried out by creating a wireless local area network. At the same time, the mobile robot contains a mobile platform, an energy source, an on-board computer with an information storage device. In this patent document US 2015/0032252 A1 describe a method in which the selection of goods from the storage area and its transportation to the picking area is produced by one mobile robot, and at the same time do not use cargo throwing, which has a load acceleration phase, consisting of at the same time holding this load with a gripping device, along a predetermined trajectory, at a given speed and with a given acceleration, by moving the robot arm, the robot's wrist, the gripping device that holds the load.

In the patent document US 2015/0360865 A1 "Robotic manipulator for warehouses" (Assignee: HDT ROBOTICS, INC., Publ. 12/17/2015), describes how to organize the work of the warehouse of unit loads, in which the selection of goods from the storage area is produced using mobile robot containing a gripping device, and intended for the selection of goods from the storage area. At the same time, intra-warehouse movement of goods from the storage area to another warehouse area is carried out by means of cargo transportation on a mobile robot designed for cargo transportation. In this case, the transfer of cargo from a mobile robot, intended for the selection of goods from the storage area, to a mobile robot, intended for transportation of goods, is carried out through the implementation of cooperation of these robots. In this patent document US 2015/0360865 A1, a method is described in which the selection of goods from the storage area and its transportation to other warehouse areas is carried out without the use of cargo throwing, which has a load acceleration phase consisting of the forced movement of a cargo, while simultaneously holding the load , along a given trajectory, at a given speed and with a given acceleration, by moving the arm of the robot, the wrist of the robot, the gripping device that holds this load.

KUKA AG (see: URL: http://www.kuka.com/, appeal date: 06/14/2017) supplies the KMR iiwa mobile robot (see: URL: https://www.kuka.com/ en-at / products / mobility / mobile-robots / kmr-iiwa (circulation date: 06/14/2017), which contains a robot arm with a gripper installed, a mobile platform containing an omnidirectional mobile mechanism, an on-board computer, network equipment for connection onboard computer to a wireless local area network.

HDT Robotics, Inc. (see: URL: http://www.hdtglobal.com, appeal date: 14.06.2017) delivers the arm of the Adroit MK2 Arm robot (see: URL: http://www.hdtglobal.com/wp-content /uploads/2015/01/HDT_MK2robotics_16.pdf, appeal date: 06/14/2017) weighing less than 10 kg, with a gripping device installed. At the same time, the maximum angular speed of individual joints of the robot arm is 120 degrees per second, the maximum angular speed of the individual joints of the gripping device is 240 degrees per second, the length of the robot arm is about 127 cm, the force to hold the object by the gripper is 53 N, the number of degrees of freedom of the robot arm - eleven.

In the article “Skillful manipulation based on high-speed sensory-motor fusion”, Taku Senoo, Yuji Yamakawa, Satoru Mizusawa, Akio Namiki, Masatoshi Ishikawa and Makoto Shimojo, - 2009 IEEE International Conference on Robotics and Automation, May 12-17, 2009 , pp. 1611-1612. Publisher: IEEE. DOI: 10.1109 / ROBOT.2009.5152852 (see: URL: http://ieeexplore.ieee.org/document/5152852/, appeal date: 14.06.2017) described the arm of the robot, on which the robot's wrist is installed, through which it is positioned and oriented video camera mounted on the wrist of the robot.

To enable the mobile robot to operate, a real-time operating system is installed on the onboard computer of the mobile robot, for example, “NI Linux Real-Time” (see: URL: http://www.ni.com/white-paper/14627/en/ , the date of circulation: 06/14/2017).

For real-time control of a mobile robot containing a mobile platform, a robot arm, a gripping device, a video camera, and for real-time operation of a mobile robot, special computer programs are used, for example, the software “LabVIEW Robotics Bundle” (see: URL: http://www.ni.com/white-paper/11564/en/, appeal date: 06/14/2017). The “LabVIEW Robotics Bundle” computer software package contains embedded real-time software designed to control the robot arm in real-time, an omnidirectional mobile mechanism, robot arm drives, and image processing. The software “The Orocos Real-Time Toolkit” (see: URL: http://www.orocos.org/rtt, the date of appeal: 14/06/2017), designed to control a mobile robot in real time, and through which carry out the movement of the robot arm, on which the robot's wrist is mounted, at a given speed, along a given trajectory.

When controlling a mobile robot, video cameras connected to the on-board computer of the mobile robot are used, through which images of objects with which the mobile robot interacts are obtained on this on-board computer. To recognize and determine the spatial location of these objects, special computer programs are used, through which they implement computer vision algorithms (see: Computer vision, L. Shapiro, J. Stockman. - M .: Binom. Laboratory of Knowledge, 2006 - 752 p., ISBN : 5-94774-384-1). Through computer vision algorithms and a set of special programs through which they implement these algorithms, perform, for example:

- recognition of a specific object from the received images of this object;

- determination of the spatial location of a particular object relative to the video camera from the obtained images of this object;

- finding an estimate of the velocity of an object from the received images of this object;

- determination of the parameters of the trajectory of the object in three-dimensional space.

To calculate the distance to the object, two video cameras are used through which, on the on-board computer of the mobile robot, images of this object are obtained from two different angles. In this case, computer vision algorithms are used especially effectively in those cases when the spatial location of this object is determined from the resulting images of an object having a polyhedron shape.

In the article “Review of some advances in real-time highspeed vision: Our views and experiences,” Qing-Yi Gu, Idaku Ishii. International Journal of Automation and Computing, August 2016, Volume 13, Issue 4, pp. 305-318, DOI: 10.1007 / s11633-016-1024-0, describe the use of high-speed video cameras in the field of robotics to recognize and determine the spatial location of objects, to determine the speed of movement of objects in real time, and to conduct measurements This is noted by the fact that quite a lot of high-speed vision systems have been developed, through which they receive and process in real time, for example, at least 1000 images per second with a resolution of 1024 × 1024 pixels.

When controlling a mobile robot, a set of special programs that implement computer vision algorithms, for example, OpenCV software (Open Source Computer Vision Library, see: URL: http://opencv.org, appeal date: 06/14/2017), using the standard OpenVX (see: URL: http: //www.khronos.org/openvx/, appeal date: 06/14/2017), designed to speed up the execution of computer programs in real time in the field of computer vision.

OpenCV software with CUDA technology support (Compute Unified Device Architecture, see: URL: http://www.nvidia.com/object/cuda_home_new.html, appeal date: 06/14/2017), and using the OpenVX standard is used in robotics and in the field of autonomous vehicles, which provides high-speed processing of several images taken via several cameras simultaneously in real time (see: “NVIDIA accelerates the development of OpenCV applications using GPU”, URL: http: //www.nvidia. ru / object / nvidia-for-opencv-press-20100923-ru.html, appeal date: 14/06/2017). For example, in the article “Parallel image processing based on CUDA”, Zhiyi Yang, Yating Zhu, Yong Pu. - 2008 International Conference on Computer Science and Software Engineering, pp. 198-201, DOI: 10.1109 / CSSE.2008.1448, Publisher: IEEE (see: URL: http://ieeexplore.ieee.org/document/4722322/), describe the advantages of using CUDA technology for image processing.

At the same time, to control the equipment that contains the mobile robot, use the standard for cross-platform parallel programming OpenCL (Open Computing Language, see: URL: https://www.khronos.org/opencl/, appeal date: 06/14/2017) and its implementation.

To implement the cooperation of two mobile robots using a software system with parallel computing. To do this, for example, use the OpenMP standard (Open Multi-Processing, see: URL: http://www.openmp.org/, access date: 06/14/2017) and special computer programs (see: URL: http: / /www.openmp.org/resources/openmp-compilers/, appeal date: 14.06.2017), through which the system is operated with parallel computing, in accordance with this standard.

To cooperate, two mobile robots synchronize the system time on each on-board computer of a mobile robot connected to a wireless local area network, for example, by using the network protocol NTP (see: URL: http://www.ntp.org/, access date : 06/14/2017). In this case, for example, use a special computer program ntpd (Network Time Protocol daemon, see: URL: http://www.ntp.org/downloads.html, access date: 06/14/2017), through which install and maintain system time with the implementation of synchronization with the server time.

Computer programs designed to implement the work of a mobile robot, installed on the onboard computer of a mobile robot.

The trajectory of the object thrown at an angle to the horizon, assuming that the air resistance force acting on the thrown object is proportional to the square of the speed of the object (the coefficient of proportionality K, corresponding to the movement of the object with a certain initial speed, is predetermined), are found from a special system of ordinary differential equations (see: “applications to physical systems”, Harvey Gould, Jan Tobochnik, Wolfgang Christian. - 3rd ed., Addison-Wesley Publishing Company, 2007, ISBN: 0-8053-7758-1 , pp. 64-66). For this system of ordinary differential equations, the Cauchy problem is considered, which describes the motion of an object that was thrown at an angle to the horizon at a given time, with given initial values of the coordinates of the center of mass of the object and with a given initial values of the coordinates of the velocity vector of the center of mass of the object, taking into account that the air resistance force acting on an abandoned object is proportional to the square of the velocity of the object. To find an approximate solution to this problem, Cauchy uses numerical methods for solving the Cauchy problem for a system of ordinary differential equations.

The air resistance coefficient K, corresponding to the movement of an object with a certain initial velocity, is calculated experimentally, for example, using video recording of an object throwing at a given speed at an angle to the horizon. The methods for finding the approximate value of the air resistance coefficient K for supersonic velocities of an object are well studied (see: “Approximation of the air resistance law of 1943”, - Efremov AK Science and education: a scientific publication of the Moscow State Technical University named ISSN: 1994-0408, No. 10, 2013, pp. 269-284, DOI: 10.7463 / 1013.0609269).

To find an approximate solution of a system of ordinary differential equations with boundary conditions, use the shooting method for boundary problems of a system of ordinary differential equations using numerical methods (see: “Modern numerical methods for solving ordinary differential equations”, ed. By AD Gorbunov. - M .: Mir, 1979, pp. 196-216).

The prior art devices intended for the implementation of throwing objects, described, for example, in the following patent documents: SU 491020 A1 ("Electromechanical machine for throwing dish-shaped targets", publ. 05.11.1975), SU 568389 A3 ("Machine for throwing disk Objects ", publ. 08/08/1977). The patent document RU 2471530 C2 (“Catapult attraction”, publ. 10.01.2013) describes the use of a catapult, which is a device for performing the function of throwing a rider with the achievement of the technical result of the invention RU 2471530 C2, which is which is located rider, as well as the trajectory of its flight. In carrying out the invention RU 2471530 C2, the chair together with the rider performs a swinging movement. In this case, it is possible to set the height and range of the rider by setting the angle of the separation point and the technical parameters of the attraction.

Throwing a mobile robot containing a robot arm, a robot wrist, a gripping device, is carried out as follows. First, capture a missile with a gripping device mounted on the wrist of the robot. Then move the arm of the robot, the wrist of the robot, the gripping device together with the object being held, along a predetermined trajectory, with a given speed and with a given acceleration. At the same time, at a given point of separation, an instant opening of the gripping device is produced, which results in the free flight of the missile object. Thus, the throwing of an object is performed by a two-phase object having an acceleration phase consisting of forcibly moving an object along a predetermined trajectory, while simultaneously holding the object with a gripping device, at a given speed and acceleration, by moving the robot arm, keep this object, and the phase of the free flight of the subject.

In the article "Catching flying balls and preparing coffee: humanoid Rollin'Justin performs dynamic and sensitive tasks", Berthold Bauml, Florian Schmidt, Thomas Wimbock, and others, - 2011 IEEE International Conference on Robotics and Automation, 9-13 May 2011, pp . 3443-3444. Publisher: IEEE. DOI: 10.1109 / ICRA.2011,5980073 (see: URL: http://ieeexplore.ieee.org/document/5980073/, appeal date: 14.06.2017) describe a mobile robot containing a mobile platform, a robot arm, a robot wrist, and a gripper a device by means of which a subject is captured on the fly which is thrown from various distances. The main characteristics of this mobile robot are known: weight - about 200 kg, carrying capacity - about 20 kg, diameter of the working space - more than 1.6 m (see: URL: http://meteron.dlr.de/rollin-justin/, date references: 06/14/2017).

From the prior art it is known the implementation of the cooperation of two mobile robots located at a distance of more than 3 meters from each other, at which the object is thrown by means of one mobile robot and the capture of this object on the fly by a gripping device of another mobile robot (see: URL: http: // www.robotic.dlr.de/bcatch, appeal date: 14.06.2017). In this case, the above cooperation of two mobile robots is designed to demonstrate the ball game.

In the article “Catching flying balls with a mobile humanoid: System overview and design considerations)), Berthold Bauml, Oliver Birbach, Thomas Wimbock, Udo Frese, Alexander Dietrich, Gerd Hirzinger, - 2011 11th IEEE-RAS International Conference on Humanoids (Humanoids ) Oct 26-28 2011, pp. 513-520. Publisher: IEEE. DOI: 10.1109 / Humanoids 2011.6100837 (see: URL: http://ieeexplore.ieee.org/document/6100837/, circulation date: 14.06.2017) describe the capture of the ball on the fly with a gripping device mounted on a mobile robot. At the same time, a person throws the ball from a distance of about 6 m, at a speed of about 7 m / s, the ball mass is 50 g, the ball diameter is 8.5 cm. To capture this ball on the fly, video cameras and a set of special programs are used, through which implement computer vision algorithms.

The gripping zone of the gripping device is the space when the object is placed in which the gripping of this object by this gripping device is possible. In the patent document SU 1133086 A2 ("Capture of the manipulator", publ. 07/01/1985) note that the reliability of the capture and retention of an object by a gripping device depends on the spatial location of the object in the capture zone of the gripping device.

To capture an object with a gripping device on the fly, it is necessary for the object to fall into the gripping zone of the gripping device, while its speed relative to the gripping device does not exceed the maximum allowed for gripping. Capture on the fly of the subject of the gripping device is as follows. First, they set up video cameras, using special programs, to obtain images of a missile object, so that these images contain the trajectory of movement of this object during throwing. Then carry out the throwing of the subject. On the on-board computer, images of the missile object are obtained and the parameters of the movement trajectory of this object are calculated using the received images. At the same time, the gripping device is moved so that the missile falls into the capture zone of this gripping device. When a missile object hits the capture zone of the gripping device, the gripping device is instantly closed. At the same time, the moment when the object is hit in the capture zone of the gripping device is determined by processing images of this object using special programs by means of which they implement computer vision algorithms.

When an object is captured on the fly by a gripping device, an impact interaction of the object and the gripping device occurs, which can cause the object to rebound from the gripping device and the object leaves the gripping area of the gripping device before the object is gripped if the velocity of the flying object is too high. Thus, the reliability of the capture of an object on the fly by a gripping device is ensured by sufficiently accurate calculation of the trajectory of movement of the flying object and due to a sufficiently high speed of movement of the links of the gripping device when the gripping device is closed.

In the article “Motion planning for catching a light-weight ball with high visual speed feedback”, Kenichi Murakami, Yuji Yamakawa, Taku Senoo, Masatoshi Ishikawa, - Proceedings of the 2015 IEEE Conference on Robotics and Biomimetics, 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO), December 6-9, 2015, pp. 339-344. Publisher: IEEE. DOI: 10.1109 / ROBIO.2015.7418790 (see: URL: http://ieeexplore.ieee.org/document/7418790/, circulation date: 14.06.2017), describe the algorithm for capturing the ball on the fly with a high-speed robotic manipulator. This article describes an algorithm for capturing a ball with a gripping device on the fly, through the implementation of which the speed of a flying ball is reduced relative to a gripping device. When throwing, a ball with a radius of 5 cm and a mass of 14 grams, which is thrown at a speed of 11 m / s, from a distance of 3.8 m was used. The speed of the ball near the gripping point is about 8 m / s. through which they receive images of a missile object and special programs through which they implement computer vision algorithms. To capture the ball on the fly using a gripping device, with a maximum speed of the links of the gripping device - 6 m / s, with a maximum acceleration of the links of the gripping device - 58 m / s ² . At the same time, the maximum angular velocity of the links of the gripping device is 1800 degrees per second, the force to hold the object by the gripping device is 12 N.

In the article “Catching objects in flight”, Seungsu Kim, Ashwini Shukla, Aude Billard, - IEEE Transactions on Robotics, Volume 30, Issue 5, pp.1049-1065. Publisher: IEEE, 2014. DOI: 10.1109 / TRO.2014.2316022 (see: URL: http://ieeexplore.ieee.org/abstract/document/6810147/, appeal date: 06/14/2017), describe different items, in particular, a tennis racket, an empty bottle, a partially filled bottle, a cardboard box, and describe the results of capturing these items on the fly by means of a gripping device mounted on the arm of the KUKA LWR 4+ robot (see: URL: http: / /www.kukakore.com/wpcontent/uploads/2012/07/KUKA_LBR4plus_ENLISCH.pdf (appeal date: 14.06.2017). In this case, a person throws objects from a distance of about 3.5 m from the gripping device, at a speed of about 7 m / s. For example, the mass of a partially filled bottle, which is thrown, is 133 g. The reliability of the capture of an object on the fly is ensured by a sufficiently high accuracy in calculating the trajectory of the object being thrown.

To determine the spatial location of the links that the robot arm and the wrist of the robot contain, proprioceptive sensors are used, for example, encoders (see: patent document RU 2487007 C1, Mobile Robot, publ. 10.07.2013).

The prior art stands, designed to determine the coordinates of the center of mass of products (see: patent document RU 2525629 C1, "Stand for measuring the mass and coordinates of the center of mass of products, publ. 08/20/2014).

Control points are known in the state of the art for real-time control of electronic equipment (see: patent document RU 145696 U1, “Product Control Point of Control”, publ. 09/27/2014).

The errors of working out the trajectory of the robot arm's movement, the wrist of the robot, the gripping device, the omnidirectional mobile mechanism are determined using the test of the robot under load. In document: ISO 9283: 1998. Industrial handling robots. Performance characteristics and relevant test methods (see: ISO 9283: 1998. Manipulating industrial test methods, URL: https://www.iso.org/standard/22244.html, appeal date: 14.06.2017 ), describes methods for determining and testing the performance of industrial manipulation robots, in particular, the accuracy of the trajectory, the accuracy of the speed of the trajectory.

The parameters of the working space of the mobile robot and the diameter of the space swept by all moving parts of the mobile robot is determined by measuring the details of the mobile robot.

In the document: GOST ISO 8995-2002. Principles of visual ergonomics. Lighting work systems indoors. - Enter 2004-01-01. - M .: IPK Publishing house of standards, 2003. - 32 p., Outlines the requirements for lighting work systems in the working premises of industrial buildings.

For the measurement of premises and the construction of three-dimensional models of premises, as well as for the measurement of three-dimensional objects and the construction of three-dimensional models of objects, the dimensions of which exceed, for example, 1 m, use special 3D-scanners, in particular, for example, 3D-scanner “Faro Focus 3D X 330 HDR ”(see: URL: http://www.faro.com/products/3d-surveying/laser-scanner-faro-focus-3d/features, appeal date: 06/14/2017). For measuring three-dimensional objects and building three-dimensional models of objects whose dimensions do not exceed, for example, 1 m, special 3D-scanners are used, in particular, for example, the Artec Space Spider 3D-scanner (see: URL: https: // www.artec3d.com/ru/3d-scanner/artec-spider, appeal date: 06/14/2017).

SUMMARY OF THE INVENTION The invention is a new way of moving goods in a packaged goods warehouse. The claimed method is designed to carry out the movement of packaged cargoes rigidly fixed inside rigid packaging that are not dangerous and fragile, weighing from 100 to 500 g, the dimensions of which are: length, height, width - from 5 to 10 cm use two identical mobile robots, which are articulated robots containing rotational and spherical hinges. The first mobile robot is used, by means of the automatic functioning of this robot, for the selection of cargo from storage sites and for throwing cargo. The second mobile robot is used, by means of the automatic operation of this robot, to transport cargo to other areas of the warehouse, including the picking area, and to capture cargo on the fly that is thrown by the first mobile robot.

Each mobile robot contains:

- a mobile platform containing an omnidirectional mobile mechanism on which all other elements of the mobile robot are placed;

- on-board computer with a connected storage device;

- network equipment designed to connect an on-board computer as a computer network node to a wireless local area network based on Wi-Fi technology;

- the arm of the robot, the wrist of the robot mounted on this arm of the robot, and the working body of the robot, which is the gripping device mounted on this wrist of the robot;

- two hands of the robot, two wrists of the robot, which are installed one on each of these hands of the robot, and are intended for installation on each of them on one video camera;

- two video cameras mounted on the wrists of the robot, each video camera is placed on a separate wrist of the robot, with the help of which this video camera is positioned and oriented;

- energy source designed to ensure the normal operation of all elements of a mobile robot.

Use a mobile platform with the ability to move on a flat flat continuous horizontal surface. The upper part of the mobile platform is a flat flat surface. The mobile platform contains an omnidirectional mobile mechanism containing a corresponding set of proprioceptive sensors, drives and drive control units. Mobile platform movements are controlled by controlling the omnidirectional mobile mechanism. The omnidirectional mobile mechanism is controlled by receiving, through each drive control unit, signals from the on-board computer representing the operating parameters of the respective drive and by operating the drive in accordance with the received signals.

All the hands of the robot, all the wrists of the robot, the gripping device of the mobile robot contain a corresponding set of proprioceptive sensors, drives and drive control units.

Each drive, each drive control unit, each proprioceptive sensor is installed and connected to a power source hosted on a mobile platform. Each drive is installed with the ability to control this drive through the drive control unit. Each drive control unit is installed with the possibility of receiving signals from the on-board computer, representing the parameters of the operating modes of the drive, and with the ability to control the operation of the drive, in accordance with the received signals. Each proprioceptive sensor is installed with the ability to transfer to the on-board computer a signal representing the results of the corresponding drive included in the omnidirectional mobile mechanism, the robot arm, the wrist of the robot, the gripping device of the mobile robot.

An on-board computer with a connected storage device is installed on a mobile platform, while an on-board computer is connected to an omnidirectional mobile mechanism, a robot arm, a wrist of a robot, a gripping device mounted on this wrist of a robot, and two robot arms and two wrists are connected to this on-board computer which are mounted one on each of these robot arms, two video cameras mounted on these robot wrists, one on each of these wrists. At the same time, the connection to the on-board computer of the omnidirectional mobile mechanism, the robot arm, the wrist of the robot, the gripping device is accomplished by connecting to the on-board computer all proprioceptive sensors and all drive control units that contain the omnidirectional mobile mechanism, the robot arm, the robot wrist and the gripper. The on-board computer is installed with the ability to transmit to each drive control unit signals representing the operating parameters of this drive. The on-board computer and the storage device connected to it are connected to a power source located on the mobile platform. Two video cameras mounted on the wrists of the robot are connected to the on-board computer, with the possibility of obtaining images on the on-board computer through these two video cameras. Each video camera is rigidly attached to the corresponding wrist of the robot. Each video camera is positioned and oriented by transmitting signals representing the parameters of the operating modes of the robot’s hand drives and the robot's wrist from the onboard computer to the robot’s arm control units and the robot’s wrist, and by operating the drives in these modes.

Network equipment is installed on the mobile platform, which is connected to the on-board computer and to the power source placed on the mobile platform and installed with the ability to connect the on-board computer, through this network equipment, as a computer network node to a wireless local network based on Wi technology -Fi.

The mobile platform has an energy source designed to ensure the normal operation of all elements of the mobile robot to which the on-board computer, information storage device, two video cameras, mobile mobile platform omnidirectional mechanism, three robot hands, three wrists of the robot, a gripping device, all drive control units, all proprioceptive sensors installed in these hands of the robot, the wrists of the robot, the gripping device and the omnidirectional mobile mechanism, and connected Yucheno network equipment designed to connect an on-board computer, as a computer network node, to a wireless local area network based on Wi-Fi technology.

The following special programs are installed on the on-board computer with a connected storage device:

- real-time operating system;

- software embedded real-time systems, designed to control in real-time the arm of the robot, the wrist of the robot, a gripping device, an omnidirectional mobile mechanism;

- software designed to implement computer vision algorithms, in particular, to process images in real-time mode, recognize certain objects from the obtained images of these objects, determine the spatial location of certain objects from the obtained images of these objects, and find an estimate of the object's speed from the received images of this object. object, determine the parameters of the object's trajectory in three-dimensional space, calculate the distance to the object ;

- special programs through which they implement parallel computing algorithms;

- special programs by means of which approximate solutions of the Cauchy problem for systems of ordinary differential equations are calculated using numerical methods;

- a special program through which the system time is established and maintained with the implementation of synchronization with the time server.

The space for the warehouse of packaged cargoes is chosen as one-storeyed, and at the same time this warehouse has, in particular, the following storage areas: a storage area, a picking area, which are not intersected. The floor of the room of the warehouse of unit loads is made so that the upper plane of the floor of the room of the warehouse is made in the form of a flat flat horizontal continuous surface. Lighting in the room for a warehouse of unit loads is performed in accordance with the standard: GOST ISO 8995-2002. Principles of visual ergonomics. Lighting work systems indoors. - Enter 2004-01-01. - M .: IPK Publishing house of standards, 2003. - 32 p. In the storage area create drives for internal warehouse mechanization. Mobile robots are used as intra-warehouse means of mechanization, as a lifting and transport equipment containing load-handling devices. For storage of goods using shelving single-section two-tier racks.

Set the global coordinate system. The global coordinate system OXYZ is set orthogonal, right-oriented, and set so that the beginning of the global coordinate system is chosen to belong to the upper floor plane of the warehouse room. At the same time, the OXY plane contains the upper horizontal plane of the floor of the room of this warehouse, the OZ axis is directed vertically upwards, perpendicular to the OXY plane, the OX and OY axes belong to the OXY plane and are mutually perpendicular. Set the coordinate system of each camera. Each coordinate system of each camera is set orthogonal, right-oriented, and set so that the unit vector defining the direction of the third axis of this coordinate system is located on the optical axis of the camera and pointing towards the video object, and the unit vector defining the direction of the first axis of this coordinate system perpendicular to the unit vector defining the direction of the third axis of this coordinate system. In this case, the origin of the coordinate system of the video camera is chosen belonging to the surface of the camera body, at the point of intersection of this surface and the optical axis of this video camera. A coordinate system of each gripping device is set, and the origin of the gripping device’s coordinate system selects the center point of the gripping device, and selects the directions of the three coordinate axes of this gripping device’s coordinate system. Set the coordinate system of each mobile platform. The coordinate system of each mobile platform is set orthogonal, right-oriented, and set so that the unit vector defining the direction of the first axis of this coordinate system is directed in the direction of forward movement of this mobile platform, the unit vector defining the direction of the third axis of this coordinate system is directed vertically upwards from mobile platform, with the beginning of the coordinate system of the mobile platform choose the starting point of the mobile platform. These parameters of the global coordinate system, the coordinate system of each video camera, the coordinate system of each mobile platform are determined using equipment that mobile robots and control points contain, and these parameters are placed on the computer of the control point and on the on-board computers of mobile robots on the corresponding information storage devices.

The distance of movement of the mobile platform of the mobile robot when it moves from the first location of the mobile platform to the second location of the mobile platform is defined as the distance between the source points of the mobile platform at the first and second location of the mobile platform.

Localization of a mobile robot (that is, recognition of the location of a mobile robot, including the location of the mobile platform, the three arms of the robot, the three wrists of the robot, the gripping device, two video cameras, with respect to the global coordinate system) at a specific point in time is carried out using special programs functioning of this robot with the implementation of the reckoning of the way, using a combination of sensors, which use the data obtained on the onboard computer of this mobile robot from proprioceptive sensors mounted on this mobile robot, and which uses images obtained from two cameras arranged on a mobile platform of the mobile robot. At the same time, the localization of a mobile robot is carried out continuously, through the use of special programs through which they implement parallel computing algorithms, and through the use of special programs through which they implement computer vision algorithms.

The location parameters of the video camera at each particular point in time are an ordered sequence of nine numbers, where the first three numbers are the coordinates of the origin of the camera’s coordinate system calculated in the global coordinate system; the object of the video, calculated in the global coordinate system, the remaining three numbers are the coordinates of the unit vector of the first axis of the coordinate system, in Calculated in the global coordinate system. These camera location parameters are determined using equipment that contains the corresponding mobile robot, and these parameters are placed on the computer of the control center and on the on-board computer of the corresponding mobile robot, on the corresponding information storage devices.

The location parameters of the mobile platform of a mobile robot at any given point in time are an ordered sequence of six numbers, where the first three numbers are the coordinates of the origin of the mobile platform’s coordinate system calculated in the global coordinate system, the other three numbers are the coordinates of the unit vector of the first axis of the mobile coordinate system platforms computed in the global coordinate system. These parameters of the location of the mobile platform of the mobile robot are determined using equipment that contains the corresponding mobile robot, and these parameters are placed on the computer of the control station and on the on-board computer of the corresponding mobile robot on the corresponding information storage devices.

The location parameters of the mobile platform of a mobile robot at a certain point in time are determined, using special programs, with the implementation of the reckoning of the path, using a combination of sensors, and through the use of:

- data received on the onboard computer in the form of signals from proprioceptive sensors installed in this mobile platform, in two hands of the robot and in the two wrists of the robot, on which two video cameras are installed;

- The location parameters of the mobile platform of the mobile robot, at the points in time preceding this particular point in time, and which were previously defined;

- location parameters of two video cameras installed on this mobile platform and calculated in the coordinate system of the mobile platform and in the global coordinate system;

- images that are obtained through two video cameras installed on the mobile platform of this mobile robot, and sets of special programs through which they implement computer vision algorithms.

For a mobile robot, the parameters of the space swept by the center point of the robot's wrist, on which the gripping device of this mobile robot is installed, are determined relative to the coordinate system of the mobile platform of this mobile robot when it is stationary, that is, the parameters by which describe the coordinates of a set of points this mobile platform), in which it is possible to move the center point of the robot’s wrist, by moving the robot arm and the robot wrist, at a fixed location of the mobile platform. The parameters of the space swept by the center point of the wrist of the robot, on which the gripping device of this mobile robot is installed, relative to the coordinate system of the mobile platform with its fixed location, and the diameter of this space is determined by measuring the details of this mobile robot, using special programs by means of which computer algorithms special equipment, in particular, for example, using a 3D scanner, and using special software m, designed to control in real time the arm of the robot, the wrist of the robot, a gripping device, an omnidirectional mobile mechanism. These parameters of this space and the diameter of this space are determined using equipment that contains the corresponding mobile robot, and these parameters and the diameter of this space are placed on the computer of the control station and on the on-board computer of the corresponding mobile robot on the corresponding information storage devices.

For storage of goods using shelving single-section two-tier racks. Shelves are placed in the storage area. All shelves of these racks are made in the form of a flat flat solid surface, and are attached directly to the racks. The first and second shelves of each rack are arranged so that the upper planes of the first and second shelves are arranged horizontally when installing this rack in the storage area.

For each storage location on each shelf of each rack, the following parameters corresponding to the storage location (in points from (a ) to (and)), and these parameters are determined using equipment that mobile robots and the control center contain, and these parameters are placed on the control center computer and on the on-board computers of mobile robots, as appropriate storage devices:

(a) the address of the place of storage, which uniquely identifies the place of storage of packaged cargo in this warehouse;

(b) the distance from the upper plane of the shelf on which this storage place is located to the lower plane of the shelf of the next storage level of this rack (for a storage place located on the first (ie lower) shelf of the rack), or a distance equal to the difference between the height of the rack and the distance from the upper plane of the shelf on which this storage location is located to the OXY plane of the global coordinate system (for the storage location located on the second (i.e., upper) shelf of the rack);

(c) coordinates of four points belonging to the upper plane of the shelf of the rack, calculated in the global coordinate system, which specify the largest rectangular parallelepiped in volume, which can be placed without overhangs at this storage location on this shelf of the rack, with the height specified by the previous parameter, which in paragraph (b);

(d) coordinates of a point (calculated in the global coordinate system) belonging to the upper plane of the shelf of the rack where this storage place is located, which is preferably chosen for placing the load so that the projection of the beginning of the coordinate system of the load onto the upper plane of this shelf of the rack coincides with this point ;

(e) location parameters of the mobile platform of the first mobile robot when selecting a cargo from this storage location through the first mobile robot to which this mobile platform is moved, that is, the coordinates of the origin of the coordinate system of the mobile platform of the first mobile robot, calculated in the global coordinate system, and coordinates the unit vector of the first axis of the coordinate system of the mobile platform of the first mobile robot, calculated in the global coordinate system, and which are set when collection of cargo from this storage location, and which do not change throughout the entire cargo pick-up operation;

(e) location parameters of two video cameras, two arms of the robot and two wrists of the robot placed on the mobile platform of the first mobile robot, and on which these two video cameras are installed, in which the images obtained through these two video cameras contain an image of this storage location they are calculated experimentally, using special programs, by means of which they implement computer vision algorithms, and using embedded real-time software designed to control eniya in real-time mode, the robot arm, the wrist of the robot, gripper, omni-directional mobile mechanism;

(g) location parameters of the mobile platform of the first mobile robot when cargo is thrown (selected from this storage location) by the first mobile robot to which this mobile platform is moved, that is, the coordinates of the origin of the coordinate system of the mobile platform of the first mobile robot, calculated in the global coordinate system and the coordinates of the unit vector of the first axis of the coordinate system of the mobile platform of the first mobile robot, calculated in the global coordinate system, and which are set so in the exercise of throwing cargo, selected from this storage location, and that do not change throughout the throwing cargo operations;

(h) Location parameters of the mobile platform of the second mobile robot, when the cargo is captured on the fly (selected from this storage location) by the second mobile robot to which this mobile platform is moved, that is, the coordinates of the origin of the coordinate system of the mobile platform of the second mobile robot, calculated in the global coordinate system, and the coordinates of the unit vector of the first axis of the coordinate system of the mobile platform of the second mobile robot, calculated in the global coordinate system, and which in the process of capturing on the fly the cargo selected from this storage location and which do not change during the whole operation of cargo capture on the fly, while moving the cargo (selected from this storage location) mobile robots are positioned so that the minimum distance between the orthogonal projection (on the upper horizontal plane of the floor of the warehouse) of the space swept by the center point of the wrist of the robot on which the pick-up device of the first mobile robot is installed when it is moved to the position of the cargo throwing and orthogonal projection (on the upper horizontal plane of the floor of the warehouse) of the space swept by the center point of the wrist of the robot, on which the gripping device of the second mobile robot is mounted, when it is moved to the location when it is gripped on the fly the space swept by the center point of the wrist of the robot, on which the gripping device of the first mobile robot is mounted, with a fixed position of the mobile platform the first mobile robot;

(i) the coordinate system of this storage location, that is, the coordinates of the origin of the coordinate system of this storage location, calculated in the global coordinate system, and the coordinates of three unit vectors that specify the direction of the three coordinate axes of the coordinate system of this storage location, calculated in the global coordinate system.

For each of the two mobile robots, they create a separate passage through which only one mobile robot is moved. At the same time, these two passages do not intersect each other. Preferably, each passage is created in the form of an oriented simple two-dimensional polygon located in the OXY plane of the global coordinate system by defining the vertices of the simple polyline, which is the boundary of this polygon. This simple polyline is defined by an ordered sequence of numbers, which are the coordinates of the vertices of this simple polyline, computed in the global coordinate system, and which are written in accordance with the bypass order of the vertices of this oriented simple two-dimensional polygon. At the same time, this ordered sequence of numbers represents the parameters of the corresponding passage for a mobile robot.

For the first mobile robot, a passage is created in the storage area, which is intended for moving the first mobile robot while carrying out the selection of cargo from storage and cargo throwing. For the second mobile robot, a driveway is created which is intended for moving the second mobile robot while capturing goods on the fly and transporting these goods to another warehouse zone, in particular, to the picking zone. At the same time, the width of these passages is set to not less than twice the diameter of the space swept by the center point of the wrist of the robot, on which the gripping device of the corresponding mobile robot is mounted, with a fixed location of the mobile platform of the corresponding mobile robot. At the same time, the parameters of the lines of possible movements of mobile platforms of the first and second mobile robots are set along the corresponding drive, which are preferably defined as broken lines lying on the OXY plane of the global coordinate system, which are the lines of possible movements of the orthogonal projection of the origin of the coordinates of the corresponding mobile platform onto the OXY plane global coordinate system when moving a mobile platform. At the same time, each such broken line is defined as an ordered sequence of coordinates of points calculated in the global coordinate system lying on the OXY plane of the global coordinate system, and which are written in accordance with the bypass order of the vertices of this broken line. At the same time, this ordered sequence of numbers represents the parameters of the corresponding line of the possible movement of the mobile robot along the corresponding passage.

At the same time, the parameters of the passages intended for moving mobile robots and the parameters of the lines of possible movements of mobile robots along the respective passages are determined using equipment that mobile robots and a control point contain, and these parameters are placed on the computer of the control point and on the onboard computers of mobile robots storage devices.

In particular, a container is placed in the picking area, designed to drop cargoes into it that are moved to the picking area by means of a second mobile robot. At the same time, in the picking area, the following parameters of the location of the second mobile robot are determined when dropping loads by the second mobile robot and into which this mobile robot is moved, and these parameters are determined using equipment that contains the second mobile robot, and these parameters are placed on the computer control and on-board computer of the second mobile robot, on the corresponding information storage devices:

- the coordinates of the origin of the coordinate system of the mobile platform of the second mobile robot, calculated in the global coordinate system, and the coordinates of the unit vector of the first axis of the coordinate system of the mobile platform of the second mobile robot, calculated in the global coordinate system, and which are set when the load is dropped throughout the operation of dropping the load;

- the coordinates of the origin of the coordinate system of the gripping device of the second mobile robot, calculated in the global coordinate system, and the coordinates of the unit vectors of all three axes of the coordinate system of the gripping device of the second mobile robot, calculated in the global coordinate system, and which are set when the load is dropped devices, and which are installed so that when opening the gripping device, the load, under the action of gravity, is moved into the container.

For the implementation of the movement of goods in the warehouse of packaged goods using the control point. The control point contains a computer with a connected input device, storage device, and wireless network equipment designed to connect this computer as a computer network node to a wireless local area network based on Wi-Fi technology. The control point is located in the warehouse of packaged cargoes, outside the storage area and outside the picking area of the containerized cargoes, and outside the passages intended for moving mobile robots.

The following special programs are installed on the computer of the control room with a connected storage device:

- real-time operating system;

- a special program through which the system time is established and maintained with the implementation of synchronization with the time server;

- special programs through which they implement parallel computing algorithms;

- special programs by means of which approximate solutions of systems of ordinary differential equations with boundary conditions are calculated, using numerical methods, and using the shooting method for boundary-value problems of a system of ordinary differential equations.

The claimed method of moving goods in the warehouse of packaged cargoes differs from the known methods in that the movement of cargo from the storage area to another warehouse area, in particular, to the picking area, is carried out by throwing this cargo by the first mobile robot, and by capturing this cargo on the fly the second mobile robot in the automatic operation mode of these mobile robots. At the same time, the first mobile robot throwing this load has a load acceleration phase consisting of forcibly moving the load while simultaneously holding the load with a gripper, along a predetermined calculated line, by moving the robot arm, the robot wrist, and the gripping device that holds the load functioning of the first mobile robot, so that at a given calculated moment of separation of this load from this gripping device, the center of mass of the missile load is in a given calculated oh point and had a given calculated velocity vector. In this case, the implementation of the separation of this cargo from this gripping device is carried out by disclosing this gripping device at the moment when the center of mass of the missile cargo is at a given calculated point. At the same time, the range of free flight of cargo exceeds the diameter of the space swept by the center point of the wrist of the robot, on which the gripping device of the first mobile robot is installed, with the mobile platform of the first mobile robot fixed.

The point of separation of the load from the gripping device of the first mobile robot is considered the point at which the center of mass of the missile load is located at the time of the separation of this load from the gripping device. The point of capture of the cargo on the fly, that is, the point at which the load is captured by the gripper of the second mobile robot, is considered the point at which the center of mass of the missile is located at the moment of the seizure of this cargo by means of the gripping device of the second mobile robot. The free flight distance is defined as the distance from the orthogonal projection of the load separation point from the gripping device of the first mobile robot to the upper horizontal plane of the warehouse room floor to the orthogonal projection onto the same horizontal plane, the point at which the cargo is gripped by the gripping device of the second mobile robot.

Moving a mobile robot to a specified location (which is defined by the task program) through the automatic operation of this robot is as follows. First, on-board computer, using special programs, localize this mobile robot by means of the automatic functioning of this robot. Then, on the on-board computer of the mobile robot, with the help of special programs, determine the sequence of operation modes of all drives installed in all hands of the robot, in all wrists of the robot, in the omnidirectional mobile mechanism of the mobile platform of this mobile robot, by means of which they move the wrists of the robot and the mobile platform of this mobile robot in a predetermined location in accordance with certain lines of possible movements of the mobile platform That mobile robot on a certain passage.

Before placing goods in the storage area, determine the quantitative indicator of the range of goods to be stored in this warehouse packaged goods. At the same time in this warehouse of packaged cargoes take into account the fact that if two goods are the same, then these two goods have the same name. Then select a set of samples of goods that corresponds to this specific range of goods. For each sample of cargo, using weighing, measuring the sample of cargo, and, if necessary, using the stand for determining the center of mass of products, and using a 3D scanner, determine the following parameters corresponding to this sample of cargo, and these parameters are determined using special programs through which they implement computer vision algorithms, and with the use of real-time embedded software designed to control the robot’s real-time the robot's metacarpus, the gripping device, an omnidirectional mobile mechanism, using equipment that mobile robots and the control point contain, and these parameters are placed on the computer of the control point and on the on-board computers of mobile robots, on appropriate storage devices:

- Shipping Name;

- sample weight of the cargo;

- the parameters of the coordinate system of the sample of cargo, with the beginning of the coordinate system of the sample of the cargo choose the center of mass of this sample of cargo, and choose the direction of the three coordinate axes of this coordinate system of the sample of cargo;

- parameters of the three-dimensional model (in another way called the 3D-model) of the sample load;

- air resistance coefficient determined by the properties of the medium, the shape of the sample of the load, corresponding to the square of the speed of the sample of the load, and corresponding to this sample of the load, and determined when moving this sample of the load with a speed not exceeding 15 m / s

- parameters of the capture zone of this sample of cargo through the gripping device of the first mobile robot, that is, the parameters by which the coordinates of the set of points (calculated in the coordinate system of this gripping device) are described, such that when the sample of the sample is located such that cargo from one of these points; it is possible to securely capture and hold this sample of cargo by closing this gripping device;

- location parameters of the gripping device of the first mobile robot when carrying out reliable gripping of a sample of cargo placed on a flat horizontal surface at the moment before closing of this gripping device, that is, coordinates of the origin of the coordinate system of the gripping device of the first mobile robot, calculated in the coordinate system of the sample of cargo placed on flat horizontal surface, and the coordinates of the unit vectors of all three axes of the coordinate system of the gripping device of the first mobile robot, Calculated in the coordinate system of the sample load.

For each mobile robot and for each sample of cargo, determine (with respect to the coordinate system of the mobile platform of this mobile robot) the location parameters of the robot arm, robot wrist, gripping device when this sample of cargo is held while transporting this sample of cargo through the automatic operation of this mobile robot, and these parameters are determined using the equipment that contains the corresponding mobile robot, and these parameters are placed on the computer of the item control and on-board computer of the corresponding mobile robot, on the corresponding information storage devices.

For each sample of cargo and for each storage location, with the help of special programs, the following parameters of cargo throwing and gripping of cargo are determined, corresponding to this cargo sample and this storage location, and these parameters are determined using equipment that contains mobile robots and control point , and these parameters are placed on the computer of the control room and on the on-board computers of mobile robots, on the corresponding information storage devices:

- the calculated coordinates (calculated in the global coordinate system) of the separation point of this missile cargo sample from the gripping device of the first mobile robot, the calculated coordinates (calculated in the global coordinate system) of the load sample point on the fly of this cargo sample, and the estimated free flight time of this cargo sample

- the parameters of the calculated trajectory of movement of the cargo sample in the free flight phase, that is, an ordered sequence of calculated coordinates of the center of mass of the cargo sample and calculated coordinates of the velocity vector of the center of mass of the cargo sample, calculated in the global coordinate system, for a set of specified calculated times occurring after the estimated moment of detachment of this sample of cargo from the pickup device of the first mobile robot when throwing, and the estimated duration of free flight a sample load;

- the parameters of the calculated line of movement of the cargo sample in the acceleration phase, that is, the set of calculated coordinates of points representing a set of locations of the center of mass of the cargo sample being moved during the acceleration phase, including the calculated coordinates of the point where the cargo sample is placed in the initial position the beginning of the acceleration phase, and including the calculated coordinates of the point of separation of the sample load from the gripping device;

- the parameters of the initial calculated location of the second mobile robot, with respect to the global coordinate system, when placing the cargo missile sample in the initial position at the beginning of the acceleration phase;

- the estimated duration of the acceleration phase of this sample load;

- operating parameters of the robot arm, robot wrist, gripping device of the first mobile robot to move along the calculated line of the missile sample of the load in the acceleration phase given the estimated duration of the acceleration phase of this sample of cargo, to ensure that the sample of the cargo is thrown along the calculated trajectory with a given calculated initial velocity, in a given counting direction, at a given calculated point in time, through the implementation of the opening of the gripping device so that the center of mass of the cargo sample is located at a given calculated separation point, at a given calculated time, and the calculated speed of the center of mass of the cargo sample is separation of this sample of cargo from the gripping device, at a given calculated point in time, taking into account the location of the mobile platform of the first mobile robot in IMPLEMENT throwing cargo;

- the parameters of the initial calculated location of the second mobile robot, with respect to the global coordinate system, when a sample is loaded on-the-fly cargo that is swept by the first mobile robot, where the gripping device of the second mobile robot is open and positioned so that the calculated point of capture on the fly of the sample the cargo is in the zone of capture of this sample of cargo by means of a gripping device of the second mobile robot;

- the parameters of the calculated locations (with respect to the global coordinate system) of two video cameras, two arms of the robot and two wrists of the robot placed on the mobile platform of the second mobile robot, and on which two video cameras are installed, at which images obtained through these two video cameras contain images of all points, including the point of capture, belonging to the calculated free flight trajectory of the missile cargo sample.

In this case, the calculated point of separation of the sample of cargo is chosen belonging to the space swept by the center point of the wrist (on which the gripping device is installed) of the first mobile robot, when the mobile platform of the first mobile robot is located when it is moved to the location when the first mobile robot is throwing the sample. In this case, the calculated gripping point on the fly of the cargo sample is selected as belonging to the space swept by the center wrist point (on which the gripping device is installed) of the second mobile robot, when the mobile platform of the second mobile robot is located when it is moved to the location when sweep through the first mobile robot.

The parameters of the calculated trajectory of movement of the cargo sample in the free flight phase are calculated, using special programs, as follows. First, determine the vertical plane passing through the calculated point of separation of the sample load and the estimated point of capture of the sample of the cargo on the fly, that is, the plane in which the points of the calculated trajectory of displacement of the center of mass of the loaded sample sample are in the free flight phase. In this plane, a Cartesian rectangular coordinate system is introduced in which the first coordinate axis is in a horizontal plane, perpendicular to the direction of gravity, and the second coordinate axis is directed vertically upwards, that is, opposite to the direction of gravity, and the calculated point is selected as the origin of this coordinate system detachment of the sample load. The calculated trajectory of the center of mass of a sample of a load dropped at an angle to the horizon (assuming that the air resistance force acting on an abandoned object is proportional to the square of the speed of the sample of the load), relative to the Cartesian rectangular coordinate system entered in this vertical plane, is found from the following system of ordinary differential equations:

x '= u,

y '= v,

u '= - (K / m) ⋅u⋅ (u ² + v ² ) ^1/2 ,

Where:

x = x (t) is the abscissa of the center of mass of the sample of the load at time t, m;

x-x '(t) is the derivative of the function x = x (t) at time t, m / s;

u = u (t) is the first coordinate of the velocity vector of the center of mass of the sample of the load at time t, m / s;

y = y (t) is the ordinate of the center of mass of the sample of the load at time t, m;

y '= y' (t) is the derivative of the function y = y (t) at time t, m / s;

v = v (t) is the second coordinate of the velocity vector of the center of mass of the sample of the load at time t, m / s;

u '= u' (t) is the derivative of the function u = u (t) at time t, m / s ² ;

K is the air resistance coefficient determined by the properties of the medium, the shape of the sample of the load, and corresponding to the square of the initial velocity of the sample of the load;

m is the mass of the sample load, kg;

v '= v' (t) is the derivative of the function v = v (t) at time t, m / s ² ;

g - gravitational acceleration, m / s ² .

At the same time, for this sample of cargo, an approximate value of the air resistance coefficient K is calculated experimentally, which is determined, for example, using video recording of the sample throwing at an angle to the horizon with a given initial speed not exceeding 15 m / s.

For the system of equations (1), the following initial conditions are considered, relative to the Cartesian rectangular coordinate system introduced in a vertical plane passing through the calculated separation point of the cargo sample and the calculated capture point of the cargo sample on the fly:

Where:

x (T) is the abscissa of the center of mass of the sample of the load at time T, m;

T is the estimated time at which the center of mass of the sample of the load is at the point of separation when the sample of the load is thrown, s;

And - the initial value of the abscissa of the center of mass of the sample load at time T, m;

y (T) is the ordinate of the center of mass of the sample of the load at the time T, m;

B - the value of the ordinate of the center of mass of the sample of the load at the time T, m;

u (T) is the first coordinate of the velocity vector of the center of mass of the sample of the load at time T, m / s;

C - the value of the first coordinate of the velocity vector of the center of mass of the sample of the load at the time T, m / s;

v (T) is the second coordinate of the velocity vector of the center of mass of the sample of the load at time T, m / s;

D is the value of the second coordinate of the velocity vector of the center of mass of the sample of the load at the time T, m / s.

The system of ordinary differential equations (1) with initial conditions (2) describes the displacement in the vertical plane (passing through the calculated separation point of the sample of the load and the calculated capture point of the sample of the load on the fly) of the center of mass of the sample of the load, which was cast at an angle to the horizon at a given time , with given initial values of the coordinates of the center of mass of the sample of the load and with given initial values of the coordinates of the velocity vector of the center of mass of the sample of the load, assuming that the air resistance force acting on Ocean object is proportional to the square of the initial sample load velocity.

To find an approximate solution of the above system of ordinary differential equations (1) with initial conditions (2), numerical methods are used to solve the Cauchy problem for a system of ordinary differential equations.

For the system of equations (1), the following boundary conditions are considered, relative to the Cartesian rectangular coordinate system introduced in a vertical plane passing through the calculated separation point of the cargo sample and the calculated capture point of the cargo sample on the fly:

Where:

x (T) is the abscissa of the center of mass of the sample of the load at time T, m;

T is the estimated time at which the center of mass of the sample of the load is at the point of separation when the sample of the load is thrown, s;

And - the value of the abscissa of the center of mass of the sample of the load at the time T, m;

y (T) is the ordinate of the center of mass of the sample of the load at the time T, m;

B - the value of the ordinate of the center of mass of the sample of the load at the time T, m;

x (L) is the abscissa of the center of mass of the sample of the load at time L, m;

L is the estimated time at which the center of mass of the sample of the cargo is at the pickup point, s;

E - the value of the abscissa of the center of mass of the sample of the load at time L, m;

y (L) is the ordinate of the center of mass of the sample of the load at the time moment L, m;

G - the value of the ordinate of the center of mass of the sample load at time L, m.

To find an approximate solution of the above system of ordinary differential equations (1) with boundary conditions (3), they use the shooting method for boundary problems of the system of ordinary differential equations using numerical methods. Thus, a set of values of the approximate solution of the system of ordinary differential equations (1) with boundary conditions (3) is found.

Thus, to determine the parameters of the calculated trajectory of movement of the cargo sample in the free flight phase, the following actions are performed. For the sample of the cargo and for each pair of two mobile robot locations, with respect to the global coordinate system: the location of the first mobile robot, when launching cargo and the corresponding location of the second mobile robot, when taking load on the fly, the following initial conditions are set: calculated coordinates points of separation of the load sample calculated in the global coordinate system, the calculated coordinates of the sample load point on the fly calculated in the global coordinate system calculated for telnost free sample cargo flight, and set the current time of the separation of the sample load on the gripper when throwing. At the same time, the vertical plane passing through the calculated point of separation of the cargo sample and the estimated point of capture of the cargo sample on the fly, that is, the plane in which the points of the calculated movement trajectory in the free flight phase of the center of mass of the cargo sample are determined. In this plane, a Cartesian rectangular coordinate system is introduced in which the first coordinate axis is in a horizontal plane, perpendicular to the direction of gravity, and the second coordinate axis is directed vertically upwards, that is, opposite to the direction of gravity, and the calculated point is selected as the origin of this coordinate system detachment of the sample load.

Then, using special programs, an approximate solution of the system of ordinary differential equations (1) with boundary conditions (W) and specified parameters of the cargo sample is calculated, by means of which the calculated trajectory of movement in the free flight phase of the center of mass of the cargo missile sample is described the calculated point of separation of the sample of the cargo and the calculated point of capture of the sample of the cargo on the fly, while using the method of zeroing for the boundary problems of the system of ordinary differential equations neny. At the same time, in the system of ordinary differential equations (1), the value of the parameter m is the mass of the cargo sample being thrown, the value of the air resistance coefficient corresponding to this weight pattern is set as the value of the parameter K. At the same time, in the boundary conditions (G), as the value of the parameter T, set the estimated moment of separation of the cargo sample from the gripping device when it is thrown, parameters A and B set the calculated coordinates of the point of separation of the cargo sample, calculated in the coordinate system entered in the vertical plane passing through the calculated point of separation of the sample cargo and the calculated point of sample capture cargo on the fly, as the parameters E and G values define the calculated coordinates of the sample capture cargo on the fly, calculated in the coordinate system, entered in a vertical plane passing through the clearing point of the sample and the computational load detachment point sample capture cargo on the fly. In particular, the set of values of the approximate solution of the system of ordinary differential equations (1) with boundary conditions (C) is calculated for the following 1001 values of the independent variable t:

t _w = T + h ₀ ⋅0,001⋅w,

Where:

t _w is the value of the independent variable t, that is, the given calculated instant of time, coming after the calculated moment of detachment of this sample load from the gripping device of the first mobile robot when throwing, s;

w is the ordinal number of the value of the independent variable, that is, an integer that takes all values from 0 to 1000;

T is the estimated time at which the center of mass of the sample of the load is located at the point of separation of this sample of load from the gripping device when throwing this sample of load, s;

h ₀ - given the estimated duration of the free flight of the sample cargo, p.

Thus, a set of values of the approximate solution of the system of ordinary differential equations (1) with boundary conditions (W), which have the form: (x (t _w ), y (t _w ), u (t _w ), v (t _w ) ) for an integer w taking all values from 0 to 1000. The system of ordinary differential equations (1) is autonomous. Therefore, when the initial calculated moment T of detachment of the sample from the gripping device and the estimated moment of capture of the sample of the cargo on the fly by the same value S, the calculated set of values of the approximate solution of the system of ordinary differential equations (1) with boundary conditions (H), used to determine the approximate solution of the system of ordinary differential equations (1) with boundary conditions (W) taking into account these modified initial data.

Thus, an ordered sequence of 4004 numbers {H _s } (for all integers s from 1 to 4004) is calculated, which are the calculated coordinates of points and the calculated coordinates of vectors calculated in the coordinate system set for the vertical plane passing through the calculated separation point sample cargo and the estimated point of capture of the sample cargo on the fly. The numbers H _{1 + 4w} , H _{2 + 4⋅w} (for all integers w from 0 to 1000) is an ordered pair of numbers, which is the calculated coordinates of the center of mass of the cargo sample at the estimated time that occurs after the estimated moment of separation this sample of cargo from the gripping device of the first mobile robot when throwing, after a period of time equal to the product of three numbers: the number w, the number h ₀ and the number 0.001. The number H _{1 + 4⋅w} is equal to the number x (t _w ), the number H _{2 + 4⋅w} is equal to the number y (t _w ) (for all integer numbers w from 0 to 1000). Then for each point specified by the coordinates H _{1 + 4} . _w , H _{2 + 4⋅w} (for all integers w from 0 to 1000), calculate the coordinates of this point in the global coordinate system as an ordered triple of numbers: h _{1 + 6⋅w} , h _{2 + 6⋅w} , h _{3 + 6w} . The numbers H _{3 + 4⋅w} , H _{4 + 4⋅w} (for all integers w from 0 to 1000) is an ordered pair of numbers, which are the calculated coordinates of the velocity vector of the center of mass of the weighted cargo sample at the estimated time, coming after the estimated moment of separation of this sample of the load from the gripping device of the first mobile robot when throwing, after a period of time equal to the product of three numbers: the number w, the number h ₀ and the number 0.001. The number H _{3 + 4⋅w} is equal to the number u (t _w ), the number H _{4 + 4⋅w} is equal to the number v (t _w ) (for all integer numbers w from 0 to 1000). Then, for each vector defined by the coordinates H _{3 + 4⋅w} , H _{4 + 4⋅w} (for all integers w from 0 to 1000), the coordinates of this vector in the global coordinate system are calculated as an ordered triple of numbers: h _{4 + 6 ⋅w} , h _{5 + 6⋅w} , h _{6 + 6⋅w} .

Thus, the calculated parameters of the trajectory of the center of mass of the cargo sample in the free flight phase are calculated, which are an ordered sequence of 6007 numbers {h _n } (for all integers n from 0 to 6006), and where the first number h ₀ is the specified calculated the free flight duration of the cargo sample, and the remaining 6006 numbers are calculated in the global coordinate system, the calculated coordinates of the center of mass of the cargo missile sample and the calculated coordinates of the velocity vector of the center of mass of the missile sample and cargo at the appropriate time points.

In particular, the ordered triple of numbers: h ₁ , h ₂ , h ₃ are calculated in the global coordinate system, the calculated coordinates of the center of mass of the cargo sample at the estimated moment of separation from the gripping device, and the ordered triple of numbers: h ₄ , h ₅ , h ₆ is, calculated in the global coordinate system, the calculated coordinates of the velocity vector of the center of mass of the cargo sample at the estimated moment of separation from the gripping device. In particular, the ordered triple of numbers: h ₆₀₀₁ , h ₆₀₀₂ , h ₆₀₀₃ are calculated in the global coordinate system, the calculated coordinates of the center of mass of the cargo sample at the estimated capture time on the fly, and the ordered triple of numbers: h ₆₀₀₄ , h ₆₀₀₅ , h ₆₀₀₆ is, calculated in the global coordinate system, the calculated coordinates of the velocity vector of the center of mass of the cargo sample at the estimated moment of capture on the fly. At this, the calculation of the parameters of the calculated trajectory of movement of the missile cargo sample in the free flight phase is completed.

The parameters of the calculated line of movement of the cargo sample in the acceleration phase are determined as follows. The implementation of the phase of acceleration of the sample cargo produced by the implementation of the oscillating movement of the arms of the robot, which is performed by means of the rotary hinge of this robot arm. Thus, the center of mass of the cargo sample in the acceleration phase is moved along the arc of a circle, while this circle passes through the calculated separation point of the cargo sample from the gripping device, so that the calculated velocity vector of the center of mass of the cargo missile sample at the estimated moment of separation from the gripping device, deferred from the calculated point of separation of the sample load from the gripping device, is directed tangentially to this circle. Then set the calculated distance between the center of mass of the missile sample of the load when the sample of the load is held by the gripping device and the axis of rotation of the rotational hinge of the robot arm during the implementation of the acceleration phase. Then determine the vertical plane passing through the calculated point of separation of the sample load from the gripping device, parallel to the calculated velocity vector of the center of mass of the missile sample of the cargo at the estimated time of separation from the gripping device, that is, the plane in which the points of the calculated line of displacement of the center of mass of the loaded sample are acceleration phase. Then determine, with respect to the global coordinate system, the calculated location of the center of a circle, along the arc of which the center of mass of the cargo sample is moved in the acceleration phase. Then define this arc (which is less than a semicircle) of this circle by determining the coordinates (relative to the global coordinate system) of two points of this circle, the first of which is chosen belonging to this circle so that this point and the center of the circle belong to the same horizontal line, and the second of which is the estimated point of separation of the sample from the gripping device at the estimated time of separation of the sample of the cargo from the gripping device, and the central angle formed by this arc of a circle is stupid. At the same time set the estimated duration of the acceleration phase of the sample load.

Thus, the initial calculated location of the robot arm when implementing the acceleration phase of the loaded sample is set so that the axis of rotation of the rotary hinge of this robot arm by which this swinging movement is carried out and the center of mass of the accelerated load sample that was at the start of the acceleration phase belonged to the same same horizontal plane. In this case, the parameters of the initial calculated location of the first mobile robot, relative to the global coordinate system, are set so that in this location of the first mobile robot the missile load sample is in the initial position at the beginning of the acceleration phase.

The implementation of the phase of acceleration of the sample cargo is carried out through the implementation of the swinging movement of the robot arm (from the initial design position of the robot arm during the implementation of the acceleration phase of the missile cargo sample), in which:

- do not change the location of the axis of rotation of the rotational hinge of this robot arm, by means of which this swinging movement is carried out;

- do not move this rotary hinge along the axis of rotation of this rotary hinge;

- have a rotational hinge of this robot arm, through which this swinging movement is carried out so that the center of mass of the cargo sample is in the plane passing through the calculated separation point of the cargo sample from the gripping device, parallel to the estimated velocity vector of the center of mass of the cargo missile sample from the gripping device;

- do not change the distance between the center of mass of the cargo sample when the sample is held by the gripper and the axis of rotation of the rotational hinge of this robot arm, through which this swinging movement is performed, so that the axis of rotation of this rotational hinge is perpendicular to the plane detachment of the sample load from the gripping device parallel to the calculated velocity vector of the center of mass of the missile sample of the cargo at the estimated time of separation from the gripping device.

Then, in the mode of automatic operation of the first mobile robot, using special programs, determine the parameters of the operating modes of the robot's hand drives, the robot's wrist, the gripping device of the first mobile robot to move the calculated sample load in the acceleration phase along the calculated line for the specified starting phase Acceleration of this sample of cargo through the gripping device of the first mobile robot when throwing, and for a given estimated duration of the acceleration phase of this sample of cargo , to ensure that the sample is thrown along the calculated trajectory with a given calculated initial speed, in a given calculated direction, at a given calculated time, by opening the gripping device so that the center of mass of the loaded cargo sample is located at a given calculated separation point from the gripping device, at a given calculated point in time, and the calculated speed of the center of mass of the cargo sample being miss was equal to the specified calculated initial speed of detachment of this sample from the load o device, at a given calculated point in time, taking into account the location of the mobile platform of the first mobile robot at the location when the sample is thrown. This takes into account the accuracy of working out the trajectory of movement of the robot arm, the wrist of the robot and the gripping device of the first mobile robot. When this determines the estimated time of the beginning of the phase of acceleration of the sample load, preceding the specified estimated time of disclosure of the gripping device.

Then, in the automatic operation mode of the second mobile robot, using special programs, determine the parameters of the operation of the robot's hand drives, the robot's wrist, the gripping device of the second mobile robot to move the robot's arm, the robot's wrist, the gripping device of the second mobile robot to where the specified calculated capture point of the cargo to be thrown belongs to the capture zone of this cargo by means of a gripping device of the second mobile robot, taking into account the location of the mobile platform of the second mobile robot in the implementation of the seizure of cargo on the fly. This takes into account the errors of working out the trajectory of the robot arm, the wrist of the robot and the gripping device of the second mobile robot.

Then, in the mode of automatic operation of the second mobile robot, using special programs, determine the location parameters of two video cameras placed on the mobile platform of the second mobile robot, and the location parameters of the two robot arms and two robot wrists on which these video cameras are placed, so that received through these video cameras contained images of all points, including the calculated capture point, belonging to the calculated free flight path of the missile cargo sample.

Then packaged cargoes are manually placed in storage areas. Placement of goods on the shelves produced without overhangs. Information about the name of the placed goods and the corresponding locations of the storage locations are placed in the computer of the control point on the information storage device, using manual data entry programming, using the input device. Then measure the space of the warehouse of unit loads (together with the contents of this room), build a three-dimensional model of the premises of this warehouse (together with the contents of this room) and determine the parameters of this three-dimensional model by using a 3D scanner. Information that contains the parameters of this three-dimensional model is placed in the computer of the control point on the information storage device, through the use of an input device. For each storage location on each shelf of each rack determine the parameters corresponding to this storage location. For each cargo that is placed in the storage location, determine the parameters that coincide with the parameters of the sample cargo that corresponds to this cargo. Then, for each cargo placed in a specific storage location, on the computer of the control point, using special programs, determine the parameters of the calculated trajectory of movement of the center of mass of the cargo in the free flight phase when it is thrown through the first mobile robot. Information that contains the parameters of these calculated trajectories is placed in the computer of the control point on the information storage device, using manual data entry programming, using the input device.

Then determine the parameters of the passages for the first and second mobile robots. Determine the parameters of the lines of possible movements of mobile platforms of the first and second mobile robots on the corresponding passage. For the picking zone, with respect to the global coordinate system, determine the parameters of the location of the second mobile robot in the implementation of dropping cargo through the second mobile robot.

Then place the first mobile robot in the passage intended for the selection of goods from the storage and throwing of goods. Then place the second mobile robot in the passage designed to capture cargo on the fly and transport cargo to the picking area. At the same time, information representing the parameters of the initial location of mobile robots is placed in the computer of the control point on the information storage device by using an input device. Then, a wireless local area network based on Wi-Fi technology is operated, which is connected to the control point computer and onboard computers of the first and second mobile robots as computer network nodes. At the same time, with the help of special programs, the system time is established and continuously maintained with the implementation of synchronization with the exact time server on the control point computer and onboard computers of the first and second mobile robots, in the mode of automatic operation of these robots, using special programs through which they implement the algorithms parallel computing. At the same time, a control point computer is installed as an exact time server. Then, all information relating to this warehouse, located in the computer of the control point on the information storage device, is transmitted via a wireless local area network based on Wi-Fi technology from the control point computer to the onboard computers of the first and second mobile robots.

The selection of goods from storage and moving them to another area of the warehouse, in particular, in the picking area is as follows. On the computer of the control station, using the programming of manual data entry, using the input device, enter the name of the cargo that will be taken from the storage location and moved to the picking area. Then, using the special programs, the computer of the control point, in the automatic operation mode of this control point, at this cargo name, at least one address of the place where the cargo is stored with this name is found, and this address is transmitted to the airborne computers of the first and second mobile robots through a wireless local area network based on Wi-Fi technology.

Then, on-board computers of the first and second mobile robots, through their automatic operation, via a wireless local area network based on Wi-Fi technology, receive the address of the storage location from which they will pick up cargo.

Then, on the on-board computers of the first and second mobile robots, by means of their automatic functioning, they determine:

- parameters of this storage place;

- parameters of the cargo placed in this storage place;

- the parameters of the throwing of the cargo and the capture of this cargo on the fly, corresponding to this cargo and this storage place.

Then, on the on-board computer of the first mobile robot, by means of its automatic functioning, determine:

- parameters of the lines along which the mobile platform of the first mobile robot will be moved along the corresponding driveway: a) from the current location of the first mobile robot to the location when selecting this cargo from this storage location, b) from the location of the first mobile robot when selecting this the cargo from this storage location to the location when throwing this cargo taken from this storage location;

- location parameters (with respect to the coordinate system of the mobile platform of the first mobile robot) of the robot arm, the robot wrist, and the gripping device while retaining this load while transporting this load through the automatic operation of the first mobile robot.

Then, on the on-board computer of the second mobile robot, by means of its automatic functioning, determine:

- parameters of the lines along which the mobile platform of the second mobile robot will be moved along the corresponding passage for moving: a) from the current location of the second mobile robot to the location when capturing this cargo taken from this storage location on the fly, b) from the location of the second mobile robot to the location when capturing this cargo taken from this storage location on the fly, to the location of the second mobile robot when releasing this cargo by means of a second about a mobile robot;

- location parameters (relative to the coordinate system of the mobile platform of the second mobile robot) of the robot arm, the robot wrist, and the gripping device while retaining this load while transporting this load through the automatic operation of the second mobile robot.

Then, the first mobile robot, by means of its automatic functioning, is moved (along the corresponding passage, along the corresponding line) to its location when it seizes cargo placed in this storage place. The capture of this cargo through the automatic operation of the first mobile robot is as follows. First, the arrangement of two video cameras is carried out in accordance with the parameters corresponding to this storage location through the automatic operation of the first mobile robot. To do this, by automatically operating the first mobile robot, two cameras are placed on the mobile platform of the first mobile robot by moving the two arms of the robot and the two wrists of the robot on which they are placed, so that the images obtained through these cameras contain an image of this places of storage, and, therefore, the image of the cargo, which is placed in this place of storage. At the same time, the on-board computer of the first mobile robot, using special programs, is configured, through the automatic operation of the first mobile robot, to receive images from two video cameras placed on the mobile platform of the first mobile robot, and to process the received images to recognize the cargo and its real spatial location , with the help of special programs through which they implement computer vision algorithms. Then, on the on-board computer of the first mobile robot, images of this storage location and cargo placed in this storage location are obtained, and they recognize this cargo and its spatial location.

Then, on the on-board computer of the first mobile robot, using special programs through which they implement computer vision algorithms, and using real-time embedded software designed to control the robot's hand in real-time, the robot's wrist, a gripper omnidirectional mobile , determine, by coordinate conversion, the location parameters, relative to the global coordinate system, of the gripper device of the first a robust robot when reliably grabbing this load placed in this storage location at the moment before closing this gripping device, that is, the corresponding coordinates of the origin of the coordinate system of the gripping device of the first mobile robot calculated in the global coordinate system the coordinate systems of the gripping device of the first mobile robot, calculated in the global system.

Before the seizure of goods from this storage location, open the gripping device of the first mobile robot, through the automatic operation of the first mobile robot. Then, for the cargo corresponding to a specific sample of cargo, and for this storage location, using special programs, determine the parameters of the operating modes of the robot arm, the wrist of the robot, and the gripping device of the first mobile robot, for realizing the location of the gripping device of the first mobile robot while ensuring reliable gripping cargo placed in this storage location at the moment before closing of this gripping device. Then, through the automatic operation of the first mobile robot, this arrangement of the gripping device of the first mobile robot is carried out while carrying out a reliable gripping of this cargo placed in this storage place at the moment before closing of this gripping device, and thereafter closing the gripping device of the first mobile robot, thereby carry out the seizure of cargo from this storage location and hold it by gripping device of the first mobile robot. Then, this gripping device is moved, together with the load being held, towards the mobile platform of the first mobile robot, and the robot arm is positioned, the robot wrist, the gripping device while this cargo sample is held while transporting this cargo sample by this mobile robot.

Then the first mobile robot is moved (along the corresponding passage, along the corresponding line), by means of its automatic functioning, to the location when carrying out the throwing of the cargo selected from this storage location. Then the second mobile robot is moved (along the corresponding passage, along the corresponding line), by means of its automatic functioning, to the location when grabbing the cargo selected from this storage location on a flight.

Then two cameras are placed on the mobile platform of the second mobile robot by moving the two arms of the robot and the two wrists of the robot on which they are placed, so that the images obtained through these cameras contain an image of all points belonging to the calculated free flight path of this cargo. , which is thrown by means of the first mobile robot, including a given capture point, through the automatic operation of the second mobile robot. In this case, the on-board computer of the second mobile robot is configured to receive images from two video cameras placed on the mobile platform of the second mobile robot, and to process the received images to recognize the missile load and its actual spatial location, taking into account the time required to receive and process images of the missile load , with the help of special programs through which they implement computer vision algorithms, through the automatic operation of the second mobile of the robot. Then from the onboard computer of the second mobile robot is transmitted to the onboard computer of the first mobile robot (via a wireless local area network based on Wi-Fi technology), through the automatic operation of the first and second mobile robots, a message about the readiness of the second mobile robot to capture this cargo on the fly. Then, by means of the automatic operation of the first mobile robot, the initial calculated location of the second mobile robot is carried out when placing the missile in the initial position at the beginning of the acceleration phase.

Then, on the on-board computer of the first mobile robot, with the help of special programs, determine the estimated time of the start of the acceleration phase of this load (to ensure that the load is thrown along the calculated trajectory by the first mobile robot), and the estimated moment of separation of the load from the gripping device of the first mobile robot, and this information is transmitted to the onboard computer of the second mobile robot (via a wireless local area network based on Wi-Fi technology), through automatic operation first and second mobile robots. Then, this cargo is accelerated and this cargo is thrown along the calculated trajectory by means of the automatic operation of the first mobile robot (in accordance with the parameters of the cargo throwing and this cargo captured on the fly, corresponding to this cargo and this storage location). On the on-board computer of the second mobile robot, images are obtained through two video cameras, and the received images are processed in real time, and they recognize the missile load and its actual spatial location, taking into account the time required for receiving and processing images of the missile load, in particular, receive real-time information about the location and speed of the center of mass of the missile load, through the automatic operation of the second mobile robot. At the same time, special programs are used, by means of which they implement parallel computing algorithms, by means of which several images obtained through two video cameras are simultaneously processed in real time, while controlling the operation of the mobile robot, in particular, control the movements of the robot arm, the robot wrist and the gripper devices.

At the same time, it is taken into account that, when cargo is thrown, this cargo may deviate from the calculated movement trajectory. In order to capture this cargo on the fly with a possible deviation of this cargo from the calculated movement trajectory, the following set of actions is performed, designed to capture this cargo on the fly, by automatically operating the second mobile robot, which consists of a set of A1 actions and a set of actions A2, which are performed in parallel, through the implementation of parallel computing, and through the automatic operation of the second mobile robot, in re press real time. At the same time, these actions are performed, using special programs, in real time, by means of the automatic functioning of the second mobile robot, after the separation of the missile load from the gripping device of the first mobile robot. It is taken into account that if the missile is not captured on the fly by the second mobile robot during, for example, 10 s after the launch of the missile from the pick-up device of the first mobile robot, then it will be captured on the fly by the second mobile robot under these circumstances is impossible. At the same time, the beginning of the implementation of the set of actions A1 and the set of actions A2 coincide with the calculated moment of separation of the missile load from the gripping device of the first mobile robot.

The set of actions A1 (its description consists of the descriptions of steps 1-2) is as follows:

Step 1. Perform in parallel, through the implementation of parallel computing, and through the automatic operation of the second mobile robot, in real time, the following two sets of actions, denoted by 1.1. and 1.2. (while the set of actions 1.1. consists of steps 1a and 1b):

The set of actions 1.1. next:

Step 1a. On the on-board computer of the second mobile robot, the received images calculate (in the global coordinate system) the coordinates of the center of mass of the missile load at the current time (the point that has these calculated coordinates, denoted by J), the coordinates of the velocity vector of the center of mass of the missile load in the current the time (the vector that has these calculated coordinates is denoted by F), and the current time point Q, at which the coordinates of the center of mass of the missile weight are calculated, is determined. In this case, through the implementation of parallel computing, localize the second mobile robot and determine the parameters of the capture zone of this cargo by means of a gripping device of the second mobile robot (relative to the global coordinate system). Then, using special programs, determine whether point J belongs to the capture zone of this load by means of a gripping device of the second mobile robot. Then, if point J belongs to the capture zone of this cargo by means of a gripping device of the second mobile robot, then the cargo is captured by closing the gripping device of the second mobile robot and this completes the set of actions intended to capture this cargo on the fly by automatically operating the second mobile robot, and carry out an exit from this cycle from two steps 1-2, stopping all actions described in steps 1-2, and stopping all actions described in the aggregate of actions of A1 and in the aggregate of actions of A2. If the point J does not belong to the zone of capture of this cargo by means of a gripping device of the second mobile robot, then the following actions are carried out. A comparison is made of the estimated moment of separation of the thrown load from the gripping device of the first mobile robot with time Q, and if the calculated moment of separation of the cargo thrown from the gripping device of the first mobile robot differs from time Q by an amount not less than 10 s, then it is transmitted to the computer of the control station from the onboard computer of the second mobile robot (via a wireless local area network based on Wi-Fi technology) a message about the unsuccessful attempt to capture cargo on the fly, and exit from it a cycle of two steps 1-2, stopping all actions described in steps 1-2, and stopping all the steps in the set of actions A1 and A2 in total action. If the estimated moment of separation of the thrown load from the gripping device of the first mobile robot differs from the time point Q by an amount less than 10 s, then the following actions are performed.

On the on-board computer of the second mobile robot, the vertical plane passing through the point J parallel to the vector F is determined in real time by means of the automatic operation of the second mobile robot. in which the first coordinate axis is in the horizontal plane, perpendicular to the direction of gravity, and the second coordinate axis is directed vertically upwards, that is, directed opposite to the direction of gravity.

Then, by means of the automatic operation of the second mobile robot, an approximate solution of the system of ordinary differential equations (1) with initial conditions (2) and given cargo parameters is calculated, by which the calculated trajectory of movement in the free flight phase of the center of mass of the missile cargo in the vertical plane passing point J parallel to vector F, while using special programs, by means of which approximate solutions of the Cauchy problem for ordinary systems are calculated x differential equations using numerical methods. In the system of ordinary differential equations (1), the weight of the missile is set as the value of the parameter m, and the value of the air resistance coefficient corresponding to this load is set as the value of the parameter K. At the same time, in the initial conditions (2), the moment of time Q is set as the value of the parameter T, the coordinates of the point J calculated in the coordinate system entered in the vertical plane passing through the point J parallel to the vector F are set as the values of the parameters A and B In this case, in the initial conditions (2), the values of the parameters C and D are given the coordinates of the vector F, calculated in the coordinate system introduced in the vertical plane passing through the point J parallel to the vector F. In particular, by automatically functioning the first mobile robot computes a new set of values for an approximate solution of a system of ordinary differential equations (1) with new initial conditions (2) for the following 1001 values of the independent variable t:

r _w = Q + h ₀ ⋅0,001⋅w,

Where:

r _w is the value of the independent variable t, that is, the calculated point in time, coming after the point in time Q defined in this step 1a, s;

w is the ordinal number of the value of the independent variable t, that is, an integer that takes all values from 0 to 1000;

Q is the point in time at which the coordinates of the center of mass of the missile weight were calculated at this step 1a, s;

h ₀ - given the estimated duration of free flight of cargo, sec.

Then find a new set of values of the approximate solution of the system of ordinary differential equations (1) with new initial conditions (2), which have the form: (x (r _w ), y (r _w ), u (r _w ), v (r _w ) ) for an integer w, taking all values from 0 to 1000.

Thus, an ordered sequence of 4004 numbers {N _s } (for all integers s from 1 to 4004) is calculated, which are the calculated coordinates of the points and the calculated coordinates of the vectors calculated in the coordinate system set for the vertical plane passing through the point J in parallel vector F. At the same time, the numbers N _{1 + 4⋅w} , N _{2 + 4⋅w} (for all integers w from 0 to 1000) are an ordered pair of numbers representing the calculated coordinates of the center of mass of the missile weight at the estimated time, coming after time point Q o definiteness in this step 1a, after a time interval equal to the product of three numbers: the number w, the number of h ₀ and 0,001. The number N _{1 + 4⋅w} is equal to the number x (r _w ), the number N _{2 + 4 +w} is equal to the number y (r _w ) (for all integer numbers w from 0 to 1000). Then, for each point defined by the coordinates N _{1 + 4⋅w} , N _{2 + 4⋅w} (for all integers w from 0 to 1000), the coordinates of this point are calculated in the global coordinate system, in the form of an ordered triple of numbers: p _{1+ 6⋅w} , p _{2 + 6⋅w} , p _{3 + 6⋅w} . The numbers N _{3 + 4⋅w} , N _{4 + 4⋅w} (for all integers w from 0 to 1000) is an ordered pair of numbers, which are the calculated coordinates of the velocity vector of the center of mass of the missile weight at the estimated time that occurs after time Q, defined in this step 1a, after a period of time equal to the product of three numbers: the number w, the number h ₀ and the number 0.001. The number N _{3 + 4⋅w} is equal to the number u (r _w ), the number N _{4 + 4⋅w} is equal to the number v (r _w ) (for all integer numbers w from 0 to 1000). Then for each vector defined by the coordinates N _{3 + 4⋅w} , N _{4 + 4⋅w} (for all integers w from 0 to 1000), calculate the coordinates of this vector in the global coordinate system, in the form of an ordered triple of numbers: P _{4+ 6⋅w} , P _{5 + 6⋅w} , P _{6 + 6⋅w} .

Thus, through the automatic operation of the second mobile robot, the parameters of the new calculated trajectory of displacement of the center of mass of the missile load in the free flight phase, which are an ordered sequence of 6007 numbers {p _i } (for all integers i from 0 to 6006), and the first the number p ₀ equal to the number h ₀ is the specified calculated duration of the free flight of the load, and the remaining 6006 numbers are calculated in the global coordinate system, the calculated coordinates of the center of mass of the missile load and the calculated coordinates of the velocity vector of the center of mass of the missile at the corresponding calculated points in time.

In particular, an ordered triple of numbers: p ₁ , p ₂ , p ₃ is calculated in the global coordinate system, the calculated coordinates of point J, and an ordered triple of numbers: p ₄ p ₅ , p ₆ are calculated in the global coordinate system , the calculated coordinates of the vector F.

Then, on the on-board computer of the second mobile robot among 1001 calculation points with calculated coordinates of the form: p _{1 + 6⋅q} , p _{2 + 6⋅q} , p _{3 + 6⋅q} (for all integer numbers q from 0 to 1000), by means of automatic functioning of the second mobile robot, using special programs, determine the calculated point (which is denoted by R), which is located at a minimum distance from the capture zone of this cargo by means of a gripping device of the second mobile robot, whose parameters (in the global coordinate system) are calculated at this step 1a . This completes step 1a and proceeds to step 1b.

Step 1b. Determine whether the point R, defined in step 1a, belongs to the space swept by the center point of the wrist (on which the gripping device is installed) of the second mobile robot, at the location of the mobile platform of the second mobile robot, when it is moved to the location when grabbing on the fly, which sweep through the first mobile robot. If the point R does not belong to this space, then step 16 is completed and go to step 1a. If the point R belongs to this space, then it is determined whether step 2 was performed at least once. And then the following is done.

If step 2 has never been performed, then it is determined whether point R belongs to the capture zone of this cargo by means of a gripping device of the second mobile robot, whose parameters (in the global coordinate system) are calculated at this step 1a, and if it belongs, go to step 1a at the same time completing this step 1b), and if it does not belong, then step 1b completes and completes this step 1, and proceeds to step 2, completing the set of actions 1.1. (and, therefore, completing the set of actions 1.2., if at this moment this set of actions 1.2. is not yet completed).

In case step 2 was performed at least once, then, using special programs, in real time, by the automatic operation of the second mobile robot, the following is performed. It is determined whether the point R, determined in step 1a, belongs to the capture zone of this cargo by means of a gripping device of the second mobile robot, whose parameters (in the global coordinate system) are calculated during the last execution of step 2 of this cycle from two steps (in case step 2 once performed), and if it belongs, then step 1b is completed and proceeds to step 1a, and if it does not, then step 1b is completed, and complete this step 1, and proceed to step 2, completing the set of actions 1.1. (and, therefore, completing the set of actions 1.2., if at this moment this set of actions 1.2. is not yet completed).

The set of actions 1.2. next:

It is determined whether step 2 was performed at least once. If step 2 was never performed, then the set of actions 1.2. complete. If step 2 was performed at least once, then begin to perform the movement of the second mobile robot (by performing the corresponding program of tasks) corresponding to the last execution of step 2 of this two-step cycle. Then, either this movement continues to be performed until the completion of this movement (through the complete implementation of the corresponding program of tasks, and at the same time completing the set of actions 1.2.), Until the end of the set of actions 1.1. of this step 1, or it continues to perform this movement and stop it (without having carried out the full implementation of the corresponding program of tasks, and at the same time completing the set of actions 1.2.) at the moment of completing the set of actions 1.1. this step 1.

Step 2. Determine the new parameters of the new capture zone of this cargo by means of a gripping device of the second mobile robot (relative to the global coordinate system) such that the calculated point R, determined in Step 1, belongs to this new capture zone. Then, using special programs, in real time, by means of the automatic operation of the second mobile robot, localization of the second mobile robot is carried out. Then determine the parameters of the operating modes of the drives of this mobile robot to move from this, determined by localization, the current location of the second mobile robot to the location where the point R, defined in step 1, belongs to this new zone of capture of this cargo by means of a gripping device of the second mobile the robot. At the same time, through the automatic functioning of the second mobile robot, a new program of tasks is created, which contains a set of instructions for moving the second mobile robot, which consists in moving the second mobile robot to an arrangement at which the point R defined in step 1 belongs to this new zone the capture of this cargo through the gripping device of the second mobile robot. At the same time, the full implementation of this new program of tasks means that the second mobile robot is moved to a location where the point R, determined in step 1, belongs to this new zone of capture of this cargo by means of a gripping device of the second mobile robot. This completes step 2 and proceeds to step 1. This completes the description of the set of actions A1.

The set of actions A2 (its description consists of the descriptions of steps 2.1. And 2.2.) Is as follows:

Step 2.1. On the onboard computer of the second mobile robot, the received images calculate (in the global coordinate system) the coordinates of the center of mass of the missile load at the current time (the point that has these calculated coordinates is denoted by J ₂ ). In this case, through the implementation of parallel computing, localize the second mobile robot and determine the parameters of the capture zone of this cargo by means of a gripping device of the second mobile robot (relative to the global coordinate system). This completes step 2.1. and go to step 2.2.

Step 2.2 .: With the help of special programs, determine whether the point J ₂ belongs to this zone of capture of this load by means of a gripping device of the second mobile robot. Then, if the point J ₂ belongs to this area of capture of this cargo by means of a gripping device of the second mobile robot, then the cargo is seized by closing the gripping device of the second mobile robot and this completes the implementation of a set of actions intended to capture this cargo on the fly by automatic operation the second mobile robot, stopping all the actions described in steps 2.1. and 2.2., and terminating all actions described in the aggregate of A1 actions and in the aggregate of A2 actions. If the point J ₂ does not belong to this zone of capture of this cargo by means of a gripping device of the second mobile robot, then complete the execution of step 2.2. and go to step 2.1. The description of the set of actions A2 is completed.

Thus, cargo is thrown by means of the first mobile robot and the cargo is captured on the fly by the second mobile robot, through the automatic operation of the first and second mobile robots. After capturing on-the-fly cargo via the second mobile robot, this cargo is retained and the robot's arm, the robot's wrist, and gripping device are automatically operated by the second mobile robot while the cargo is retained while transporting this sample of cargo by this mobile robot. After that, the second mobile robot, through its automatic operation, together with the cargo being held, is moved (along the corresponding passage, along the corresponding line) to another warehouse area, in particular, to the picking area, to the location when dumping cargo into the container, by means of the second mobile the robot. Then, the cargo is dumped into the container by opening the gripping device of the second mobile robot at the location of the second mobile robot while dropping the cargo through the automatic operation of the second mobile robot. With this, the transfer of this cargo from the storage area to another warehouse area, in particular, to the picking area is completed.

The technical result, the achievement of which the claimed invention is directed, is to reduce the total distance of movement of mobile platforms of mobile robots together with the cargo, during the movement of goods in the warehouse of packaged cargoes. At the same time, mobile robots are used as a lifting and transport equipment, and which, as an automatic load gripping device, contain a robot arm, a gripper.

This technical result of the claimed method of moving goods in a packaged goods warehouse is achieved by moving the cargo from the storage area to another warehouse area, in particular to the picking area, by throwing the cargo with the first mobile robot, which has a load acceleration phase consisting of forced movement of cargo with the simultaneous holding of this cargo by a gripping device, along a given calculated line, by moving the robot’s arm, the robot’s wrist, the gripping device, with which This load, in the mode of automatic functioning of the first mobile robot, so that at a given calculated moment of separation of this load from this gripping device, the center of mass of the missile is in the given calculated point and has a given calculated velocity vector, and by means of a gripper on the fly the device of the second mobile robot in the mode of automatic functioning of this mobile robot. In this case, the implementation of the separation of this cargo from this gripping device is carried out by disclosing this gripping device at a time when the center of mass of the missile is at a given calculated point, at a given calculated point in time, and the calculated speed of the center of mass of the missile is equal to the specified calculated initial speed separation of this load from the gripping device, at a given calculated point in time, and at the same time, the range of free flight of the load exceeds the diameter of the space swept by the central point oh robot wrist, which is mounted on a first gripper device of the mobile robot at a fixed location of the first mobile platform of the mobile robot. At the same time, the range of free flight of cargo is defined as the distance from the orthogonal projection of the point of separation of the cargo from the gripping device of the first mobile robot (that is, the point where the center of mass of the cargo is located at the moment of separation of this cargo from the gripping device) to the upper horizontal floor plane of the warehouse to orthogonal projection, onto the same horizontal plane, the point at which the load is captured by the gripping device of the second mobile robot (i.e. the point at which the mass center of about the load at the moment of seizure of this load by means of a gripping device of the second mobile robot).

Brief Description of the Drawings

The figures schematically depict:

Figure 1: view of a mobile robot.

Figure 2: view of the rack.

Figure 3: side view of the first mobile robot in the implementation of the selection of cargo from storage.

Figure 4: side view of the second mobile robot in the implementation of dropping the cargo in the container.

Figure 5: warehouse layout plan.

Figure 6: side view of the first and second mobile robots in the implementation of the throwing of cargo through the first mobile robot and capture on the fly cargo by the second mobile robot.

In the figures, the numbers indicate: 1 - a mobile robot, 2 - a mobile platform, 3 - a gripping device, 4 - a wrist of a robot, designed to install a gripping device, 5 - a robot hand, designed to install a gripping device, 6 - an onboard computer, 7 - a device data storage connected to the on-board computer; 8 — network equipment connected to the on-board computer; 9 — video camera; 10 — robot's wrist, designed to install a video camera; 11 — robot's hand, intended to install a video camera, 12 — source infrared energy, 13 - a rack, 14 - a rack of a rack, 15 - the first shelf of a rack, 16 - the second shelf of a rack, 17 - packaged piece cargo, 18 - floor of a warehouse room of piece packaged cargo, 19 - container, 20 - control station, 21 is the computer of the control point, 22 is the storage device connected to the computer of the control point, 23 is the network equipment connected to the computer of the control point, 24 is the input device connected to the computer of the control point, 25 is a picking zone, 26 is a passage designed to move the second mobile robot, 27 - whether of possible movements of the mobile platform of the second mobile robot, 28 — a projection onto the OXY plane of the global coordinate system of the origin of the mobile platform of the second mobile robot while capturing cargo on the fly by the second mobile robot; 29 — a storage area; robot, 31 - the line of possible movements of the mobile platform of the first mobile robot, 32 - a projection onto the OXY plane of the global coordinate system of the origin of the coordinate system of the mobile platform we are the first mobile robot in the selection of cargo from storage by means of the first mobile robot, 33 is the projection on the OXY plane of the global coordinate system of the beginning of the coordinate system of the mobile platform of the first mobile robot when the cargo is thrown by the first mobile robot, 34 free flight phase.

The implementation of the invention

The invention is a new way to move goods in the warehouse of unit loads. The claimed method is designed to carry out the movement of packaged cargoes rigidly fixed inside rigid packaging that are not dangerous and fragile, weighing from 100 to 500 g, the dimensions of which are: length, height, width - from 5 to 10 cm use two identical mobile robots 1, which are articulated robots containing rotational and spherical hinges. The first mobile robot 1 is used, by means of the automatic functioning of this robot, to select loads 17 from storage locations and to throw cargoes. fly cargo 17, which is thrown by means of the first mobile robot 1.

Each mobile robot 1 contains:

- a mobile platform 2 containing an omnidirectional mobile mechanism on which all other elements of the mobile robot 1 are placed;

- on-board computer 6 with a connected storage device 7;

- network equipment 8, designed to connect the on-board computer as a computer network node to a wireless local area network based on Wi-Fi technology;

- arm 5 of the robot, wrist 4 of the robot mounted on this arm 5 of the robot, and the working body of the robot, which is the gripping device 3 mounted on this wrist 4 of the robot;

- two arms 11 of the robot, two wrists of the 10 robots, which are installed one on each of these arms 11 of the robot, and are designed to be installed on each of them on one video camera 9;

- two video cameras 9 mounted on the wrists 10 of the robot, each video camera 9 being placed on a separate wrist 10 of the robot, with the help of which this video camera 9 is positioned and oriented;

- energy source 12, designed to ensure the normal operation of all elements of the mobile robot 1.

Mobile platform 2 was used with the ability to move on a flat flat continuous horizontal surface with a speed of up to 5 km / h, and which has a mass of from 100 to 150 kg. The length, width, height of the mobile platform 2 range from 100 to 150 cm. The upper part of the mobile platform 2 is a flat flat horizontal surface, which is located at a height of 1 m from the floor level 18 of this warehouse when this mobile platform 2 is located stocked goods Mobile platform 2 contains an omnidirectional mobile mechanism containing a corresponding set of drives, drive control units, and proprioceptive sensors, which are encoders.

All hands 5, 11 of the robot, all wrists 4, 10 of the robot, the gripping device 3 of the mobile robot 1 contain a corresponding set of drives, drive control units, and proprioceptive sensors, which are encoders.

All arms 5, 11 of the robot have a mass of 10 to 20 kg, the number of degrees of freedom of each hand is 5, 11 of the robot is at least 7, the length of each hand is 5, 11 of the robot is more than 180 cm, and the maximum angular velocity of the individual connections of each hand is 5 , 11 robots - at least 1200 degrees per second. The maximum angular speed of individual connections of the gripping device 3 is not less than 1200 degrees per second, the force to hold the object by the gripping device 3 is more than 30 N.

Each drive, each drive control unit, each proprioceptive sensor is installed and connected to a power source 12 located on the mobile platform 2. Each drive is installed with the ability to control this drive through the drive control unit. Each drive control unit is installed with the possibility of receiving signals from the on-board computer 6, representing the parameters of the operating modes of the drive, and with the ability to control the operation of the drive, in accordance with the received signals. Each proprioceptive sensor is installed with the ability to transfer to the on-board computer 6 a signal representing the results of the corresponding drive included in the omnidirectional mobile mechanism, robot arms 5, 11, robot wrists 4, 10, gripping device 3 of mobile robot 1.

The on-board computer 6 with the connected storage device 7 is installed on the mobile platform 2, while the omnidirectional mobile mechanism, the arm 5 of the robot, the wrist 4 of the robot, the gripping device 3 mounted on this wrist 4 of the robot, and the on-board computer are connected to the onboard computer 6 6 two robots 11 of the robot are connected, two robots of the 10 robots, which are mounted one on each of these arms 11 robots, two video cameras 9 mounted on these wrists 10 robots, one on each of these wrists 10. At the same time e to the on-board computer 6 omnidirectional mobile mechanism, hands 5, 11 of the robot, wrists 4, 10 of the robot, gripping device 3 made by connecting to the on-board computer 6 all proprioceptive sensors and all drive control units that contain an omnidirectional mobile mechanism, hands 5, 11 robot, wrist 4, 10 robot and gripping device 3. On-board computer 6 is installed with the ability to transmit to each drive control unit signals representing the parameters of the operating modes of this drive. The on-board computer 6 and the information storage device 7 connected to it are connected to a power source 12 placed on a mobile platform 2. Two video cameras 9 are mounted on the on-board computer 6, mounted on the wrists 10 of the robot, with the possibility of obtaining 6 images on the on-board computer through these two video cameras 9. Each video camera 9 is rigidly attached to the corresponding wrist 10 of the robot. Each video camera 9 is positioned and oriented by transmitting signals representing the operating parameters of the robot arm 11 and robot 10 wrist, from the onboard computer 6 to the robot arm 11 and the robot wrist 10, and by operating the drives in these modes.

Each camera 9 is installed with the possibility of obtaining in real time at least 1000 images per second, with a resolution of at least 1024x1024 pixels.

The mobile platform 2 is equipped with network equipment 8, which is connected to the on-board computer 6 and to the power source 12 located on the mobile platform 2, and which is installed with the ability to connect the on-board computer 6 through this network equipment 8, as a computer network node to a wireless local computer network based on Wi-Fi technology.

On the mobile platform 2, an energy source 12 is installed, designed to ensure the normal operation of all elements of the mobile robot 1, to which the onboard computer 6, the information storage device 7, two video cameras 9, the omnidirectional mobile mechanism of the mobile platform 2, the arm 5 of the robot, two hands 11 robot, wrist 4 robots, two wrists 10 robots, gripping device 3, all drives, all drive control units, all proprioceptive sensors installed in these hands 5, 11 robots, wrists 4, 10 robots, gripping device TWE 3 and an omnidirectional mobile mechanism, and network equipment 8 connected to connect the on-board computer 6 as a computer network node to a wireless local area network based on Wi-Fi technology.

The following special programs are installed on the onboard computer 6 with the connected storage device 7:

- real-time operating system;

- software embedded real-time systems, designed to control in real-time the arm of the robot, the wrist of the robot, a gripping device, an omnidirectional mobile mechanism;

- software designed to implement computer vision algorithms, in particular, to process images in real-time mode, recognize certain objects from the obtained images of these objects, determine the spatial location of certain objects from the obtained images of these objects, and find an estimate of the object's speed from the received images of this object. object, determine the parameters of the object's trajectory in three-dimensional space, calculate the distance to the object ;

- special programs through which they implement parallel computing algorithms;

- special programs by means of which approximate solutions of the Cauchy problem for systems of ordinary differential equations are calculated using numerical methods;

- a special program through which the system time is established and maintained with the implementation of synchronization with the time server.

As a premise for a warehouse of unitized cargo, a one-story room was used, 100 m wide, 100 m long, 6 m high, with vertical walls. At the same time, the floor 18 of the warehouse room of unitized cargoes is made so that the upper plane of the floor 18 of the warehouse room is made in the form of a flat flat horizontal surface. Lighting in the room for a warehouse of unit loads is carried out in accordance with the standard: GOST ISO 8995-2002. Principles of visual ergonomics. Lighting work systems indoors. - Enter 2004-01-01. - M .: IPK Publishing house of standards, 2003. - 32 p.

The global coordinate system OXYZ is set orthogonal, right-oriented, and is set so that the origin of the global coordinate system belongs to the upper plane of the warehouse room floor 18, and is located in one of the corners of this warehouse room. In this case, the OXY plane contains the upper horizontal plane of the floor 18 of the premises of this warehouse, the OZ axis is directed vertically upwards, perpendicular to the OXY plane, the OX and OY axes belong to the OXY plane and are mutually perpendicular. The axis OX is located parallel to one of the walls of the room of this warehouse. Each coordinate system of each video camera 9 is set orthogonal, right-oriented, and is set so that a single vector defining the direction of the third axis of this coordinate system is located on the optical axis of the video camera 9 and pointing towards the video object, and the single vector defining the direction of the first axis of this system coordinates, perpendicular to the unit vector defining the direction of the third axis of this coordinate system. At the same time, the origin of the coordinate system of the video camera 9 is set to belong to the body surface of the video camera 9, at the intersection point of this surface and the optical axis of this video camera 9. Each coordinate system of each gripping device 3 is set so that the origin of the coordinate system of the gripping device 3 is selected as the center point of the gripping device 3 , and the directions of the three coordinate axes of this coordinate system of the gripping device 3 are set. The coordinate system of each mobile platform 2 is set to be orthogonal, right-oriented, and set so that the unit vector defining the direction of the first axis of this coordinate system is directed towards the forward movement of this mobile platform 2, the unit vector defining the direction of the third axis of this coordinate system is directed vertically upward from the mobile platform 2, while the origin of the coordinate system is mobile platform 2 is the starting point of the mobile platform 2. These parameters of the global coordinate system, the coordinate systems of each camera, the coordinate systems of each mobile platform 2 are determined using equipment, which contains mobile robots 1 and control point 20, and these parameters are placed on the computer 21 control points 20 and on-board computers 6 mobile robots 1, on the corresponding information storage devices 7, 22.

For the mobile robot 1, the parameters of the space swept by the center point of the wrist 4 of the robot, on which the gripping device 3 is installed, are determined relative to the coordinate system of the mobile platform 2 when it is stationary, that is, the parameters by which the coordinates of the set of points (calculated in the coordinate system of this mobile platform 2), in which it is possible to move the center point of the wrist 4 of the robot, by moving the corresponding arm 5 of the robot and the wrist 4 of the robot, while The mobile location of this mobile platform 2. The parameters of the space swept by the center point of the wrist 4 of the robot, on which the gripping device 3 is installed, relative to the coordinate system of the mobile platform 2 at its fixed location, and the diameter of this space is determined by measuring the details of this mobile robot 1, using special programs through which they implement computer vision algorithms, and special equipment, in particular, for example, using a 3D scanner, and using special programs designed to control in real time the arm of the robot, the wrist of the robot, the gripping device omnidirectional mobile mechanism. For example, the diameter of the space swept by the center point of the wrist 4 of the robot, on which the gripper 3 of the first mobile robot 1 is installed, with a fixed location of the mobile platform 2 of the first mobile robot 1, is 4 m. For example, the space swept by the center point of the wrist 4 of the robot which is set by the gripping device 3, with the fixed location of the mobile platform 2, is located above the horizontal plane passing through the point at which the arm 5 of the robot is attached to m abundant platform 2 of mobile robot 1, hemisphere of a 2 m radius, centered at the point at which robot's arm 5 is attached to mobile platform 2 of mobile robot 1. The parameters of this space are the radius of this ball, coordinates (calculated in the coordinate system of the mobile platform 2) the center of this ball, and the coefficients of the general equation of the horizontal plane (relative to the coordinate system of this mobile platform 2) passing through the point at which the arm 5 of the robot is attached to the mobile platform 2 of the mobile robot 1. These The parameters of this space and the diameter of this space are determined using equipment that contains the corresponding mobile robot 1, and these parameters are placed on the computer 21 control points 20 and on the on-board computer 6 of the corresponding mobile robot 1 on the corresponding information storage devices 7, 22.

For each mobile robot 1, a separate passage is installed, along which only one mobile robot 1 is moved. At the same time, these two passages 26, 30 are set not intersecting among themselves. Each passage 26, 30 is defined as an oriented simple two-dimensional polygon located in the OXY plane of the global coordinate system by defining the vertices of a simple polyline, which is the boundary of this polygon. This simple polyline is defined by an ordered sequence of numbers, which are the coordinates of the vertices of this simple polyline, calculated in the global coordinate system, and which are written in accordance with the bypass order of the vertices of this oriented simple two-dimensional polygon. Moreover, this ordered sequence of numbers represents the parameters of the corresponding passage for the mobile robot 1. At the same time, the width of these passages 26, 30 is set to not less than twice the diameter of the space swept by the center wrist 4 of the robot, on which the gripper 3 of the corresponding mobile robot 1 is installed , with a fixed location of the mobile platform 2 of the corresponding mobile robot 1.

For the first mobile robot 1, a passage 30 is created in storage area 29, which is intended to move the first mobile robot 1 when selecting loads 17 from storage and cargo throwing 17. Thus, the drive parameters 30 for the first mobile robot 1 have, for example, : (50, 50, 0), (70, 50, 0), (70, 80, 0), (50, 80, 0), (50, 70, 0), (60, 70, 0), ( 60, 60, 0), (50, 60, 0).

For the second mobile robot 1, a passage 26 is created, which is intended for moving the second mobile robot 1 when cargo 17 is captured on the fly and that cargo 17 is transported to the picking zone 25. Thus, the parameters of the passage 26 for the second mobile robot 1 have, for example, : (20, 40, 0), (30, 40, 0), (30, 80, 0), (20, 80, 0).

At the same time, the parameters of the lines of possible movements of mobile platforms 2 of the first and second mobile robots 1 are determined by the corresponding drive, which are preferably defined as broken lines lying on the OXY plane of the global coordinate system, which are the lines of possible movements of the orthogonal projection of the origin of the coordinate system of the mobile platform mobile robot 1 on the OXY plane of the global coordinate system, when mobile platform 2 of mobile robot 1 moves. Moreover, each such broken line is Iu are given in the form of an ordered sequence of coordinates of points calculated in the global coordinate system lying on the OXY plane of the global coordinate system, and which are written in accordance with the order of traversal of the vertices of this broken line. Moreover, this ordered sequence of numbers represents the parameters of the corresponding line of the possible movement of the mobile robot 1 along the corresponding passage.

Thus, the parameters of the lines of possible movements of the mobile platform 2 of the first mobile robot 1 along the corresponding passage 30 are given by five broken lines: ((53, 55, 0), (65, 55, 0), (65, 75, 0), ( 53, 75, 0)); ((53, 51, 0), (53, 59, 0)); ((57, 51, 0), (57, 59, 0)); ((53, 71, 0), (53, 79, 0)); ((57, 71, 0), (57, 79, 0)).

Thus, the parameters of the lines of possible movements of the mobile platform 2 of the second mobile robot 1 along the corresponding passage 26 are given by one broken line: ((25, 39, 0), (25, 75, 0)).

The parameters of the passages 26, 30, designed to move mobile robots 1, and the parameters of the lines of possible movements of mobile robots 1 on the respective passages 26, 30 are determined using equipment that contains mobile robots 1 and control point 20, and these parameters are placed on the computer 21 control points 20 and 6 mobile robots 1 onboard computers, on the corresponding information storage devices 7, 22.

For storage of goods 17 single-section shelving bunk racks 13, 1 m deep, 10 m wide, 2.5 m high, are used. Four racks 13 are located in storage zone 29. All shelves of these racks 13 are made in the form of a solid surface and are attached directly to racks 14 The first and second shelves 15, 16 of each rack 13 are located (when installing this rack 13 in storage area 29) so that the upper planes of the first and second shelves 15, 16 are horizontal, so that the upper plane of the first shelf 15 is horizontal at a height of 1 m from the floor level 18 of the room of this warehouse, the upper plane of the second shelf 16 is horizontal at a height of 150 cm from the floor level 18 of the room of this warehouse.

For each storage location on each shelf 15, 16 of each rack 13, it is determined, by measuring this storage location using special programs and a 3D scanner, the following parameters corresponding to that storage location (in points (a) to (and)), and These parameters are determined using equipment that mobile robots 1 and control point 20 contain, and these parameters are placed on computer 21 control points 20 and on-board computers 6 mobile robots 1, on appropriate information storage devices 7, 22:

(a) the address of the place of storage, which uniquely identifies the place of storage of packaged cargo in this warehouse, for example, the address of this place of storage is: 10;

(b) the distance from the upper plane of the shelf on which this storage place is located to the lower plane of the shelf of the next storage level of this rack 13 (for a storage place located on the first (i.e. lower) shelf 15 of the rack 13), or a distance equal to the difference between the height of the rack 13 and the distance from the top plane of the shelf on which this storage location is located, to the OXY plane of the global coordinate system (for the storage location located on the second (i.e. top) shelf 16 of the rack 13), for example, the following value: 0, 5 m;

(c) coordinates of four points belonging to the upper plane of the shelf of the rack 13, calculated in the global coordinate system, which specify the largest rectangular parallelepiped in volume that can be placed without overhangs at this storage location of the shelf of the shelf 13 with the height specified by the previous parameter, which is defined in paragraph (b), for example, for the first shelf 15 of the rack 13 set the following ordered sequence of numbers: (50, 80, 1), (55, 80, 1), (55, 82, 1), (50, 80, 1 );

(d) coordinates of a point (calculated in the global coordinate system) belonging to the upper plane of the shelf of the rack 13 where this storage place is located, which is preferably chosen for placing the load 17 so that the projection of the beginning of the coordinate system of the load 17 onto the upper plane of this shelf of the rack 13 coincides with this point, for example, the coordinates of this point are in the form of the following ordered triple of numbers: (53, 81,1);

(e) location parameters of the mobile platform 2 of the first mobile robot 1 when selecting cargo 17, from this storage location by the first mobile robot 1 to which this mobile platform 2 is moved, in particular, the coordinates of the origin of the coordinate system of the mobile platform 2 of the first mobile robot 1 calculated in the global coordinate system, for example: (53, 79, 0), and the coordinates of the unit vector of the first axis of the coordinate system of the mobile platform 2 of the first mobile robot 1, calculated in the global coordinate system, and orye set when implementing selection cargo 17 from that storage location, and which do not change throughout the load operation selection 17, such as: (0, 1, 0);

(e) location parameters of two video cameras 9, two arms 11 of the robot and two wrists 10 of the robot placed on the mobile platform 2 of the first mobile robot 1, and on which these two video cameras 9 are installed, at which the images obtained through these two video cameras 9 contain the image of this storage place, and which are calculated experimentally, using special programs through which they implement computer vision algorithms, and using real-time embedded software designed for For real-time control of a robot arm, a robot wrist, a gripper, an omnidirectional mobile mechanism;

(g) Location parameters of the mobile platform 2 of the first mobile robot 1 when cargo is thrown 17 (selected from this storage location) by the first mobile robot 1 to which this mobile platform 2 is moved, in particular, the coordinates of the origin of the coordinate system of the mobile platform 2 of the first mobile the robot 1, calculated in the global coordinate system, for example: (53, 75, 0), and the coordinates of the unit vector of the first axis of the coordinate system of the mobile platform 2 of the first mobile robot 1, calculated in the global system to Coordinates that are set when the load is thrown 17, taken from this storage location, and which do not change throughout the entire operation of throwing the load 17, for example: (-1, 0, 0);

(h) Location parameters of the mobile platform 2 of the second mobile robot 1, when the cargo 17 (selected from this storage location) is captured by the second mobile robot 1, to which this mobile platform 2 is moved, in particular, the coordinates of the origin of the coordinate system of the mobile platform 2 of the second mobile robot 1, calculated in the global coordinate system, for example: (25, 75, 0), and the coordinates of the unit vector of the first axis of the coordinate system of the mobile platform 2 of the second mobile robot 1, calculated in global with the system of coordinates, and which are set during the capture of the cargo 17 taken from this storage location on the fly, and which do not change throughout the operation of the cargo capture 17 on the fly, for example: (1, 0, 0), while throwing the load 17 (selected from this storage location) mobile robots 1 are positioned so that the minimum distance between the orthogonal projection (onto the upper horizontal plane of the floor 18 of this storage room) of the space swept by the center wrist 4 of the robot on which the gripper is installed 3 of the first mobile robot 1, when it is moved to the location when the load is thrown 17, and the orthogonal projection (onto the upper horizontal plane of the floor 18 of the warehouse) of the space swept by the center wrist 4 of the robot on which the gripper 3 of the second mobile robot is mounted 1, when it is moved to a location when grabbing cargo 17 on a fly, exceeds the diameter of the space swept by the center point of the wrist 4 of the robot on which the gripper 3 is mounted th mobile robot 1 at a fixed location of the mobile platform 2 of the first mobile robot 1;

(i) the coordinate system of this storage location, that is, the coordinates of the origin of the coordinate system of this storage, calculated in the global coordinate system, for example: (53, 81, 1), and the coordinates of three unit vectors defining the direction of the three coordinate axes of this coordinate system storage locations calculated in the global coordinate system, for example: (1, 0, 0), (0, 1, 0), (0, 0.1).

In the picking area 25, a container 19 is placed, intended to drop cargo 17 into it, transferred to the picking area 25 by the second mobile robot 1. For the picking area 25, the following location parameters of the second mobile robot 1 are determined the discharge of cargo 17 by means of a second mobile robot 1, and into which this mobile robot 1 is moved, and these parameters are determined using equipment that contains a second mobile robot t 1, and these parameters are placed on the computer 21, control point 20 and the on-board computer 6 of the second mobile robot 1, on the respective storage devices 7, 22:

- coordinates of the origin of the coordinate system of the mobile platform 2 of the second mobile robot 1, calculated in the global coordinate system, for example: (25, 39, 0), and coordinates of the unit vector of the first axis of the coordinate system of the mobile platform 2 of the second mobile robot 1, calculated in the global coordinate system , and which are set when dropping the load 17, and which do not change throughout the operation of dropping the load 17, for example: (0, -1, 0);

- the coordinates of the origin of the coordinate system of the gripping device 3 of the second mobile robot 1, calculated in the global coordinate system, and the coordinates of the unit vectors of all three axes of the coordinate system of the gripping device 3 of the second mobile robot 1, calculated in the global coordinate system, and which are set when the load drops 17 at the moment before opening the gripping device 3, and which are set so that when opening the gripping device 3, the load 17, under the action of gravity, moves into the container 19, and which are calculated experimentally, using video recording of the dropping of this sample of load 17, using special programs by means of which computer vision algorithms are implemented.

For the movement of goods 17 in the warehouse of unitized cargo, control point 20 was used. Control point 20 contains a computer 21, with an input device 24 connected, an information storage device 22, and wireless network equipment 23 designed to connect this computer 21 as a computer network to a wireless local area network based on Wi-Fi technology. The control point 20 is located in the warehouse of packaged cargoes, outside the storage area 29 and outside the picking area 25 of the containerized cargoes warehouse, and outside of the driveways 26, 30 intended for moving mobile robots 1.

The following special programs are installed on the computer 21 control points 20 with the connected storage device 22:

- real-time operating system;

- a special program through which the system time is established and maintained with the implementation of synchronization with the time server;

- special programs through which they implement parallel computing algorithms;

- special programs by means of which approximate solutions of systems of ordinary differential equations with boundary conditions are calculated, using numerical methods, and using the shooting method for boundary-value problems of a system of ordinary differential equations.

Before placing goods 17 in storage area 29, a quantitative indicator of the nomenclature of goods 17 to be stored in this warehouse of packaged goods is determined, for example, equal to 4. Thus, 4 items of goods are used, which, for example, are denominated as GR1, GR2, GR3, GR4. At the same time, in this warehouse of packaged cargoes, it is taken into account that if two loads 17 are the same, then these two loads 17 have the same name. Then select a set of cargo samples 17 corresponding to this particular cargo nomenclature 17. For each sample of cargo 17, using weighting, measuring the sample of cargo 17, and, if necessary, using a stand for determining the center of mass of the products, and using a 3D scanner, determine the following parameters corresponding to this sample of the load 17, and these parameters are determined using special programs through which they implement computer vision algorithms, and using embedded software real-time systems designed to control real-time robot arm, robot wrist, gripper, omnidirectional mobile mechanism, using equipment that mobile robots 1 and control point 20 contain, and these parameters are placed on computer 21 control points 20 and on-board computers 6 mobile robots 1, on the corresponding information storage devices 7, 22:

- Name of the cargo 17, for example, GR1;

- the mass of the sample load 17, for example, 0.1 kg;

- the parameters of the coordinate system of the sample of the load 17, while the origin of the coordinate system of the sample of the load 17 selects the center of mass of this sample of the load 17, and choose the directions of the three coordinate axes of this coordinate system of the sample of the load 17, for example, the directions of the three coordinate axes of this coordinate system of the sample of the load 17, having a cube shape, for example, with a side length of 0.1 m, is chosen in pairs mutually perpendicular and directed, respectively, in parallel to three, extending from one vertex to the edges of this cube;

- the parameters of the three-dimensional model (otherwise called the 3D model) of the sample load 17, for example, the sample load 17 has the shape of a cube, with a side length of 0.1 m;

- air resistance coefficient determined by the properties of the medium, the shape of the sample of the load 17, corresponding to the square of the speed of the sample of the load 17, and corresponding to this sample of the load 17, and determined when moving this sample of the load 17 with a speed not exceeding 15 m / s;

- the parameters of the capture zone of this sample of load 17 by means of a gripping device 3 of the first mobile robot 1, i.e. when the center of mass of the sample of the load 17 coincides with one of these points, it is possible to reliably capture and hold this sample of the load 17 by closing this gripping device 3, and which are calculated experimentally, with Using the video capture of this sample load 17, using special programs through which computer vision algorithms are implemented, for example, the parameters of the capture zone of this sample load 17 by gripping device 3 of the first mobile robot 1 represent the radius of the ball and the coordinates of the ball center, gripping devices that define the largest ball that contains the gripping zone of this sample of cargo 17 by means of this gripping device;

- location parameters of the gripping device 3 of the first mobile robot 1 when carrying out reliable gripping of the sample load 17 placed on a flat horizontal surface at the moment before closing of this gripping device 3, i.e. the coordinates of the origin of the coordinate system of the gripping device 3 of the first mobile robot 1 calculated in the system coordinates of the sample of the load 17 placed on a flat horizontal surface, and the coordinates of the unit vectors of all three axes of the coordinate system of the gripping device 3 of the first mobile robot 1 calculated at the sample coordinate system load 17 and that calculated experimentally, using a video capture this sample load 17, with the use of special programs by which implement algorithms for computer vision.

For each mobile robot 1 and for each sample of the load 17, determine (relative to the coordinate system of the mobile platform 2 of this mobile robot 1) the location parameters of the robot’s arm 5, the robot’s wrists 4, the gripping device 3 while this sample of the load 17 is being held cargo 17 through the automatic operation of this mobile robot 1, and which are calculated experimentally, using video recording of the implementation of the retention of this sample of cargo 17 while transporting This sample of cargo is 17, with the use of special programs through which computer vision algorithms are implemented, and with the use of real-time embedded software designed to control in real time the arm of the robot, the wrist of the robot, the gripping device omnidirectional mobile mechanism, and the parameters are determined using equipment that contains the corresponding mobile robot 1, and these parameters are placed on the computer 21 control points 20 and boron ovom PC 6 corresponding mobile robot 1, on the respective storage devices 7, 22.

For each sample of cargo 17 and for each storage location, with the use of special programs through which they implement computer vision algorithms, and with the use of real-time embedded software designed to control the robot arm in real time, the robot wrist, the gripper omnidirectional mobile mechanism, determine the following parameters of throwing the sample cargo 17 and capture on the fly this cargo 17, corresponding to this sample cargo 17 and this storage location, with and use of equipment, which contain mobile robots 1 and control station 20, and these options are placed on your computer 21-point control 20 and on-board computers 6 mobile robot 1 on the respective storage devices 7, 22:

- the calculated coordinates, in relation to the global coordinate system, the separation point of this missile sample load 17 from the gripping device 3 of the first mobile robot 1 (for example, the calculated coordinates of the separation point are: (53, 75, 2)), calculated coordinates, relative to the global coordinate system, the capture point on the fly of this sample of cargo 17 (for example, the estimated coordinates of the capture point on the fly are: (25, 75, 2)), and the estimated duration of the free flight of this sample cargo 17, which, for example, equal to 1.5 s;

- the parameters of the calculated trajectory 34 of moving the missile sample of the load 17 in the free flight phase, i.e. the time coming after the estimated moment of separation of this sample of the load 17 from the gripping device 3 of the first mobile robot 1 when throwing;

- the parameters of the calculated line of movement of the cargo sample of the load 17 in the acceleration phase, i.e. the initial position at the beginning of the acceleration phase, and including the calculated coordinates of the separation point of this sample of the load 17 from the gripping device 3;

- the parameters of the initial design of the location of the second mobile robot 1, with respect to the global coordinate system, when placing the cargo sample 17 in the initial position at the beginning of the acceleration phase;

- the estimated duration of the acceleration phase of this sample load 17, which, for example, is 3 s;

- parameters of operating modes of the robot arm 5, wrist 4 of the robot, gripping device 3 of the first mobile robot 1 for moving the calculated sample of load 17 along the acceleration line, for a given calculated starting time of acceleration of this sample of load 17 by gripping device 3 of the first mobile robot 1 when throwing, and for a given estimated duration of the acceleration phase of this sample of the load 17, to ensure the throwing of the sample of the load 17 along the calculated trajectory 34 with a given calculated initial velocity , in a given calculated direction, at a given calculated point in time, through the implementation of the opening of the gripping device 3 so that the center of mass of the missile sample of the load 17 is located at a given calculated separation point, at a given calculated point of time, and the calculated speed of the center of mass of the missile sample of the load 17 was equal to the specified calculated initial speed of separation of this sample of the load 17 from the gripping device, at a given calculated point in time, taking into account the location of the mobile platform 2 of the first mobile robot 1 in aspolozhenii in the exercise of throwing the load 17;

- the parameters of the initial design location of the second mobile robot 1, with respect to the global coordinate system, when capturing cargo 17, which is swept by the first mobile robot 1, at which the gripper 3 of the second mobile robot 1 is open and positioned so that the calculated point capture on the fly sample cargo 17 is in the zone of capture of this sample cargo 17 by means of a gripping device 3 of the second mobile robot 1;

- parameters, calculated locations (with respect to the global coordinate system) of two video cameras 9, two arms 11 of a robot and two wrists 10 of a robot placed on a mobile platform 2 of the second mobile robot 1, and on which two video cameras 9 are installed, at which the images taken through these two video cameras 9, contain images of all points, including the point of capture, belonging to the calculated trajectory 34 of free flight of the weighted sample of cargo 17, and which are calculated experimentally, using special programs, by means of oryh implement computer vision algorithms.

In this case, the calculated breakaway point of the sample 17 is selected belonging to the space swept by the center point of the wrist 4 (on which the gripping device 3 is installed) of the first mobile robot 1, when the mobile platform 2 of the first mobile robot 1 is located when it is moved to the location when the sample is thrown by means of the first mobile robot 1. At the same time, the calculated pickup point of the load sample 17 on the fly is selected as belonging to the space swept by the center point of the wrist 4 (on which the of the gripping device 3) of the second mobile robot 1 at the location of the mobile platform 2 of the second mobile robot 1, when it is moved to the location of the implementation on fly capture sample load 17 which via a first hurl mobile robot 1.

The air resistance coefficient K, corresponding to the movement of the sample of the load 17 with a given initial speed, was calculated experimentally, for example, using video recording of the load of the sample of the load 17 with a given initial speed, at an angle to the horizontal.

Thus, to determine the parameters of the calculated trajectory 34 of moving the missile sample of the load 17 in the free flight phase, the following actions are performed.

First, for sample load 17 and for each pair of locations of two mobile robots 1, with respect to the global coordinate system (i.e. the location of the first mobile robot 1, when carrying out the throwing of loads 17 and corresponding to it the location of the second mobile robot 1, when realizing the capture of loads 17 on fly), set the following initial conditions: the calculated coordinates of the point of separation of the sample load 17, calculated in the global coordinate system, the calculated coordinates of the capture point of the sample load 17 on the fly, calculated in the global system the topic of coordinates, the estimated duration of the free flight of the sample of the load 17, equal, for example, 1.5 s, and set the estimated time of separation of the sample of the load 17 from the gripping device 3 when throwing it. This determines the vertical plane passing through the calculated point of separation of the sample load 17 and the estimated capture point of the sample load 17 on the fly, that is, the plane in which the points of the calculated trajectory 34 move in the free flight phase of the center of mass of the missile sample 17. In this plane enter the Cartesian rectangular coordinate system in which the first coordinate axis is in the horizontal plane, perpendicular to the direction of gravity, and the second coordinate axis is directed vertically upwards, that is, apravlena opposite to the direction of gravity, and as the origin of this coordinate system is selected calculated point of separation of the sample load 17.

Then, using special programs, an approximate solution of the system of ordinary differential equations (1) with boundary conditions (3) and specified parameters of the load sample 17 is calculated, by means of which the calculated trajectory 34 of displacement in the free flight phase of the center of mass of the missile load sample 17 in the vertical plane passing through the estimated point of separation of the sample load 17 and the estimated capture point of the sample load 17 on the fly, while using the method of zeroing for the boundary problems of the system of ordinary differential s equations. In this case, in the system of ordinary differential equations (1), as the value of the parameter m, set the weight of the missile sample of the load 17, as the value of the parameter K, set the value of the air resistance coefficient corresponding to this sample of load 17. At the same time, in the boundary conditions (3) , as the value of the parameter T set the calculated moment of separation of the load sample 17 from the gripping device when throwing it, as the value of the parameter L set the sum: the value of the parameter T and the specified calculated duration of the free flight of the sample Uza 17, as the values of the parameters A and B, set the calculated coordinates of the point of separation of the sample of the load 17, calculated in the coordinate system entered in the vertical plane passing through the calculated point of separation of the sample of the load 17 and the calculated capture point of the sample of the load 17 on the fly, as values Parameters E and G set the calculated coordinates of the point of capture of the sample of the load 17 on the fly, calculated in the coordinate system entered in the vertical plane passing through the calculated point of separation of the sample of the load 17 and the calculated point of capture of the sample and 17 on the fly. In particular, the set of values of the approximate solution of the system of ordinary differential equations (1) with boundary conditions (3) is calculated for the following 1001 values of the independent variable t:

t _w = T + h ₀ ⋅0,001⋅w,

Where:

t _w is the value of the independent variable t, that is, the given calculated instant of time, coming after the estimated moment of detachment of this sample of load 17 from the gripping device 3 of the first mobile robot 1 when throwing, s;

w is the ordinal number of the value of the independent variable t, that is, an integer that takes all values from 0 to 1000;

T - the estimated point in time at which the center of mass of the sample of the load 17 is at the separation point when the sample of the load is thrown 17, s;

h ₀ - given the estimated duration of the free flight of the sample cargo 17, p.

Thus, a set of values of the approximate solution of the system of ordinary differential equations (1) with boundary conditions (3) is found, which have the form: (x (t _w ), y (t _w ), u (t _w ), v (t _w ) ) for an integer w taking all values from 0 to 1000. The system of ordinary differential equations (1) is autonomous. Therefore, when the initial calculated moment T of detachment of a sample of load 17 from a gripping device and the estimated moment of capture of this sample of a load 17 on the fly, by the same value S, the calculated set of values of the approximate solution of the system of ordinary differential equations (1) with boundary conditions ( 3), is used to determine the approximate solution of the system of ordinary differential equations (1) with boundary conditions (3) taking into account these modified initial data.

Thus, an ordered sequence of 4004 numbers {H _s } (for all integers s from 1 to 4004) is calculated, which are the calculated coordinates of points and the calculated coordinates of vectors calculated in the coordinate system set for the vertical plane passing through the calculated separation point sample cargo 17 and the estimated point of capture sample cargo 17 on the fly. The numbers H _{1 + 4⋅w} , H _{2 + 4⋅w} (for all integers w from 0 to 1000) is an ordered pair of numbers that represent the calculated coordinates of the center of mass of the load sample 17 at the estimated time point following the estimated moment of separation of the sample load 17 from the gripping device 3 of the first mobile robot 1 when throwing, after a period of time equal to the product of three numbers: the number w, the number h ₀ and the number 0.001. The number H _{1 + 4⋅w} is equal to the number x (t _w ), the number H _{2 + 4⋅w} is equal to the number y (t _w ) (for all integer numbers w from 0 to 1000). Then, for each point defined by an ordered pair of numbers H _{1 + 4⋅w} , H _{2 + 4⋅w} (for all integer numbers w from 0 to 1000), the coordinates of this point in the global coordinate system are calculated as an ordered triple of numbers: h _{1 + 6⋅w} , h _{2 + 6⋅w} , h _{3 + 6⋅w} . The numbers H _{3 + 4⋅w} , H _{4 + 4⋅w} (for all integers w from 0 to 1000) is an ordered pair of numbers that represents the calculated coordinates of the velocity vector of the center of mass of the cargo sample 17 at the calculated time point, coming after the estimated moment of separation of this sample of load 17 from the gripping device 3 of the first mobile robot 1 when throwing, after a period of time equal to the product of three numbers: the number w, the number h ₀ and the number 0.001. The number H _{3 + 4⋅w} is equal to the number u (t _w ), the number H _{4 + 4⋅w} is equal to the number v (t _w ) (for all integer numbers w from 0 to 1000). Then, for each vector defined by an ordered pair of numbers H _{3 + 4⋅w} , H _{4 + 4⋅w} (for all integer numbers w from 0 to 1000), the coordinates of this vector in the global coordinate system are calculated as an ordered triple of numbers: h _{4 + 6⋅w} , h _{5 + 6⋅w} , h _{6 + 6⋅w} .

Thus, the parameters of the calculated trajectory 34 of displacement of the center of mass of the weighted sample of the load 17 in the free flight phase are calculated, which are an ordered sequence of 6007 {h _n } numbers (for all integer n from 0 to 6006), and where the first number h ₀ is the specified calculated duration of the free flight of the sample of the load 17, and the remaining 6006 numbers are calculated in the global coordinate system, the calculated coordinates of the center of mass of the missile sample of the load 17 and the calculated coordinates of the velocity vector of the center of mass of the missile sample load 17 at the appropriate time points.

In particular, the ordered triple of numbers: h ₁ , h ₂ , h ₃ are those calculated in the global coordinate system, the calculated coordinates of the center of mass of the cargo load sample 17 at the estimated time of separation from the gripper 3, and the ordered triple of numbers: h ₄ , h ₅ , h ₆ is, calculated in the global coordinate system, the calculated coordinates of the velocity vector of the center of mass of the weighted sample of the load 17 at the estimated time of separation from the gripping device 3. In particular, the ordered triple of numbers: h ₆₀₀₁ , h ₆₀₀₂ , h ₆₀₀₃ is, calculated in the global coordinate system, calculated The coordinates of the center of mass of the missile sample of the load 17 at the estimated moment of capture on the fly, and the ordered triple of numbers: h ₆₀₀₄ , h ₆₀₀₅ , h ₆₀₀₆ are those calculated in the global coordinate system, the calculated coordinates of the velocity vector of the center of mass of the missile sample 17 at the calculated moment capture on the fly. This calculation of the parameters of the calculated trajectory 34 move the missile sample of the load 17 in the phase of free flight complete.

The parameters of the estimated line of movement of the missile sample cargo 17 in the acceleration phase is determined as follows. The implementation of the phase of acceleration of the sample load 17 is produced by the implementation of the oscillating movement of the arm 5 of the robot, which is performed by means of the rotary joint of this robot arm 5. Thus, the center of mass of the swept cargo sample 17 in the acceleration phase is moved along an arc of a circle, while this circle passes through the calculated separation point of the cargo sample 17 from the gripping device 3, so that the calculated velocity vector of the center of mass of the loaded cargo sample 17 at the estimated separation time from the gripping device 3, deferred from the calculated point of separation of the sample load 17 from the gripping device 3, is directed tangentially to this circle. Then set the calculated distance (equal, for example, 0.8 m) between the center of mass of the missile sample of the load 17 while holding this sample of load 17 by the gripping device 3 and the axis of rotation of the rotational hinge of the robot’s hand 5 during the acceleration phase. Then determine the vertical plane passing through the estimated point of separation of the sample load 17 from the gripping device 3, parallel to the calculated vector of the center of mass velocity of the missile sample of the load 17 at the estimated time of separation from the gripping device 3, i.e. loadable sample load 17 in the acceleration phase. Then determine, relative to the global coordinate system, the calculated location of the center of the circle, along the arc of which move the center of mass of the missile sample of the load 17 in the acceleration phase. Then define this arc (which is less than a semicircle) of this circle by determining the coordinates (relative to the global coordinate system) of two points of this circle, the first of which is chosen belonging to this circle so that this point and the center of the circle belong to the same horizontal line, and the second of which is the estimated point of separation of the sample of the load 17 from the gripping device 3 at the estimated moment of separation of the sample of the load 17 from the gripping device 3, and the central angle formed by this arc is circumferential awes - stupid. At the same time, the estimated duration of the acceleration phase of this sample of load 17 is set, for example, equal to 1 s.

Thus, the initial design arrangement of the robot arm 5 when implementing the acceleration phase of the weighted sample of the load 17 is set so that the axis of rotation of the rotational hinge of this robot arm 5 by which this swinging movement is performed and the center of mass of the accelerated load sample 17, which is at the start of the acceleration phase, belonged to the same horizontal plane.

The implementation of the phase of acceleration of the sample load 17 is carried out through the implementation of the swinging movement of the arm 5 of the robot (from the initial design position of the arm 5 of the robot during the implementation of the acceleration phase of the missile sample load 17), in which:

- do not change the location of the axis of rotation of the rotary joint of this arm 5 of the robot by means of which this swinging movement is carried out;

- do not move this rotary hinge along the axis of rotation of this rotary hinge;

- have a rotational hinge of this robot arm 5, by means of which this swinging movement is carried out so that the center of mass of the cargo sample 17 is in the plane passing through the calculated separation point of the sample of cargo 17 from the gripping device 3, parallel to the calculated vector of the velocity of the center of mass of the loaded sample 17 at the estimated time of separation from the gripping device 3;

- do not change the distance between the center of mass of the missile sample of the load 17 while holding this sample of load 17 by the gripping device 3 and the axis of rotation of the rotary hinge of this robot arm 5, through which this swinging movement is performed, so that the axis of rotation of this rotary hinge is perpendicular to the plane, passing through the calculated point of separation of the sample load 17 from the gripping device 3, parallel to the calculated velocity vector of the center of mass of the missile sample of the load 17 at the estimated time of separation from the gripping device property 3.

Then, in the automatic operation mode of the first mobile robot 1, using special programs, determine the parameters of the operating modes of the robot 5 hand drives, the robot's wrist 4, the gripping device 3 of the first mobile robot 1 to move along the calculated line of the loaded sample 17 in the acceleration phase, for a given calculated starting time of the acceleration phase of this sample of load 17 by means of a gripper 3 of the first mobile robot 1 when throwing, and for a given calculated duration of the acceleration phase of this the load of the load 17, which, for example, is 3 s, to ensure the sample is thrown over the load trajectory 34 at a given calculated initial speed, in a given calculated direction, at a given calculated time, by opening the gripping device 3 so that the center of mass cargo missile sample 17 was located at a given calculated point of separation from the gripping device 3, at a given design point in time, and the calculated velocity of the center of mass of the cargo sample 17 was equal to the specified calculated initial the speed of separation of this sample of the load 17 from the gripping device 3, at a given calculated point in time, taking into account the location of the mobile platform 2 of the first mobile robot 1 at the location when carrying out for throwing the load 17. At the same time, the accuracy of working out the trajectory of the arm 5 of the robot and the wrist of the robot and gripping device 3 of the first mobile robot 1. At the same time determine the estimated time of the beginning of the phase of acceleration of the sample of the load 17, which precedes the specified calculated time of disclosure of the gripping device 3

Then, in the mode of automatic operation of the second mobile robot 1, using special programs, determine the parameters of the operating modes of the robot 5 hand drives, robot wrist 4, second robot 2 grip device 3 for moving the robot arm 5, robot 4 wrist, gripping device 3 the second mobile robot 1 in such an arrangement that the predetermined calculated capture point of the missile sample of the load 17 belongs to the capture zone of this sample of the load 17 by means of the gripper 3 of the second mobile unit of the mobile robot 1, taking into account the location of the mobile platform 2 of the second mobile robot 1 when taking a sample of the cargo 17 on the fly

Then, in the automatic operation mode of the second mobile robot 1, using special programs, determine the location parameters of two video cameras 9 placed on the mobile platform 2 of the second mobile robot 1, and the location parameters of the two arms 11 of the robot and two wrists of the robot 10 on which these video cameras 9 are placed so that the images obtained through these video cameras 9 contain the images of all points, including the calculated capture point, belonging to the calculated free flight path 34 of the missile cargo sample 1 7, and which are calculated experimentally, using special programs through which they implement computer vision algorithms.

Then packaged cargoes 17 manually placed in storage. Placement of goods 17 on the shelves produced without overhangs. Information about the name of the placed goods and the corresponding locations of the storage locations are placed in the computer 21 of the control station 20 on the information storage device 22, using manual data entry programming, using the input device 24. Then measure the storage space of the unit-cargo cargo (along with the contents of this room) and build a three-dimensional model of the room of this warehouse (along with the contents of this room) through the use of a 3D scanner. The information that contains the parameters of this three-dimensional model is placed in the computer 21 of the control point 20 on the information storage device 22 by using the input device 24. Then the parameters of the passages 26, 30 for the first and second mobile robots 1 are determined. Then the parameters of the lines of possible movements of the mobile platforms 2 of the first and second mobile robots 1 on the corresponding passage. In the configuration zone 25, with respect to the global coordinate system, the parameters of the location of the second mobile robot 1 are determined when dropping the loads 17 by means of the second mobile robot 1.

For each storage location on each shelf of each rack 13 determine the parameters corresponding to this storage location.

For each load 17, which is placed in the appropriate storage location, determine the parameters that match the parameters of the sample load 17, which corresponds to this load 17.

For each cargo 17 and for the corresponding place of storage, in which this cargo 17 is placed, parameters of sample throwing of cargo 17 and capture of this cargo 17 on the fly correspond to this cargo 17 and this storage place.

At the same time, for the picking zone 25, with respect to the global coordinate system, the parameters of the location of the second mobile robot 1 are determined when the loads 17 are dropped by the second mobile robot 1.

At the same time, for each cargo 17 placed in a specific storage location on the computer 21 of the control station 20, using special programs, determine the parameters of the calculated trajectory 34 of moving the center of mass of this cargo 17 in the free flight phase when it is thrown by the first mobile robot 1.

The information, which contains all the defined parameters, is placed in the computer 21 of the control station 20 on the information storage device 22, using programming manual data entry, using the input device 24.

Then place the first mobile robot 1 in passage 30, intended for selecting loads 17 from storage and throwing loads 17. Then place the second mobile robot 1 in passage 26, intended for grabbing loads 17 on the fly and transporting loads 17 to the picking zone 25. When this information representing the parameters of the initial location of the mobile robots 1 is placed in the computer 21 of the control point 20 on the information storage device 22, by using the input device 24. Then the wireless a local computer network based on Wi-Fi technology, to which computer 21, control points 20, and onboard computers 6 of the first and second mobile robots 1 are connected as computer network nodes; with the implementation of synchronization with the time server on the computer 21 control points 20 and the on-board computers 6 of the first and second mobile robots 1, in the mode of automatic operation of these robots 1, using special lnyh programs through which they implement parallel computing algorithms. In this case, the computer 21 control points 20 is installed as an exact time server.

Then, all information relating to this warehouse, located in the computer 21 of the control point 20 on the information storage device 22, is transmitted via a wireless local area network based on Wi-Fi technology from the computer 21 of the control point 20 to the onboard computers 6 of the first and second mobile robots 1 .

The selection of goods 17 from storage and moving them to the picking zone 25 is as follows. On computer 21 control points 20, using programming manual data entry, using input device 24, enter the name of the load 17, which will be taken from the storage location and moved to the picking area 25. Then on the computer 21 control points 20, using special programs , in the mode of automatic operation of this control point 20, according to this name of the load 17, at least one address of the place of storage of the load 17 with this name is found, and is transmitted, in the mode of automatic functioning of this item The control 20, this address on the onboard computers 6 of the first and second mobile robots 1 through a wireless local area network based on Wi-Fi technology.

Then on the on-board computers 6 of the first and second mobile robots 1, through their automatic functioning, via a wireless local area network based on Wi-Fi technology, the address of the storage location is obtained, from which the load 17 will be taken.

Then on the on-board computers 6 of the first and second mobile robots 1, by means of their automatic functioning, determine:

- parameters of this storage place;

- parameters of the cargo 17 placed in this storage place;

- parameters for throwing this cargo 17 and capturing this cargo 17 on the fly, corresponding to this cargo 17 and this storage location.

Then on the on-board computer 6 of the first mobile robot 1, by means of its automatic functioning, determine:

- parameters of the lines along which they will move the mobile platform 2 of the first mobile robot 1 along the corresponding passage 30 to move: a) from the current location of the first mobile robot 1 to the location when selecting this load 17 from this storage location, b) from the location of the first mobile the robot 1 in the implementation of the selection of this cargo 17 from this storage location in the location when the implementation of the throwing of this cargo 17, selected from this storage location;

- location parameters (relative to the coordinate system of the mobile platform 2 of the first mobile robot 1) of the robot's arm 5, the robot's wrist 4, the gripping device 3 while retaining this load 17 while transporting this cargo 17 by automatically operating the first mobile robot 1.

Then, on the on-board computer 6 of the second mobile robot 1, using special programs through which they implement computer vision algorithms, and using real-time embedded software designed to control the robot's hand in real-time, the wrist of the robot, the gripper omnidirectional mobile mechanism, through its automatic functioning, determine:

- parameters of the lines along which the mobile platform 2 of the second mobile robot 1 will be moved along the corresponding driveway 26 to move: a) from the current location of the second mobile robot 1 to the location when capturing this cargo 17 taken from this storage location on the fly, b) from the location of the second mobile robot 1 to the location when capturing this cargo 17 on the fly, taken from this storage location, to the location of the second mobile robot 1 when dropping this cargo 17 between Twomey second mobile robot 1;

- location parameters (relative to the coordinate system of the mobile platform 2 of the second mobile robot 1) of the robot's arm 5, the robot's wrist 4, the gripping device 3 while retaining this load 17 while transporting this cargo 17 through the automatic operation of the second mobile robot 1.

Then, the first mobile robot 1, by means of its automatic functioning, is moved (along the corresponding driveway 30, along the corresponding line) to its location when grabbing the load 17 located at this storage location. The capture of this cargo 17 through the automatic operation of the first mobile robot 1 is as follows. First, the arrangement of two video cameras 9 is carried out in accordance with the parameters corresponding to this storage location, through the automatic operation of the first mobile robot 1. For this, through the automatic operation of the first mobile robot 1, two video cameras 9 are placed on the mobile platform 2 of the first mobile robot 1 by moving two arms 11 of the robot and two wrists of the 10 robot on which they are placed, so that the images obtained through these video cameras 9, contained an image of this storage location, and therefore an image of cargo 17, which is located at this storage location. In this case, the on-board computer 6 of the first mobile robot 1, using special programs, is configured, by means of the automatic functioning of the first mobile robot 1, to receive images from two video cameras 9 placed on the mobile platform 2 of the first mobile robot 1, and to process the received images for recognition cargo 17 and its real spatial location, with the help of special programs through which they implement computer vision algorithms. Then, on the on-board computer 6 of the first mobile robot 1, images of this storage place and load 17 located at that storage location are obtained, and this load 17 is recognized and its spatial location.

Then, on the on-board computer 6, the first mobile robot 1 is determined using special programs through which computer vision algorithms are implemented, and using real-time embedded software designed to control the robot's hand in real-time, the robot's wrist, the gripper omnidirectional the mobile mechanism, through coordinate transformation, the location parameters, relative to the global coordinate system, of the gripping device 3 of the first mobile robot 1 when implementing a reliable capture of the cargo 17 placed in this storage location at the moment before closing this gripping device 3, i.e. the corresponding coordinates of the origin of the coordinate system of the gripping device 3 of the first mobile robot 1, calculated in the global coordinate system unit vectors of all three axes of the coordinate system of the gripping device 3 of the first mobile robot 1, calculated in the global system.

Before seizing the cargo 17 from this storage location, the gripping device 3 of the first mobile robot 1 is opened, by means of the automatic operation of the first mobile robot 1. Then for this cargo 17, corresponding to a specific sample of cargo 17, and for this storage location, using special programs, determine the parameters modes of operation of the robot arm 5, wrist 4 of the robot and the gripping device 3 of the first mobile robot 1, for realizing the arrangement of the gripping device 3 of the first mobile robot 1 when exercising over This load 17 placed in this storage location is captured at the moment before closing of this gripping device 3. Then, by automatically operating the first mobile robot 1, this arrangement of the gripping device 3 of the first mobile robot 1 is performed while carrying out reliable gripping of this cargo 17 placed in this storage place, at the moment before closing of this gripping device 3, and after that close the gripping device 3 of the first mobile robot 1, thereby seizing cargo 17 from the storage place and holding it by the gripping device 3 of the first mobile robot 1. Then, this gripping device 3, together with the retained load 17, is moved towards the mobile platform 2 of the first mobile robot 1, and the positioning of the arm 5 of the robot, the wrist of the robot 4, the gripping device 3 while holding this cargo 17 while transporting this cargo 17 by means of this mobile robot 1.

Then, the first mobile robot 1 is moved (along the corresponding passage 30, along the corresponding line), by means of its automatic operation, to the location when carrying out the throwing of the load 17 taken from this storage location. Then the second mobile robot 1 is moved (along the corresponding passage 26, along the corresponding line), by means of its automatic operation, to the location when grabbing cargo 17 taken from this storage location on a flight.

Then, two video cameras 9 are placed on the mobile platform 2 of the second mobile robot 1 by moving two arms 11 of the robot and two wrists 10 of the robot on which they are placed, so that the images obtained through these video cameras 9 contain the image of all points belonging to the calculated trajectory 34 of free flight of this cargo 17, which is thrown by means of the first mobile robot 1, including a given capture point, through the automatic functioning of the second mobile robot 1. While the on-board computer 6 of the second mobile robot 1 is set up to receive images from two video cameras 9 placed on the mobile platform 2 of the second mobile robot 1, and to process the obtained images to recognize the missile load 17 and its real spatial location, taking into account the time required for image processing missile load 17, with the help of special programs through which they implement computer vision algorithms, through the automatic operation of the second mobile first robot 1. Then, from the onboard computer 6 of the second mobile robot 1, the message about the availability of the second and second mobile robots 1 is transmitted to the onboard computer 6 of the first mobile robot 1 (via a wireless local area network based on Wi-Fi technology). mobile robot 1 to capture this cargo on the fly 17.

Then, by means of the automatic operation of the first mobile robot 1, the initial design position of the first mobile robot 1 is carried out when placing the missile load 17 in the initial position at the beginning of the acceleration phase.

Then, on the on-board computer 6 of the first mobile robot 1, with the help of special programs, determine the estimated moment of the start of the acceleration phase of this load 17 (to ensure the throwing of this load 17 on the calculated trajectory 34 by means of the first mobile robot 1), and the calculated moment of separation of the missile load 17 from the gripping device 3 of the first mobile robot 1, and this information is transmitted to the on-board computer 6 of the second mobile robot 1 (via a wireless local area network based on Wi-Fi technology) through automatic fun first and second mobile robots 1. Then, this cargo 17 is accelerated and this cargo 17 is thrown along the calculated trajectory 34 by means of the automatic operation of the first mobile robot 1 (in accordance with the parameters of this cargo 17 throwing and this cargo 17 cargo 17 and this storage location). On the on-board computer 6 of the second mobile robot 1, images are acquired through two video cameras 9, and the obtained images are processed in real time, and they recognize the missile load 17 and its actual spatial location, taking into account the time required to receive and process images of the missile load 17, in particular, they receive, in real time, information about the location and speed of the center of mass of the missile load 17, through the automatic operation of the second mobile robot 1. In this case, nyayut special program, through which implement algorithms for parallel computing, whereby producing a real-time processing at a time of multiple images produced by two video cameras, and thus control the operation of a mobile robot, in particular, controls the movement of the robot arm, the robot wrist and gripper.

This takes into account the fact that when throwing cargo 17 this cargo may deviate from the calculated trajectory 34 of movement. In order to capture this cargo 17 on the fly with a possible deviation of this cargo 17 from the calculated movement trajectory 34, the following set of actions is carried out, designed to capture this cargo 17 on the fly by means of the automatic operation of the second mobile robot 1, which consists of actions A1 and a set of actions A2, which are performed in parallel, through the implementation of parallel computing, and through the automatic operation of the second mobile robot 1 that, in real time. At the same time, these actions are performed, using special programs, in real time, through the automatic operation of the second mobile robot 1, after the separation of the missile load 17 from the gripping device 3 of the first mobile robot 1, while taking into account that 17 is not captured on the fly by the second mobile robot 1 for, for example, 10 s after the separation of the missile load 17 from the gripping device 3 of the first mobile robot 1, then carry out the capture on the fly of this load 17, by means of an automatic Cesky second operation of the mobile robot 1 under these circumstances is impossible. At the same time, the beginning of the implementation of the set of actions A1 and the set of actions A2 coincide with the calculated moment of separation of the weighted load 17 from the gripping device 3 of the first mobile robot 1.

The set of actions A1 (its description consists of the descriptions of steps 1-2) is as follows:

Step 1. Perform in parallel, through the implementation of parallel computing, and through the automatic operation of the second mobile robot 1, in real time, the following two sets of actions, labeled 1.1. and 1.2. (while the set of actions 1.1. consists of steps 1a and 16):

The set of actions 1.1. next:

Step 1a. On the on-board computer 6 of the second mobile robot 1, the received images calculate (in the global coordinate system) the coordinates of the center of mass of the missile load 17 at the current time (the point that has these calculated coordinates, denoted by J), the coordinates of the velocity vector of the center of mass of the missile load 17 at the current time (while the vector that has these calculated coordinates, denoted by F), and at the same time determine the current time Q, which calculated the coordinates of the center of mass of the missile load 17. When e ohm, through the implementation of parallel processing is performed localization second mobile robot 1 and determining parameters capture zone of the cargo 17 by the gripper 3 of the second mobile robot 1 (relative to the global coordinate system). Then, using special programs, determine whether point J belongs to the capture zone of this load 17 by means of the gripper 3 of the second mobile robot 1. Then, if point J belongs to the capture zone of this load 17 by means of the gripper 3 of the second mobile robot 1, then capture cargo 17 by closing the gripping device 3 of the second mobile robot 1 and this completes the implementation of a set of actions intended to capture this cargo 17 on the fly by means of an automatic fun tioning second mobile robot 1, and is carried out of this cycle of two steps 1-2, stopping all operations described in steps 1-2, and stopping all the steps in the set of actions A1 and A2 together action. In case the point J does not belong to the zone of capture of this cargo 17 by means of the gripping device 3 of the second mobile robot 1, then the following actions are carried out. A comparison is made of the estimated moment of separation of the missile load 17 from the gripping device 3 of the first mobile robot 1 with the time moment Q, and if the estimated moment of detachment of the load-carrying goods 17 from the gripping device 3 of the first mobile robot 1 differs from the time moment Q by an amount not less than 10 s This transmits to the computer 21 control points 20 from the onboard computer 6 of the second mobile robot 1 (via a wireless local area network based on Wi-Fi technology) a message about the unsuccessful attempt to capture cargo 17 on the fly, and t output from this cycle of two steps 1-2, stopping all operations described in steps 1-2, and stopping all the steps in the set of actions A1 and A2 together action. If the estimated moment of separation of the metered load 17 from the gripping device 3 of the first mobile robot 1 differs from the time point Q by an amount less than 10 s, then the following actions are performed.

On the on-board computer 6 of the second mobile robot 1, the vertical plane passing through the point J parallel to the vector F is determined in real time by means of the automatic operation of the second mobile robot 1. In this plane a Cartesian rectangular coordinate system is introduced in which the origin of coordinates coincides with the point J, and in which the first coordinate axis is in the horizontal plane, perpendicular to the direction of gravity, and the second coordinate axis is directed vertically upwards, i.e. ene is opposite to the direction of gravity.

Then, by means of the automatic operation of the second mobile robot 1, an approximate solution of the system of ordinary differential equations (1) with initial conditions (2) and given parameters of the load 17 is calculated, by which the new calculated trajectory of movement in the free flight phase of the center of mass of the missile load 17 in the vertical the plane passing through the point J parallel to the vector F, while using special programs, by means of which approximate solutions of the Cauchy problem for systems about by differential equations, using numerical methods. In this case, in the system of ordinary differential equations (1), the weight of the missile 17 is set as the value of the parameter m, the value of the air resistance coefficient corresponding to this load 17 is set as the value of the parameter K. In the initial conditions (2), the value of the parameter T, set the time instant Q, as the values of the parameters A and B set the coordinates of the point J, calculated in the coordinate system entered in the vertical plane passing through the point J parallel to the vector F. Under the initial conditions (2) As the values of the parameters C and D, the coordinates of the vector F are calculated, calculated in the coordinate system entered in the vertical plane passing through the point J parallel to the vector F. In particular, by automatically functioning the second mobile robot 1, a new set of values of the approximate solution of the system of ordinary differential equations is calculated (1) with new initial conditions (2) for the following 1001 values of the independent variable t:

r _w = Q + h ₀ ⋅0,001⋅w,

Where:

r _w is the value of the independent variable t, that is, the calculated point in time, coming after the point in time Q defined in this step 1a, s;

w is the ordinal number of the value of the independent variable t, that is, an integer that takes all values from 0 to 1000;

Q is the point in time at which the coordinates of the center of mass of the missile load 17 were calculated at this step 1a, s;

h ₀ - given the estimated duration of the free flight of cargo 17, p.

Then find a new set of values of the approximate solution of the system of ordinary differential equations (1) with new initial conditions (2), which have the form: (x (r _w ), y (r _w ), u (r _w ), v (r _w ) ) for an integer w, taking all values from 0 to 1000.

Thus, an ordered sequence of 4004 numbers {N _s } (for all integers s from 1 to 4004) is calculated, which are the calculated coordinates of the points and the calculated coordinates of the vectors calculated in the coordinate system set for the vertical plane passing through the point J in parallel vector F. At the same time, the numbers N _{1 + 4⋅w} , N _{2 + 4} ( _w (for all integers w from 0 to 1000) is an ordered pair of numbers, which is the calculated coordinates of the center of mass of the missile weight 17 at the estimated time, coming after time point Q, determined at this step 1a, after a time interval equal to the product of three numbers: the number w, the number h ₀ and the number 0.001. The number N _{1 + 4⋅w} is equal to the number x (r _w ), the number N _{2 + 4 +w} is equal to the number y (r _w ) (for all integer numbers w from 0 to 1000). Then, for each point defined by the coordinates N _{1 + 4⋅w} , N _{2 + 4⋅w} (for all integers w from 0 to 1000), the coordinates of this point are calculated in the global coordinate system, in the form of an ordered triple of numbers: p _{1+ 6⋅w} , p _{2 + 6⋅w} , p _{3 + 6⋅w} . The numbers N _{3 + 4⋅w} , N _{4 + 4⋅w} (for all integers w from 0 to 1000) is an ordered pair of numbers that represents the calculated coordinates of the velocity vector of the center of mass of the missile weight 17 at the estimated time, coming after the moment of time Q, defined at this step 1a, after a period of time equal to the product of three numbers: the number w, the number h ₀ and the number 0.001. The number N _{3 + 4⋅w} is equal to the number u (r _w ), the number N _{4 + 4⋅w} is equal to the number v (r _w ) (for all integer numbers w from 0 to 1000). Then, for each vector defined by the coordinates N _{3 + 4⋅w} , N _{4 + 4⋅w} (for all integers w from 0 to 1000), calculate the coordinates of this vector in the global coordinate system, in the form of an ordered triple of numbers: p _{4+ 6⋅w} , P _{5 + 6⋅w} , P _{6 + 6⋅w} .

Thus, by means of the automatic operation of the second mobile robot 1, the parameters of the new calculated trajectory of displacement of the center of mass of the missile load 17 in the free flight phase are calculated, which are an ordered sequence of 6007 numbers {p _i } (for all integer numbers i from 0 to 6006), and the first number p ₀ equal to the number h ₀ is the specified calculated duration of free flight of cargo 17, and the remaining 6006 numbers are calculated in the global coordinate system, the calculated coordinates of the center of mass of the missile r ruza 17 and the calculated coordinates of the velocity vector of the center of mass of the missile load 17 at the corresponding calculated points in time.

In particular, an ordered triple of numbers: p ₁ , p ₂ , p ₃ is calculated in the global coordinate system, the calculated coordinates of point J, and an ordered triple of numbers: p ₄ , p ₅ , p ₆ are calculated in the global coordinate system , the calculated coordinates of the vector F.

Then, on the on-board computer 6 of the second mobile robot 1 among 1001 calculation points with calculated coordinates of the form: p _{1 + 6⋅q} , p _{2 + 6⋅q} , p _{3 + 6⋅q} (for all integer numbers q from 0 to 1000), through the automatic operation of the second mobile robot 1, using special programs, determine the calculated point (which is denoted by R), which is located at a minimum distance from the capture zone of this cargo 17 by means of a gripper 3 of the second mobile robot 1, whose parameters (in the global coordinate system ) calculated at this step 1a This completes step 1a and proceeds to step 1b.

Step 1b. Determine whether the point R, defined in step 1a, belongs to the space swept by the center point of the wrist 4 (on which the gripping device 3 is installed) of the second mobile robot 1 when the mobile platform 2 of the second mobile robot 1 is located when it is moved to the location on the flight of the load 17, which is thrown by means of the first mobile robot 1. If the point R does not belong to this space, then step 1b is completed and transferred to step 1a. If the point R belongs to this space, then it is determined whether step 2 was performed at least once. And then the following is done.

If step 2 has never been performed, it is determined whether the point R belongs to the capture zone of this load 17 by means of a gripper 3 of the second mobile robot 1, whose parameters (in the global coordinate system) are calculated at this step 1a, and if it belongs, go to step 1a (completing this step 1b), and if it does not belong, then step 1b completes and completes this step 1, and proceeds to step 2, completing the set of actions 1.1. (and, therefore, completing the set of actions 1.2., if at this moment this set of actions 1.2. is not yet completed).

In case step 2 was performed at least once, then, using special programs, in real time, by the automatic operation of the second mobile robot 1, the following is performed. Determine whether the point R, defined in step 1a, belongs to the capture zone of this load 17 by means of a gripper 3 of the second mobile robot 1, whose parameters (in the global coordinate system) are calculated during the last execution of step 2 of this cycle in two steps 2 at least once performed), and if it belongs, then step 1b is completed and proceeds to step 1a, and if it does not belong, then step 1b is completed, and this step 1 is completed, and go to step 2, completing the set of actions 1.1. (and, therefore, completing the set of actions 1.2., if at this moment this set of actions 1.2. is not yet completed).

The set of actions 1.2. next:

It is determined whether step 2 was performed at least once. If step 2 was never performed, then the set of actions 1.2. complete. If step 2 was performed at least once, then begin to perform the movement of the second mobile robot 1 (by performing the corresponding program of tasks) corresponding to the last execution of step 2 of this two-step cycle. Then, either this movement continues to be performed until the completion of this movement (through the complete implementation of the corresponding program of tasks, and at the same time completing the set of actions 1.2.), Until the end of the set of actions 1.1. of this step 1, or it continues to perform this movement and stop it (without having carried out the full implementation of the corresponding program of tasks, and at the same time completing the set of actions 1.2.) at the moment of completing the set of actions 1.1. this step 1.

Step 2. Determine the new parameters of the new capture zone of this load 17 by means of the gripper 3 of the second mobile robot 1 (relative to the global coordinate system) such that the calculated point R, determined in step 1, belongs to this new capture zone. Then, using special programs, in real time, by means of the automatic operation of the second mobile robot 1, localization of the second mobile robot 1 is performed. Then the parameters of the operating modes of the drives of this mobile robot 1 are determined to move from this, determined by localization, current location of the second mobile robot 1 to such an arrangement, at which point R, defined in step 1, belongs to this new capture zone of this load 17 by means of gripping The devices 3 of the second mobile robot 1. At the same time, by means of the automatic operation of the second mobile robot 1, a new task program is created for moving the second mobile robot 1, which contains a set of instructions for moving the second mobile robot 1 to an arrangement such that the point R defined on step 1, belongs to this new capture zone of this load 17 by means of a gripping device 3 of the second mobile robot 1. In this case, the full implementation of this new task program means that the second mobile The first robot 1 is moved to such an arrangement where the point R defined in step 1 belongs to this new capture zone of this load 17 by means of the gripper 3 of the second mobile robot 1. In this step 2 complete and go to step 1. In this description of the aggregate A1 action completed.

The set of actions A2 (its description consists of the descriptions of steps 2.1. And 2.2.) Is as follows:

Step 2.1. On the on-board computer 6 of the second mobile robot 1, the resulting images calculate (in the global coordinate system) the coordinates of the center of mass of the missile load 17 at the current time (the point that has these calculated coordinates is denoted by J ₂ ). In this case, through the implementation of parallel computing, localize the second mobile robot 1 and determine the parameters of the capture zone of this cargo 17 by means of a gripping device 3 of the second mobile robot 1 (relative to the global coordinate system). This completes step 2.1. and go to step 2.2.

Step 2.2 .: Using special programs, determine whether point J ₂ belongs to this zone of capture of this load 17 by means of a gripper 3 of the second mobile robot 1. Then, if point J ₂ belongs to this zone of capture of this load 17 by means of a gripper 3 of a second mobile the robot 1, then carry out the seizure of cargo 17 by closing the gripping device 3 of the second mobile robot 1 and this completes the implementation of a set of actions intended to capture this cargo 17 on the fly by means of an automatic Cesky second operation of the mobile robot 1, stopping all the steps in 2.1 steps. and 2.2., and terminating all actions described in the aggregate of A1 actions and in the aggregate of A2 actions. If the point J ₂ does not belong to this zone of capture of this cargo 17 by means of the gripping device 3 of the second mobile robot 1, then complete the execution of step 2.2. and go to step 2.1. The description of the set of actions A2 is completed.

Thus, cargo 17 is thrown through the first mobile robot 1 and this cargo 17 is captured on the fly by the second mobile robot 1, through the automatic operation of the first and second mobile robots 1. After the load 17 is captured by the second mobile robot 1 on the fly, hold this load 17 and carry out, through the automatic operation of the second mobile robot 1, the location of the arm 5 of the robot, the wrist 4 of the robot, the gripping device 3 while holding this The cargo sample 17, when transporting this sample of cargo 17 by means of this mobile robot 1. After that, the second mobile robot 1, through its automatic operation, together with the load 17 held, is moved (along the corresponding passage 26, along the corresponding line) to the picking area 25, at the location when dumping goods into the container through the second mobile robot 1. Then the cargo 17 is dropped into the container 19 by opening the gripper 3 of the second mobile device nil robot 1 in the location of the second mobile robot 1 in the implementation of the dropping of cargo 17, through the automatic operation of the second mobile robot 1. This transfer of the cargo 17 from the storage area 29 to the picking area 25 is completed.

Claims (1)

The method of movement of goods in the warehouse of packaged goods, in which the intra-warehouse movement of goods is carried out through the use of two mobile robots, in the mode of automatic operation of these robots, each of which contains a mobile platform, a robot arm, a robot wrist, a gripping device, characterized in that the movement cargo from the storage area to another warehouse area of packaged cargoes carried out by throwing cargo first mobile robot, which has a phase of free flight of cargo and phase acceleration of cargo, while the phase of acceleration of cargo consists of forced movement of cargo with simultaneous holding of this load by the gripping device of the first mobile robot, by moving the robot arm, wrist of the robot, gripping device that holds this load in the automatic operation mode of the first mobile robot, and by on-the-fly capture of this load by a pick-up device of the second mobile robot in the automatic operation mode of this mobile robot, and when the load is thrown these mobs The robots are arranged in such a way that the minimum distance between the orthogonal projection (onto the upper horizontal plane of the floor space of this warehouse) of the space swept by the center wrist of the robot on which the pick-up device of the first mobile robot is installed when it is moved to the location when the load is thrown and orthogonal the projection (on the upper horizontal plane of the floor of the room of this warehouse) of the space swept by the center point of the wrist of the robot on which the gripper e second device of the mobile robot when it is moved to the location of the implementation of capture cargo on the fly, the diameter of the space swept by the center point of the robot wrist on which the first gripper device of the mobile robot at a fixed location of the first mobile platform of the mobile robot.

Images