RU2748441C2 - Method for movement of mobile robot in warehouse - Google Patents

Abstract

FIELD: robotics.

SUBSTANCE: invention relates to the area of robotics and can be used for mechanisation and automation of movement of a mobile robot comprising a mobile platform with a body whereon an arm with a gripping apparatus, an omnidirectional mobile wheel-type mechanism and an electronically controlled transport suspension adjustable by height are installed, in an automatic operating mode thereof in a warehouse wherein a shelved stand is installed. The method includes moving the mobile robot to the shelf on the upper tier of the stand by executing a jump of the mobile robot followed by gripping the holder installed on the upper tier of the stand by the gripping apparatus of the arm in flight, and by further placing the mobile robot on the shelf on the upper tier of the stand by actuating the drives of the rotary joints installed in the arm of the mobile robot. The jump of the mobile robot therein is executed by lifting the mobile platform of the mobile robot using said transport suspension to the height of the shelf on the upper tier of the stand exceeding the sum of the three values including the height of the body of the mobile platform, the length of the arm of the mobile robot with the gripping apparatus and the maximum distance at which simultaneous positioning of centers of all the wheels of the mobile platform from the lower surface of the bottom of the mobile platform is possible.

EFFECT: mechanisation and automation of movement of a mobile robot.

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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 for mechanization and automation of movements of mobile robots in a warehouse.

State of the art

The use of warehouses is of great importance for organizing the work of industrial enterprises. Therefore, there is a need for the implementation of mechanization and automation of the movement of lifting and transport equipment, which is used as a mobile robot, through which the inventory and selection of packaged goods placed in multi-level racks installed in the cargo storage area is carried out.

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

The warehouse has the following storage areas: unloading area, goods acceptance area, storage area, picking area, loading area. In the storage area, driveways are created for internal storage means of mechanization and technological passages between equipment. Inventory of goods and organization of intra-warehouse movements of goods are of great importance for organizing the work of a warehouse.

A warehouse is known from the prior art (see patent document RU 2077466 C1, "Warehouse for storage and movement of packaged goods", publ. 20.04.1997), containing multi-level racks, conveyors, elevators for feeding and removing goods from conveyors.

In the document: GOST R ISO 8373-2014. Robots and robotic devices. Terms and Definitions. - Introduction. 2016-01-01. - M .: Standartinform, 2015. - 33 p., The terms used in relation to robots and robotic devices operating in both industrial and non-industrial areas are defined. In document: ISO 9787: 2013. Robots and robotic devices. Coordinate systems and motion nomenclatures (see: ISO 9787: 2013, Robots and robotic devices - Coordinate systems and motion nomenclatures, URL: https://www.iso.org/standard/59444.html, accessed 25.09. 2019), the robot coordinate systems have been established and determined.

The patent document US 2015/0032252 A1 "System and method for piece-picking or put-away with a mobile manipulation robot" (published on 01/29/2015) describes a method for organizing the work of a warehouse, in which intra-warehouse movements of goods, selection of goods from storage produced by using a mobile robot. Thus, a mobile robot is used as a lifting and handling equipment, which, as an automatic load-gripping device, contains a robot arm, a gripper, by means of which packaged goods are selected, placed in multi-level racks installed in the cargo storage area. Intra-warehouse movements of goods from the storage area to the picking area are carried out by transporting goods on a mobile robot. This patent document teaches that communication between the central server and the mobile robot is carried out by creating a wireless local area computer network. In this case, the mobile robot contains a mobile platform, an energy source, an on-board computer with an information storage device.

In: “New 'Tally' robot designed to rapidly take stock of store shelves,” Ian P. Murphy. - Retail Dive, November 12, 2015 (see URL: https://www.retaildive.com/news/new-tally-robot-designed-to-rapidly-take-stock-of-store-shelves/409097/, date of access: 09/25/2019) describes a method of using a mobile robot to carry out an inventory of goods placed in high-bay racks in a store, in which the mobile robot is moved along the passage, and at the same time, through a video camera installed on this mobile robot, images of goods are obtained and these goods and their actual location.

HDT Robotics, Inc. (see: URL: http://www.hdtglobal.com, accessed: 25.09.2019) supplies the robot arm "Adroit MK2 Arm" (see URL: http://www.hdtglobal.com/wp-content/ uploads / 2015/01 / HDT_MK2robotics_16.pdf, date accessed: 09/25/2019), with the gripper installed. In this case, the maximum angular velocity of the individual joints of the robot arm is 120 degrees per second, the maximum angular velocity of the individual joints of the gripper is 240 degrees per second, the length of the robot arm is about 127 cm, the force of holding the object with the gripper is 53 N, the number of degrees of freedom of the robot arm is - 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/, access date: 25.09.2019) describes a robot arm, on which the robot's wrist is installed, by means of which positioning and orientation a video camera mounted on the wrist of the robot.

KUKA AG (see: URL: http://www.kuka.com/, date accessed: 25.09.2019) supplies the mobile robot "KMR iiwa" (see URL: https://www.kuka.com/en -at / products / mobility / mobile-robots / kmr-iiwa, accessed 09/25/2019), which contains a robot arm with a gripper installed, a mobile platform containing an omnidirectional mobile mechanism, an on-board computer, network equipment designed to connect an on-board computer to a wireless local area computer network.

To ensure the operation of the mobile robot, a real-time operating system is installed on the on-board computer of the mobile robot, for example, "NI Linux Real-Time" (see: URL: http://www.ni.com/ru-ru/innovations/white- papers / 13 / introduction-to-ni-linux-real-time.html, accessed September 25, 2019).

For real-time control of a mobile robot containing a mobile platform, a robot arm, a gripper, a video camera, and for real-time operation of a mobile robot, special computer programs are used, for example, the LabVIEW Robotics Bundle software (see: URL: http://www.ni.com/ru-ru/innovations/white-papers/10/overview-of-the-labview-robotics-module.html, date accessed: 09/25/2019). The set of computer programs "LabVIEW Robotics Bundle" contains software for embedded real-time systems designed for real-time control of the robot arm, omnidirectional mobile mechanism, robot arm drives, image processing, and through which the robot arm is moved, on which the robot wrist is installed , at a given speed, along a given trajectory.

When controlling a mobile robot, video cameras are used, connected to the on-board computer of the mobile robot, through which images of the 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 computer vision algorithms are implemented (see Computer vision, L. Shapiro, J. Stockman. - M .: Binom. Knowledge Laboratory, 2006. - 752 p., ISBN : 5-94774-384-1). By means of computer vision algorithms and a set of special programs by means of which these algorithms are implemented, perform, for example:

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

- determination of the spatial location of a certain object relative to the video camera by the received images of this object;

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

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

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

Review of some advances and applications 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 for recognizing and determining the spatial location of objects, for determining the speed of movement of objects in real time, and for measuring three-dimensional objects, and It is noted that a lot of high-speed vision systems have been developed, by means of 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 are used, for example, OpenCV software (Open Source Computer Vision Library, see URL: http://opencv.org, date of access: 09/25/2019), using the OpenVX standard (see: URL: http://www.khronos.org/openvx/, date accessed: 09/25/2019), designed to accelerate the execution of computer programs in real time in the field of computer vision.

OpenCV software with support for CUDA technology (Compute Unified Device Architecture, see URL: https://developer.nvidia.com/cuda-zone, date accessed: 09/25/2019), and using the OpenVX standard is used in robotics and in the field autonomous vehicles, which provides a high speed of processing simultaneously several images obtained through several video cameras in real time (see: URL: https://opencv.org/cuda/, date of access: 09/25/2019). 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/, date access: 09/25/2019), describe the benefits of using CUDA technology for image processing.

At the same time, to control the equipment that contains a mobile robot, they use the standard for cross-platform parallel programming OpenCL (Open Computing Language, see: URL: https://www.khronos.org/opencl/, date of access: 09/25/2019) and its implementation.

To implement the interaction between the mobile robot and the control center, a software system with parallel computations is used. For this, for example, the OpenMP standard (Open Multi-Processing, see: URL: http://www.openmp.org/, date of access: 09/25/2019) and special computer programs (see: URL: https: / /www.openmp.org/resources/openmp-compilers-tools/, accessed 25.09.2019), through which the system with parallel computing is carried out in accordance with this standard.

To interact with the mobile robot and the control center, the system time is synchronized on the on-board computer of the mobile robot connected to the wireless local computer network, for example, by using the NTP network protocol (see: URL: http://www.ntp.org/, date access: 09/25/2019). In this case, for example, a special computer program ntpd (Network Time Protocol daemon, see URL: http://www.ntp.org/downloads.html, date of access: 09/25/2019) is used, through which the system time is set and maintained from synchronization with the time server.

Computer programs for the operation of the mobile robot are installed on the on-board computer of the mobile robot.

The trajectory of motion of an object thrown at an angle to the horizon (in particular, thrown vertically upwards), assuming that the force of air resistance acting on the thrown object is proportional to the square of the object's velocity (in this case, the proportionality coefficient K is preliminarily determined, corresponding to the motion of the object with a certain initial velocity ) are found from a special system of ordinary differential equations (see An introduction to computer simulation methods: 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).

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

Methods for describing the motion of a rigid body are given, for example, in textbooks:

- Course in general physics, vol. 1. Mechanics. Molecular Physics: Textbook, I.V. Saveliev. - 2nd ed., Rev. - M .: Science. Main edition of physical and mathematical literature, 1982. - 432 p .;

- Course of theoretical mechanics: Textbook for mechanical engineering. specialist. universities, V.V. Dobronravov, N.N. Nikitin. - 4th ed., Rev. and add. - M .: Higher. school, 1983 .-- 575 p.

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 Humanoid Robots (Humanoids), 26-28 Oct. 2011, pp. 513-520, DOI: 10.1109 / Humanoids.2011.6100837 (see URL: http://ieeexplore.ieee.org/document/6100837/, date accessed: 25.09.2019) describe a ball gripping on the fly with a gripper installed on a mobile robot ... In this case, the ball is thrown by a person from a distance of about 6 m, at a speed of about 7 m / s, the mass of the ball is 50 g, the diameter of the ball is 8.5 cm. To capture this ball on the fly, video cameras and a set of special programs are used. computer vision algorithms.

The gripping area of the gripper is a space, when an object is placed into which it is possible to grip this object with this gripper. In the patent document SU 1133086 A2 ("Gripping the manipulator", publ. 07.01.1985) it is noted that the reliability of gripping and holding the object with the gripper depends on the spatial position of the object in the gripping zone of the gripping device.

To grip an object on the fly with a gripping device, it is necessary that this object falls into the gripping zone of the gripping device, and at the same time its speed relative to the gripping device does not exceed the maximum allowable for gripping. Capturing an object on the fly with a gripper is carried out as follows. First, the video cameras are set up with the help of special programs to obtain images of the thrown object so that these images contain the trajectory of the movement of this object during throwing. Then the object is thrown. The on-board computer receives images of the object to be thrown, and from the images obtained, the parameters of the trajectory of the movement of this object are calculated. In this case, the gripping device is moved so that the projected object falls into the gripping zone of this gripping device. When the projectile hits the gripping zone of the gripping device, the gripping device is instantly closed. In this case, the moment when the thrown object hits the gripping zone of the gripping device is determined by processing the images of this object using special programs by means of which computer vision algorithms are implemented.

To ensure that the object is gripped and held by the gripping device without slipping, it is necessary that a sufficient force is exerted to hold the object with this gripping device and, at the same time, that the coefficient of static friction and the coefficient of sliding friction between the materials from which the surfaces of this object and the surface of the gripping device are made sufficiently large ... Techniques are known in the art to ensure the gripping and holding of heavy loads by a gripper without slipping. In the article: "A method to control grip force and slippage for robotic object grasping and manipulation", Pavel Dzitac, Abdul Md Mazid. - 2012 20th Mediterranean Conference on Control & Automation (MED), Barcelona, Spain, July 3-6, 2012. Pages: 116-121, DOI: 10.1109 / MED.2012.6265624, describes methods for securing and holding heavy loads with a gripper without slipping ...

Proprioceptive sensors, for example, encoders, are used to determine the spatial arrangement of the links that the robot arm and the robot wrist contain (see patent document RU 2487007 C1, "Mobile Robot", publ. 10.07.2013).

From the prior art, stands are known for determining 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).

From the prior art, control points are known for real-time control of electronic equipment (see patent document RU 145696 U1, "Control center for product pipeline telemechanics", publ. 09/27/2014).

The errors in working out the trajectory of the robot arm, robot wrist, gripper, omnidirectional mobile mechanism are determined by testing the robot under load. In document: ISO 9283: 1998. Industrial manipulation robots. Performance and related test methods (see: ISO 9283: 1998, Manipulating industrial robots - Performance criteria and related test methods, URL: https://www.iso.org/standard/22244.html, accessed: 25/09/2019 ), methods for determining and testing the performance characteristics of industrial manipulation robots are described, in particular, the accuracy of trajectory processing, accuracy of the trajectory processing speed.

In the document: GOST ISO 8995-2002. Principles of visual ergonomics. Indoor work systems lighting. - Introduction. 2004-01-01. - M .: IPK Publishing house of standards, 2003. - 32 p., The requirements for the lighting of working systems in the working rooms of industrial buildings are stated.

For measuring rooms and building three-dimensional models of rooms, as well as for measuring three-dimensional objects and building three-dimensional models of objects, the overall dimensions of which exceed, for example, 1 m, special 3D scanners are used, in particular, for example, the 3D scanner "Faro Focus 350 "(See: URL: https://www.faro.com/en-gb/products/construction-bim-cim/faro-focus/, date accessed: 09/25/2019). To measure three-dimensional objects and build three-dimensional models of objects, the overall dimensions of which do not exceed, for example, 1 m, special 3D scanners are used, in particular, for example, the 3D scanner "Artec Space Spider" (see: URL: https: // www.artec3d.com/ru/portable-3d-scanners/artec-spider, date accessed: 09/25/2019).

In the article "Design of electromechanical height adjustable suspension", Nicola Amati, Andrea Tonoli, Luca Castellazzi, Sanjarbek Ruzimov. - Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, Article first published online: October 11, 2017, pp .: 1-17, DOI: 10.1177 / 0954407017728633 (see: URL: http: // journals .sagepub.com / doi / abs / 10.1177 / 0954407017728633, date of access: 09/25/2019), describe the device of electromechanical height-adjustable vehicle suspension. In the patent document US 4610462 A "Electronically controlled suspension system" (publ. 09.09.1986) describes the use of electronically controlled height-adjustable transport suspension to ensure the stability of the movement of the vehicle.

The use of a vehicle suspension (also called a transport suspension or suspension) with the provision of independent suspension for each wheel is described, for example, in the following patent documents: US 4497505 A "Vehicle controlled suspension systems" (publ. 05.02.1985), US 2017/0043643 A1 "Vehicle having a chassis and a pendulum nacelle" (publ. 02.16.2017).

Parking brakes of vehicles with electronic control are known from the prior art (see: patent document RU 2177889 C2, "Parking brake of a vehicle", publ .: 10.01.2002). For example, patent document: US5004077 A, "Electromechanical parking brake system", publ .: 04/02/1991, describes the brake of an electronically controlled vehicle.

Methods for moving a mobile robot in a warehouse are known in the art. Patent document: US 20180305122 A1, "Order picking system", published: 10/25/2018, describes a method of moving a mobile robot to the upper tier of a rack by moving this mobile robot in a vertical direction along toothed racks attached to the rack, due to use of gears.

Mobile robots with the ability to move with periodic separation from the support surface are known from the prior art (see patent document US6484068 B1, "Robot apparatus and method for controlling jumping of a robot device", publ .: 19.11.2002), otherwise called , jumping robots (see patent document US9004201 B2, "Jumping robot", publ .: 04.14.2015). In the article: "Wheeled robots to overcome ground unevenness in construction areas", Kazuo Tani, Osamu Matsumoto, Shuuji Kajita, Nobumasa Shirai. - 1991 Proceedings of the 8th ISARC, Stuttgart, Germany, pp. 159-166, DOI: 10.22260 / ISARC1991 / 0017, describes how to jump a wheeled mobile robot through the operation of an electronically controlled height-adjustable transport suspension. In the article: "Recent advances on locomotion mechanisms of hybrid mobile robots," Shun Hoe Lim, Jason Teo. - WSEAS Transactions on Systems (ISSN: 1109-2777, E-ISSN: 2224-2678), Volume 14, 2015, pp. 11-25, wheeled jumping mobile robots are described that jump using an electronically controlled height-adjustable transport suspension.

In the article: "A mechatronics approach to the design of lightweight arms and multifingered hands", G. Hirzinger, J. Butterfafl, M. Fischer, M. Grcbenstein, I. Schaefer, N. Sporer. - Proceedings of the 2000 IEEE International Conference on Robotics & Automation, San Francisco, April 2000, pp. 46-54 (see URL: http://citeseerx.ist.psu.edu/viewdoc/summary? Doi = 10.1.1.476.967, date accessed: 25.09.2019), describes how to use locking devices in the robot's hand and gripping device mounted on the robot arm. In the article: "Lock your robot: a review of locking devices in robotics", Michiel Plooij, Glenn Mathijssen, Pierre Cherelle, Dirk Lefeber, Bram Vanderborght. - IEEE Robotics & Automation Magazine, Volume 22, Issue 1, March 2015, Pages: 106-117, DOI: 10.1109 / MRA.2014.2381368, describes locking devices used in robotics.

In the article: "Brachiation type of mobile robot", T. Fukuda, H. Hosokai, Y. Kondo. - Fifth International Conference on Advanced Robotics. Robots in Unstructured Environments, 19-22 June 1991, pp. 915-920, DOI: 10.1109 / ICAR.1991.240556, describes mobile robots that use brachiation techniques to move over rungs located above the ground using the robot arms (otherwise called brachiation mobile robots). In the article: "Learning algorithm for a brachiating robot", H. Kajima, Y. Hasegawa, T. Fukuda. - Applied Bionics and Biomechanics, Volume 1, Issue 1, January 2003, Pages: 57-66, DOI: 10.3233 / ABB-2003-9693532, describes how to move brachymobile robots. In the article: "Swing and locomotion control for a two-link brachiation robot", F. Saito, T. Fukuda, F. Arai. - IEEE Control Systems Magazine, Volume 14, Issue 1, Feb. 1994, Pages: 5-12, DOI: 10.1109 / 37.257888, describes a brachy mobile robot that is moved using a rotary joint mounted in the arm of the mobile robot.

From the prior art, software is known for creating a solid 3D model of an object, for example, SolidWorks (see: URL: https://www.solidworks.com, date of access: 09/25/2019), while the SolidWorks software provides the ability to define densities materials from which the elements that this object contains are made. The SolidWorks software has the ability to calculate the center of mass of an object, taking into account the location of all the elements of this object with the given densities of materials from which these elements are made (see URL: https: //help.solidworks.com/2018/english/SolidWorks/sldworks/ c_Center_of_Mass_Point_Ref_Geom.htm, date accessed: 09/25/2019).

Methods for determining the position of the center of mass of a rigid body (in particular, having an axis of symmetry) are described, for example, in textbooks:

- Theoretical mechanics. 20 lectures. Part 2. Dynamics: Textbook for full-time and part-time students, V.V. Andronov. - 2nd ed., Add. and rev. - M .: MGUL, 2003. - 128 p .;

- Course of theoretical mechanics. Part 1. Statics. Kinematics. Textbook for technical colleges, A.A. Yablonsky, V.M. Nikiforov. - 3rd edition, revised. - M .: "High school", 1966. - 439 p.

To protect electrical devices from external influences, housings for electrical devices are used. In the document: GOST 32126.1-2013. Boxes and housings for electrical devices installed in stationary electrical installations for household and similar purposes. Part 1. General requirements. - Introduction. 2014-01-01. - M .: Standartinform, 2014. - 37 p., The requirements for housings that are part of electrical devices and designed to protect these devices from external influences are determined.

Holders are known from the prior art for attaching various parts to them (see: RU 2302963 C2, "Universal holder", publ .: 20.07.2007). From the prior art, holders are known, consisting of a rod and two supports, by means of which this rod is positioned, while the rod is rigidly attached to the supports, and the supports are rigidly attached to the vertical surface of the room wall (see: URL: http://gidromarket.ru/ derzhatel_polotenec_wasserkraft_leine_k5030.htm, date accessed: 09/25/2019).

From the prior art, there is no known method in which a mobile robot is moved to the shelf of the upper tier of the rack by jumping this mobile robot with the subsequent gripping on the fly by the holder (mounted on the upper tier of this rack) by a gripping device mounted on the arm of this mobile robot, and by subsequent implementation of the arrangement of the mobile platform of this robot on the shelf of the upper tier of this rack by actuating the drives of the rotary hinges installed in the hand of this mobile robot.

Disclosure of the essence of the invention

The invention is a new way of moving a mobile robot in a warehouse. The claimed method is designed to move the mobile robot to the shelf of the upper tier of the rack installed in the storage area of the warehouse. The mobile robot is moved to the shelf of the upper tier of the rack by jumping of this mobile robot, followed by gripping on the fly without slipping by the gripper (mounted on the arm of this mobile robot) for the holder installed on the upper tier of this rack, and by subsequently placing the mobile platform of this the robot on the shelf of the upper tier of this rack by actuating the rotary hinge drives installed in the hand of this mobile robot. After moving to the shelf of the upper tier of the rack, the mobile robot is used, for example, to inventory and move the goods placed on the upper tier of this rack.

To implement the claimed invention, a mobile robot is used, which is an articulated robot containing rotational and spherical hinges.

The mobile robot contains:

- a mobile platform on which all other elements of the mobile robot are placed, containing a wheel-type omnidirectional mobile mechanism containing a brake system, and the mobile platform contains the body of the mobile platform;

- 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 computer network based on Wi-Fi technology;

- a robot arm, a robot wrist mounted on this robot arm, and a robot working body, which is a gripping device mounted on this robot wrist, wherein the robot arm and the robot wrist are connected by a rotational joint;

- two robot arms, two robot wrists, which are installed, one on each of these robot arms, and are intended to be installed on each of them one video camera;

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

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

The floor of the warehouse is made so that the upper plane of the floor of the warehouse is made in the form of a flat flat horizontal solid surface. A mobile platform is used with the ability to move on a flat flat solid horizontal surface. The body of the mobile platform contains the bottom of the mobile platform, while the bottom plane of the bottom of the mobile platform of the mobile robot is made in the form of a rigid flat surface. The mobile platform contains an omnidirectional mobile mechanism containing a corresponding set of proprioceptive sensors, actuators and actuator control units. The movements of the mobile platform are controlled by controlling the omnidirectional mobile mechanism. The omnidirectional mobile mechanism is controlled by receiving, through each drive control unit, from the on-board computer, signals representing the parameters of the operating modes of the respective drive, and by operating the drive in accordance with the received signals.

All robot arms, all robot wrists, the gripper of the mobile robot contain a corresponding set of locking devices by means of which all hinges that contain all the robot arms, all the robot wrists, and the gripper of the mobile robot are blocked.

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

Each actuator, each actuator control unit, each proprioceptive sensor is installed and connected to an energy source located on the mobile platform. Each drive is installed so that this drive can be controlled by the drive control unit. Each drive control unit is installed with the ability to receive signals from the on-board computer, representing the parameters of the drive operation modes, and with the ability to control the drive operation in accordance with the received signals. Each proprioceptive sensor is installed with the possibility of transmitting to the on-board computer a signal representing the results of the operation of the corresponding drive included in the omnidirectional mobile mechanism, the robot arm, the robot wrist, the gripper of the mobile robot.

An on-board computer with a connected storage device is installed on a mobile platform, while an omnidirectional mobile mechanism, a robot arm, a robot's wrist, a gripper mounted on this robot's wrist are connected to the on-board computer, and two robot arms, two robot 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 robot's wrist, and the gripper is carried out 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's wrist and the gripper. The on-board computer 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 and the data storage device connected to it are connected to an energy source located on the mobile platform. Two video cameras are connected to the on-board computer, installed on the wrists of the robot, 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 drives of the robot arm and the wrist of the robot from the on-board computer to the control units of the drives of the robot arm and wrist of the robot, 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 an energy source located on the mobile platform, and which is installed with the ability to connect the on-board computer, through this network equipment, as a computer network node to a wireless local computer network based on Wi-Fi technology -Fi.

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

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

- real-time operating system;

- software for embedded real-time systems designed for real-time control of the robot arm, robot wrist, gripper, omnidirectional mobile mechanism;

- software designed to implement computer vision algorithms, in particular, for real-time processing of images, recognition of certain objects from the obtained images of these objects, determining the spatial location of certain objects from the obtained images of these objects, finding an estimate of the speed of an object from the received images of this object, determining the parameters of the trajectory of the object in three-dimensional space, calculating the distance to the object;

- special programs by means of which parallel computing algorithms are implemented;

- a special program by means of which the system time is set and maintained with the implementation of synchronization with the exact time server;

software designed to create a solid 3D model of an object with the ability to set the density of materials from which the elements that contain this object are made;

- software designed to calculate the center of mass of an object by using a solid 3D model of an object, taking into account the location of all elements of this object with given densities of materials from which the elements that contain this object are made.

An electronically controlled height-adjustable transport suspension is installed on the mobile platform of the mobile robot, providing independent suspension of each wheel of this mobile platform. When moving a mobile robot in operating mode on horizontal surfaces, the lower plane of the bottom of the mobile platform of this robot is placed parallel to the upper plane of the floor of the warehouse due to the operation of this electronically controlled height-adjustable transport suspension. This suspension is installed with the possibility of increasing and with the possibility of reducing the ground clearance of the mobile platform of the mobile robot. In this case, the increase in the ground clearance of this mobile platform is carried out due to the operation of this transport suspension by simultaneously moving, relative to this mobile platform, all wheels of the mobile platform at the same speed, with the same acceleration and at the same distance, perpendicular to the lower plane of the bottom of this mobile platform, towards from this mobile platform. In this case, the decrease in the ground clearance of this mobile platform is carried out due to the operation of this transport suspension by simultaneously moving, relative to this mobile platform, all wheels of the mobile platform at the same speed, with the same acceleration and at the same distance, perpendicular to the lower plane of the bottom of this mobile platform, towards to this mobile platform. In this case, this electronically controlled height-adjustable transport suspension is connected to the on-board computer of the mobile robot (with the ability to control its operation by means of this on-board computer) and to an energy source installed on the mobile platform of the mobile robot (with the ability to ensure the normal operation of this electronically controlled adjustable the height of the transport suspension). By programming the control unit for this suspension, the maximum lifting height of this mobile platform and the minimum lowering height of this mobile platform are set. In this case, the maximum lifting height of the mobile platform is set by setting the maximum distance at which it is possible to simultaneously locate the centers of all wheels of this mobile platform (due to the operation of this transport suspension) from the bottom surface of the bottom of this mobile platform. In this case, the minimum lowering height of the mobile platform is set by setting the minimum distance at which it is possible to simultaneously locate the centers of all wheels of this mobile platform (due to the operation of this transport suspension) from the bottom surface of the bottom of this mobile platform. In this case, the maximum lifting height of the mobile platform is achieved by simultaneously moving (due to the operation of this transport suspension), relative to this mobile platform, all the wheels of this mobile platform at the same speed, with the same acceleration and at the maximum possible distance from the bottom of this mobile platform, perpendicular the lower plane of the bottom of this mobile platform, away from this mobile platform. In this case, the minimum lowering height of the mobile platform is achieved by simultaneously moving (due to the operation of this transport suspension), relative to this mobile platform, all the wheels of this mobile platform at the same speed, with the same acceleration and at the minimum possible distance to the bottom of this mobile platform, perpendicular the bottom plane of the bottom of this mobile platform, towards this mobile platform.

The operation of this suspension is controlled by transmitting a signal representing the parameters of the operating mode of this suspension from the on-board computer to the control unit of this suspension. The following operating modes of the suspension are possible: the mode of lifting the mobile platform of the mobile robot from the current location due to the operation of this transport suspension, by means of the simultaneous movement of all wheels of the mobile platform relative to this mobile platform at a given equal speed, with a given equal acceleration and at a given equal distance perpendicular to the lower the plane of the bottom of this mobile platform, away from this mobile platform, and the mode of lowering the mobile platform of the mobile robot from the current location to the location corresponding to the set minimum lowering height of the mobile platform.

The jump of the mobile robot is performed by performing the acceleration phase and the free flight phase of the mobile robot. The movement of the mobile robot in the acceleration phase is carried out by increasing the ground clearance of the mobile platform through the operation of the transport suspension, by simultaneously moving, relative to this mobile platform, all wheels of the mobile platform at the same speed, with the same acceleration and the same distance, perpendicular to the lower plane of the bottom of this mobile platforms, aside from this mobile platform. In this case, the beginning of the acceleration phase corresponds to the minimum lowering height of the mobile platform, and the end of the acceleration phase corresponds to the maximum lifting height of the mobile platform.

The arm of the mobile robot, designed to install the gripper, is selected so that the length of this arm is from 2.5 to 3.2 times, equal to the sum of the following two values: the height of the mobile platform body and the minimum distance at which it is possible to simultaneously locate the centers of all wheels of the mobile platform from the lower surface of the bottom of the mobile platform, due to the implementation of the operation of an electronically controlled height-adjustable transport suspension.

The mobile robot is manufactured using special software, which implements the possibility of calculating the center of mass of an object, taking into account the location of all elements of this object with given densities of materials from which these elements are made. The mobile platform comprises a body (containing the bottom of this mobile platform) having an axis of symmetry that is perpendicular to the bottom plane of the bottom of this mobile platform. In this case, the center of mass of the mobile platform body is located on the axis of symmetry of this body. In this case, the omnidirectional mobile mechanism contains four identical wheels with the provision of the same independent suspension for each wheel. In this case, these two pairs of wheels are installed in pairs symmetrically relative to the axis of symmetry of the body of the mobile platform, and the corresponding suspension elements to which these two pairs of wheels are attached are also installed in pairs symmetrically relative to the axis of symmetry of the body of the mobile platform. In this case, before lifting and lowering the mobile platform, two pairs of wheels are arranged in pairs symmetrically relative to the axis of symmetry of the body of this mobile platform and turn on the brake system of the mobile platform. Thus, when lifting and lowering the mobile platform, the pairwise symmetry of these two pairs of wheels relative to the axis of symmetry of the body of the mobile platform is maintained, while maintaining the pairwise symmetry of the corresponding two pairs of suspension elements to which these two pairs of wheels are attached. Thus, the axis of symmetry of the mobile platform body is parallel to the direction of gravity when this mobile platform is located on the floor of the warehouse so that the centers of all wheels of this mobile platform are located simultaneously at the same distance from the bottom surface of the bottom of this mobile platform.

All elements of the mobile platform are installed so that the center of mass of the mobile platform is located on the axis of symmetry of the body of the mobile platform, provided that two pairs of wheels are symmetrically positioned relative to the axis of symmetry of the body of the mobile platform, and provided that the corresponding two pairs of suspension elements are connected in pairs. two pairs of wheels. Thus, when lifting and lowering the mobile platform (taking into account the above-described conditions for lifting and lowering the mobile platform), the center of mass of the mobile platform is located on the axis of symmetry of the mobile platform body.

All elements of the mobile robot are installed on the mobile platform so that with the initial position of the gripper in the open position (which corresponds to the beginning of the acceleration phase of the mobile robot), with the initial positions (which correspond to the beginning of the acceleration phase of the mobile robot) two video cameras, two robot arms, on which two video cameras are installed, with the simultaneous location of all the wheels of the mobile platform at the minimum possible distance to the bottom of this mobile platform (which corresponds to the minimum lowering height of the mobile platform), and provided that the two pairs of wheels are symmetrically positioned relative to the axis of symmetry of the mobile platform body, and provided that they are symmetric arrangement of the corresponding two pairs of suspension elements, to which these two pairs of wheels are attached, the center of mass of the mobile robot is located on the axis of symmetry of the mobile platform body, inside the body of this mobile platform.

Thus, when lifting the mobile platform in the acceleration phase (taking into account the conditions described above for the locations of all elements of the mobile robot, which correspond to the beginning of the acceleration phase of the mobile robot, and the conditions for lifting the mobile platform), the center of mass of the mobile robot is located on the axis of symmetry of the mobile platform body.

The premises for the warehouse are chosen to be one-story, and this warehouse has, in particular, a storage area. Lighting in the warehouse is performed in accordance with the standard: GOST ISO 8995-2002. Principles of visual ergonomics. Indoor work systems lighting. - Introduction. 2004-01-01. - M .: IPK Publishing house of standards, 2003. - 32 p. In the storage area, a passage is created for intra-warehouse mechanization equipment. A mobile robot is used to carry out an inventory of goods as an intra-warehouse means of mechanization and as a lifting and transport equipment containing load gripping devices. For storage of goods, one-section two-tier shelving racks are used.

Sets the global coordinate system. The global coordinate system OXYZ is set to be orthogonal, right-oriented, and is set so that the origin of the global coordinate system is chosen to belong to the upper plane of the floor of the warehouse. In this case, the OXY plane contains the upper horizontal plane of the floor 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 video camera. Each coordinate system of each video camera is set to be orthogonal, right-oriented, and is 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 video camera and directed towards the video recording object, and the unit vector defining the direction of the first axis of this coordinate system, is perpendicular to the unit vector specifying the direction of the third axis of this coordinate system. In this case, the origin of the video camera coordinate system is chosen to belong to the surface of the video camera body, at the point of intersection of this surface and the optical axis of this video camera. Sets the coordinate system of the gripper of the mobile robot. The gripper coordinate system is set to be orthogonal, right-oriented. The center point of the gripper is selected as the origin of the gripper coordinate system, and the directions of the three coordinate axes of this gripper coordinate system are selected. Sets the coordinate system of the mobile platform. The coordinate system of the mobile platform is set to be orthogonal, right-oriented, and is set so that the unit vector specifying the direction of the first axis of this coordinate system is directed perpendicular to the axis of symmetry of the mobile platform body, the unit vector specifying the direction of the third axis of this coordinate system is directed parallel to the axis of symmetry of the body of the mobile platform. platform, while the origin of the coordinate system of the mobile platform is selected 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 the mobile platform, the coordinate system of the gripping device are determined using the equipment that contains the mobile robot and the control point, and these parameters are placed on the computer of the control point and on the on-board computer of the mobile robot, on the corresponding storage devices.

Localization of a mobile robot (that is, recognition of the location of a mobile robot, including the location of a mobile platform, three robot arms, three robot wrists, a gripper, two video cameras, in relation to the global coordinate system) at a certain point in time is carried out using special programs by means of automatic the functioning of this robot with the implementation of dead reckoning, using a combination of sensors, in which data obtained on the on-board computer of this mobile robot is used from proprioceptive sensors installed on this mobile robot, and in which images are used from two video cameras located on the mobile the platform of this mobile robot. In this case, the localization of the mobile robot is carried out continuously, through the use of special programs, through which the algorithms of parallel computations are implemented, and through the use of special programs, through which the algorithms of computer vision are implemented.

The parameters of the location of the video camera at each specific moment in time are an ordered sequence of nine numbers, where the first three numbers are the coordinates of the origin of the video camera's coordinate system, calculated in the global coordinate system, the next three numbers are the coordinates of a unit vector located on the optical axis of the video camera and directed to side of the video object, 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, calculated in the global coordinate system. These parameters of the location of the video camera are determined using the equipment that contains the mobile robot, and these parameters are placed on the computer of the control point and on the on-board computer of the mobile robot, on the corresponding storage devices.

The parameters of the location of the mobile platform of the mobile robot at each specific moment in time are an ordered sequence of nine numbers, where the first three numbers are the coordinates of the origin of the coordinate system of the mobile platform, calculated in the global coordinate system, the remaining six numbers are the coordinates of the unit vectors of the first and third axes of the system coordinates of the mobile platform, respectively, calculated in the global coordinate system. These parameters of the location of the mobile platform of the mobile robot are determined using the equipment, which contains the corresponding mobile robot, and these parameters are placed on the computer of the control point and on the on-board computer of the corresponding mobile robot, on the corresponding storage devices.

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

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

- parameters of the location of the mobile platform of the mobile robot, at the moments of time preceding this specific moment in time, and which were determined earlier;

- parameters of the positions 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 a set of special programs through which computer vision algorithms are implemented.

For a mobile robot, using weighing, measuring parts, and, if necessary, using a stand to determine the center of mass of products, and using a 3D scanner, the following parameters are determined corresponding to this mobile robot. These parameters are determined using special programs through which computer vision algorithms are implemented, using software to create a solid 3D model of an object with the ability to set the densities of materials from which the elements that contain this object are made, and using the software of embedded systems of real time intended for real-time control of a robot arm, a robot wrist, a gripper, an omnidirectional mobile mechanism, using equipment that contains a mobile robot and a control point, and these parameters are placed on the control center computer and on the on-board computer of the mobile robot, on appropriate storage devices. Thus, the following parameters are determined corresponding to this mobile robot:

- parameters of a solid three-dimensional model (otherwise called a 3D model) of a mobile robot with given densities of materials from which the elements that this mobile robot contains are made;

- the coefficient of air resistance, determined by the properties of the environment, the shape of the mobile robot, corresponding to the square of the speed of the mobile robot, and corresponding to this mobile robot, and determined when this mobile robot moves at a speed not exceeding 15 m / s.

For storage of goods, one-section two-tier shelving racks are used. The racks are placed in the storage area. Each shelf of these racks is designed as a flat, flat solid surface and is attached directly to the racks. The shelves of the lower and upper tier of each rack are located so that the upper planes of the shelves of the lower and upper tier are horizontal when this rack is installed in the storage area.

On each shelf of the upper tier of each rack, a travel stop is installed, by means of which the mobile robot is prevented from overturning after placing this mobile robot on the shelf of the upper tier of the rack. The travel stop is made in the form of a rectangular plate, with a length equal to the length of the shelf of the upper tier of this rack, with a width exceeding the sum of the following two values: the height of the mobile platform body and the minimum distance at which it is possible to simultaneously locate the centers of all wheels of the mobile platform from the lower surface of the bottom of the mobile platform, due to the implementation of the work of the electronically controlled height-adjustable transport suspension. The travel stop is rigidly attached with its lateral side to the edge of the shelf of the upper tier of the rack along the entire edge of the shelf of the upper tier of this rack so that the travel stop is perpendicular to the upper plane of the shelf of the upper tier of this rack.

A holder is installed on each shelf of the upper tier of each rack. The holder consists of a rod and two supports, by means of which this rod is positioned so that the longitudinal axis of this rod is parallel to the upper plane of the shelf of the upper tier of this rack, while the rod is rigidly attached to the supports, and the supports are rigidly attached to the edge of the shelf of the upper tier of this rack. Each support is L-shaped. The length of the rod is equal to the length of the shelf of the upper tier of this rack. The diameter of this rod is determined experimentally so that it is possible to carry out a reliable grip without slipping behind this rod by a gripping device mounted on the arm of a mobile robot. This rod has a rough surface. In this case, the coefficient of static friction and the coefficient of sliding friction between the materials from which the surfaces of this rod and the contact surfaces of the gripper are made exceed 0.5. The rod, by means of two supports, is positioned so that the horizontal distance from this rod to the edge of the shelf of the upper tier of the rack is more than half the length of the mobile platform body, and the vertical distance from this rod to the edge of the shelf of the upper tier of the rack is from 0.5 to 0, 95 values equal to the sum of the following three values: the height of the body of the mobile platform, the length of the arm of the mobile robot on which the gripper is installed, and the minimum distance at which it is possible to simultaneously locate the centers of all wheels of the mobile platform from the lower surface of the bottom of the mobile platform, due to the implementation of work electronically controlled height-adjustable transport suspension.

For each rack, parameters corresponding to this rack are determined by measuring this rack, using special programs by which computer vision algorithms are implemented, and special equipment, in particular, for example, using a 3D scanner, while these parameters are determined using equipment , which contains a mobile robot and a control center, and using special programs designed to control in real time the robot arm, robot wrist, gripper, omnidirectional mobile mechanism. Thus, for each rack, the following parameters are determined corresponding to this rack (in points from (a) to (d)), and these parameters are placed on the computer of the control point and on the on-board computer of the mobile robot, on the corresponding storage devices:

(a) the address of a rack by which this rack is uniquely identified in that warehouse;

(b) parameters of the 3D model of the holder, calculated in the global coordinate system;

(c) coordinates of four points belonging to the upper plane of the shelf of the upper tier of this rack, calculated in the global coordinate system, which define a rectangle that defines the location of the mobile robot after moving this mobile robot to the upper tier of this rack;

(d) the parameters of the travel stop installed on the top tier of this rack, that is, the length and width of this travel stop.

The point of separation of the mobile robot from the floor surface of the warehouse during the jump of the mobile robot is the point at which the center of mass of the mobile robot is located at the moment of separation of this mobile robot from the floor surface of the warehouse during the jump of this mobile robot. The point at which the center of mass of the mobile robot is located at the moment when the gripper starts closing for the gripping of the holder on the fly by the gripping device mounted on the arm of this mobile robot is considered to be the gripping point for the holder when the mobile robot is jumping.

For the mobile robot and each rack, using special programs, the following parameters are determined, corresponding to the movement of the mobile robot to the shelf of the upper tier of this rack, and these parameters are determined using the equipment that contains the mobile robot and the control point, and these parameters are placed on the computer of the point control and on the on-board computer of the mobile robot, on the appropriate storage devices:

- the parameters of the initial calculated location of the mobile platform of the mobile robot, which correspond to the beginning of the acceleration phase of the mobile robot when this mobile robot jumps, that is, the coordinates of the origin of the coordinate system of the mobile platform of the mobile robot, calculated in the global coordinate system, and the coordinates of the unit vectors of the first and third axes of the system coordinates of the mobile platform of the mobile robot, calculated in the global coordinate system, and which correspond to the beginning of the acceleration phase of the mobile robot when the mobile robot jumps;

are the parameters of the calculated locations (with respect to the global coordinate system) of two video cameras, two robot arms and two robot wrists, located on the mobile platform of the mobile robot, and on which these two video cameras are installed, and which correspond to the beginning of the acceleration phase of the mobile robot when performing this jump of the mobile robot (the center of mass of the mobile robot is located on the axis of symmetry of the body of the mobile platform), in which the images obtained through these two video cameras contain images of the gripper and the holder installed on this rack, and which are calculated experimentally, for example, using 3D -scanner, using special programs through which computer vision algorithms are implemented, and with the use of embedded real-time systems software designed for real-time control of the robot arm, robot wrist, gripper, omnidirectional mobile mechanism;

are the parameters of the initial calculated location of the gripper in the open position, the robot's wrist and the robot arm on which this gripping device and this robot's wrist are installed, in relation to the global coordinate system, which correspond to the beginning of the acceleration phase of the mobile robot when this mobile robot jumps (when the center of mass of the mobile robot is located on the axis of symmetry of the body of the mobile platform), and which are calculated experimentally, for example, using a 3D scanner, using special programs through which computer vision algorithms are implemented;

- parameters of the calculated positions of the gripper in the open position, the robot's wrist and the robot arm, on which this gripping device and this robot's wrist are installed, in relation to the global coordinate system, which correspond to the calculated moment of the beginning of the closing of the gripping device in order to grip on the fly for the holder a gripping device mounted on the arm of this mobile robot, that is, they correspond to the end of the free flight phase of the mobile robot;

- calculated coordinates (calculated in the global coordinate system) of the point of separation of this mobile robot from the floor of the warehouse, that is, the calculated coordinates of the center of mass of this mobile robot at the moment of separation of this mobile robot from the floor of the warehouse, which correspond to the beginning of the free flight phase of the mobile robot during implementation the jump of this mobile robot;

- calculated coordinates (calculated in the global coordinate system) of the gripping point on the fly by the gripper of the mobile robot for the holder, that is, the calculated coordinates of the center of mass of this mobile robot at the calculated moment of gripping on the fly by the gripper of the mobile robot for this holder, and which correspond to the calculated moment before by closing this gripper, by means of which the gripping is carried out on the fly for this holder, that is, they correspond to the end of the free flight phase of the mobile robot;

- the estimated speed of movement of the center of mass of the mobile robot at the calculated moment of capture on the fly by the gripper of this mobile robot for this holder;

- parameters of the calculated trajectory of the mobile robot in the free flight phase when this mobile robot jumps, that is, the calculated coordinates of the center of mass of the mobile robot and the calculated coordinates of the velocity vector of the center of mass of the mobile robot, calculated in the global coordinate system, for a set of given calculated moments of time that occur after the calculated moment of separation of this mobile robot from the floor of the warehouse during the jump, and the estimated duration of the free flight of the mobile robot;

- the estimated speed of the center of mass of the mobile robot at the moment of separation of this mobile robot from the floor of the warehouse, which corresponds to the beginning of the free flight phase of the mobile robot when this mobile robot jumps;

- the estimated speed of movement of the centers of all wheels of the mobile platform from the lower surface of the bottom of this mobile platform at the moment of separation of this mobile robot from the floor of the warehouse, which corresponds to the beginning of the free flight phase of the mobile robot when this mobile robot jumps;

- parameters of the calculated line of displacement of the center of mass of this mobile robot in the acceleration phase, that is, the set of calculated coordinates of points, which are a set of locations of the center of mass of the mobile robot when it moves in the acceleration phase, including the calculated coordinates of the point at which the center of mass of this mobile robot is located in the initial position at the beginning of the acceleration phase, and including the calculated coordinates of the center of mass of the mobile robot at the moment of separation of this mobile robot from the floor of the warehouse;

- the estimated duration of the acceleration phase of the mobile robot during the jump;

- parameters of the operating modes of the transport suspension drives of the mobile robot, at which the design speed (which corresponds to the beginning of the free flight phase of the mobile robot when this mobile robot jumps) of the displacement of the centers of all wheels of the mobile platform from the bottom surface of the bottom of this mobile platform at the moment of separation of this mobile robot from the floor of the warehouse at a given estimated time, taking into account the location of the mobile platform of the mobile robot when this mobile robot jumps, for a given estimated moment of the beginning of the acceleration phase of this mobile robot, and for a given estimated duration of the acceleration phase of this mobile robot;

- parameters of the set of design positions of the gripper in the open position at the moment before the closure of this gripper, such that when this gripper is closed with these positions of the gripper, it is possible to carry out a reliable grip without slipping behind this holder, that is, the corresponding set of coordinates of the origin of the coordinate system of the gripper devices of the mobile robot, calculated in the global coordinate system, and the corresponding set of coordinates of the unit vectors of all three axes of the coordinate system of the gripper of the mobile robot, calculated in the global coordinate system.

In this case, the initial calculated positions of the gripping device in the open position, the robot's wrist and the robot arm on which this gripping device and this robot's wrist are installed, which correspond to the beginning of the acceleration phase of the mobile robot when this mobile robot is jumping, are preferably set so that the center point of the wrist the robot is located at a vertical distance from the mobile platform, which ranges from 2.3 to 3.3 times equal to the sum of the following two values: the height of the mobile platform body and the minimum distance at which it is possible to simultaneously locate the centers of all wheels of the mobile platform from the bottom surface of the bottom a mobile platform, due to the implementation of the work of an electronically controlled height-adjustable transport suspension.

The parameters of the calculated trajectory of the mobile robot in the free flight phase during the jump are calculated using special programs as follows. First, a vertical line is determined passing through the calculated point of separation of the mobile robot from the floor of the warehouse, that is, the straight line on which the points of the calculated trajectory of the center of mass of the mobile robot in the free flight phase are located. On this straight line, a coordinate axis is set, which is directed vertically upward, that is, directed opposite to the direction of gravity, and, for example, the point of intersection of this straight line and the upper horizontal plane of the warehouse floor is selected as the origin of this coordinate axis. The calculated trajectory of the movement of the center of mass of the mobile robot when jumping vertically upwards in the free flight phase (assuming that the air resistance force acting on the mobile robot when jumping in the free flight phase is proportional to the square of the speed of this mobile robot) relative to the coordinate axis entered on this vertical line is found from the following system of ordinary differential equations:

y '= v,

Where:

y = y (1) - calculated coordinate of the center of mass of the mobile robot 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 estimated speed of the center of mass of the mobile robot at time t, m / s;

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

g - acceleration of gravity, m / s ² ;

K is the coefficient of air resistance, determined by the properties of the environment, the shape of the mobile robot, and corresponding to the square of the initial speed of the mobile robot;

m is the mass of the mobile robot, kg;

| v | = | v (t) | is the absolute value of the estimated speed of the center of mass of the mobile robot at time t, m / s.

For the system of equations (1), the following boundary conditions are considered with respect to the coordinate axis introduced on a vertical straight line passing through the calculated point of separation of the mobile robot from the floor of the warehouse and the calculated point of gripping on the fly by the gripper of the mobile robot for the holder:

Where:

y (T) is the calculated coordinate of the center of mass of the mobile robot at time T, m;

T is the estimated moment in time at which the center of mass of the mobile robot is at the point of separation of the mobile robot from the floor of the warehouse during the jump of this mobile robot, s; A is the calculated value of the coordinate of the center of mass of the mobile robot at time T, m;

y (L) - calculated coordinate of the center of mass of the mobile robot at time L, m;

L is the estimated time of the beginning of the closure of the gripper for gripping on the fly for the holder by the gripper mounted on the arm of this mobile robot, s;

B is the calculated value of the coordinate of the center of mass of the mobile robot at time L, m;

v (L) is the estimated speed of the center of mass of the mobile robot at time L, m / s;

С is the value of the calculated speed of the center of mass of the mobile robot at the moment of time L, m / s.

In this case, the values of the quantities A, B, C are given, the value of L is unknown in advance and it is determined from the system of equations (1) taking into account the boundary conditions (2). In this case, the value of C is greater than zero, and the value of A is less than the value of B. For example, the value of C is 0.1 m / s.

In this case, it is taken into account that the mobile robot must only move upward during the free flight phase of the mobile robot when performing a jump.

Let us denote the constant С ₁ :

Where:

C ₁ - constant;

m is the mass of the mobile robot, kg;

g - acceleration of gravity, m / s ² ;

K is the coefficient of air resistance, determined by the properties of the environment, the shape of the mobile robot, and corresponding to the square of the initial speed of the mobile robot;

С is the value of the calculated velocity of the center of mass of the mobile robot at the calculated moment of time at which the center of mass of the mobile robot is located at the point of gripping by the holder by the gripping device of the mobile robot, m / s.

Let's denote the constant С ₂ :

Where:

C ₂ - constant;

B - the calculated value of the coordinate of the center of mass of the mobile robot at the calculated moment of time at which the center of mass of the mobile robot is located at the point of capture on the fly by the holder with a gripping device installed on the arm of this mobile robot during the jump of this mobile robot, m;

m is the mass of the mobile robot, kg;

K is the coefficient of air resistance, determined by the properties of the environment, the shape of the mobile robot, and corresponding to the square of the initial speed of the mobile robot;

g - acceleration of gravity, m / s ² ;

С is the calculated value of the speed of the center of mass of the mobile robot at the calculated moment of time at which the center of mass of the mobile robot is at the point of gripping by the holder by the gripping device of the mobile robot, m / s.

The value of L, due to the system of equations (1), taking into account the boundary conditions (2), is obtained in the following form:

Where:

L is the estimated time of the beginning of the closure of the gripper for gripping on the fly for the holder by the gripper mounted on the arm of this mobile robot, s;

T is the estimated moment in time at which the center of mass of the mobile robot is at the point of separation of the mobile robot from the floor of the warehouse during the jump of this mobile robot, s;

m is the mass of the mobile robot, kg;

K is the coefficient of air resistance, determined by the properties of the environment, the shape of the mobile robot, and corresponding to the square of the initial speed of the mobile robot; g - acceleration of gravity, m / s ² ;

A is the calculated value of the coordinate of the center of mass of the mobile robot at time T, m;

C ₂ - constant, which is found by the formula (4);

С ₁ - constant, which is found by the formula (3).

The parameters of the calculated trajectory of the movement of the center of mass of a mobile robot in the free flight phase during the jump of this mobile robot are determined by the functions y (t) and v (t), satisfying the system of equations (1) with boundary conditions (2), which are found by the following formulas:

Where:

y = y (t) is the calculated coordinate of the center of mass of the mobile robot at time t, m;

t is the moment in time during the jump of the mobile robot, that is, a real number that takes all values from the calculated moment of time when the mobile robot is detached from the floor of the warehouse to the calculated moment of time when the gripper is closed to carry out gripping on the fly for the holder by the gripper installed on the hand of a mobile robot, with;

m is the mass of the mobile robot, kg;

K is the coefficient of air resistance, determined by the properties of the environment, the shape of the mobile robot, and corresponding to the square of the initial speed of the mobile robot; g - acceleration of gravity, m / s ² ;

L is the estimated time of the beginning of the closure of the gripper for gripping on the fly for the holder by the gripper mounted on the arm of this mobile robot, s;

C ₁ - constant, which is found by the formula (3);

C ₂ - constant, which is found by the formula (4);

v = v (t) is the estimated speed of the center of mass of the mobile robot at time t, m / s.

The initial design speed of separation of the mobile robot from the floor of the warehouse during the jump is calculated using the following formula:

Where:

v (T) is the estimated speed of the center of mass of the mobile robot at time T, m / s;

T is the estimated moment in time at which the center of mass of the mobile robot is at the point of separation of the mobile robot from the floor of the warehouse during the jump of this mobile robot, s;

m is the mass of the mobile robot, kg;

g - acceleration of gravity, m / s ² ;

K is the coefficient of air resistance, determined by the properties of the environment, the shape of the mobile robot, and corresponding to the square of the initial speed of the mobile robot;

L is the estimated time of the beginning of the closure of the gripper for gripping on the fly for the holder by the gripper mounted on the arm of this mobile robot, s;

C ₁ - constant, which is found by the formula (3).

The speed of movement F of the centers of all wheels of the mobile platform away from the bottom surface of the bottom of this mobile platform at the point of separation of the mobile robot from the floor of the warehouse during the jump is calculated using special programs as follows. At the same time, it is taken into account that when lifting the mobile platform in the acceleration phase (taking into account the conditions described above for the locations of all elements of the mobile robot, which correspond to the beginning of the acceleration phase of the mobile robot, and the conditions for lifting the mobile platform in the acceleration phase), the center of mass of the mobile robot is located at the symmetry axis of the mobile platform body, and the symmetry axis of the mobile platform body is perpendicular to the upper plane of the floor of the warehouse. The movement of the center of mass of the mobile robot in the acceleration phase is carried out by increasing the ground clearance of this mobile platform through the operation of the transport suspension, by simultaneously moving, relative to this mobile platform, all wheels of the mobile platform at the same speed, with the same acceleration and at the same distance, perpendicular to the lower plane the bottoms of this mobile platform, aside from this mobile platform. In this case, the beginning of the acceleration phase corresponds to the minimum lowering height of the mobile platform, and the end of the acceleration phase corresponds to the maximum lifting height of the mobile platform. The lifting height of the mobile platform in the acceleration phase is uniquely determined by the distance at which the centers of all wheels of this mobile platform are simultaneously located (due to the operation of this transport suspension) from the bottom surface of the bottom of this mobile platform. Let us denote by S ₀ - the minimum distance at which, in the acceleration phase, the centers of all wheels of the mobile platform are simultaneously located from the bottom surface of the bottom of this mobile platform, corresponding to the minimum lowering height of the mobile platform. Let us denote by S _{1000 the} maximum distance at which, in the acceleration phase, the centers of all wheels of the mobile platform are simultaneously located from the bottom surface of the bottom of this mobile platform, corresponding to the maximum lifting height of the mobile platform. Consider the set of distances at which, in the acceleration phase, the centers of all wheels of the mobile platform are located simultaneously from the bottom surface of the bottom of this mobile platform, which is determined by the following formula:

Where:

S ₁ is the distance at which, in the acceleration phase, the centers of all wheels of this mobile platform are located simultaneously from the bottom surface of the bottom of this mobile platform, m;

i is the ordinal number of the distance value at which, in the acceleration phase, the centers of all wheels of the mobile platform are simultaneously located from the bottom surface of the bottom of this mobile platform, that is, an integer that takes all values from 0 to 1000;

S ₀ - the minimum distance at which, in the acceleration phase, the centers of all wheels of the mobile platform are simultaneously located from the bottom surface of the bottom of this mobile platform, corresponding to the minimum lowering height of the mobile platform, m;

S ₁₀₀₀ - the maximum distance at which, in the acceleration phase, the centers of all wheels of the mobile platform are simultaneously located from the lower surface of the bottom of this mobile platform, corresponding to the maximum lifting height of the mobile platform, m.

For each value of S _i (for all integers i from 0 to 1000), the value U _i is determined - the distance from the center of mass of the mobile robot to the floor of the warehouse, corresponding to the location of the mobile robot in the acceleration phase, at which the centers of all wheels of the mobile platform in the acceleration phase are located at a distance S _i from the bottom surface of the bottom of this mobile platform. In this case, each value U _i (for all integers i from 0 to 1000) is found using software for calculating the center of mass of the object by using a solid 3D model of the object, taking into account the location of all elements of this object with given densities of materials from which the elements are made that this object contains. Thus, a function is obtained, given in a table for all integers i from 0 to 1000:

Where:

U _i is the distance from the center of mass of the mobile robot to the floor of the warehouse, corresponding to the location of the mobile robot in the acceleration phase, in which the centers of all wheels of the mobile platform in the acceleration phase are located at a distance S _i from the bottom surface of the bottom of this mobile platform, m;

i is the ordinal number of the distance value at which, in the acceleration phase, the centers of all wheels of the mobile platform are simultaneously located from the bottom surface of the bottom of this mobile platform, that is, an integer that takes all values from 0 to 1000;

W is a function by which the distance at which, in the acceleration phase, the centers of all wheels of this mobile platform are simultaneously located from the bottom surface of the bottom of this mobile platform, is matched with the distance from the center of mass of the mobile robot to the floor of the warehouse;

S _i is the distance at which, in the acceleration phase, the centers of all wheels of this mobile platform are simultaneously located from the bottom surface of the bottom of this mobile platform, m.

Thus, the value A used in the formula (2) is set by using the value U ₁₀₀₀ determined by the formula (9) taking into account the formula (8). In particular, the A value is equal to the U value of ₁₀₀₀ .

Consequently, the estimated speed of movement of the centers of all wheels of the mobile platform from the lower surface of the bottom of this mobile platform at the point of separation of the mobile robot in the acceleration phase is determined by the following formula:

Where:

F is the estimated speed of movement of the centers of all wheels of the mobile platform away from the bottom surface of the bottom of this mobile platform at the point of separation of the mobile robot from the floor of the warehouse in the acceleration phase, m / s;

v (T) is the estimated speed of the center of mass of the mobile robot at time T, determined by formula (7) taking into account formulas (1) - (6), m / s;

T is the estimated moment in time at which the center of mass of the mobile robot is at the point of separation of the mobile robot from the floor of the warehouse during the jump of this mobile robot, s;

W is a function by which the distance at which, in the acceleration phase, the centers of all wheels of this mobile platform are simultaneously located from the bottom surface of the bottom of this mobile platform, is matched with the distance from the center of mass of the mobile robot to the floor of the warehouse;

W '(S ₁₀₀₀ ) - derivative of the function W with the value of the argument equal to S ₁₀₀₀ ;

S ₁₀₀₀ - the maximum distance at which, in the acceleration phase, the centers of all wheels of the mobile platform are simultaneously located from the lower surface of the bottom of this mobile platform, corresponding to the maximum lifting height of the mobile platform, m.

In this case, the value W '(S ₁₀₀₀ ) is calculated by using methods of numerical differentiation for the function specified in the table.

A separate passage is created for the mobile robot, along which this mobile robot is moved. Preferably, the driveway is created in the form of an oriented simple two-dimensional polygon located in the OXY plane of the global coordinate system by specifying the vertices of a simple polyline that represents the boundary of this polygon. This simple polyline is defined by an ordered sequence of numbers that represent the coordinates of the vertices of this simple polyline, calculated in the global coordinate system, and which are written in accordance with the order of traversing the vertices of this oriented simple two-dimensional polygon. In this case, this ordered sequence of numbers represents the parameters of the corresponding passage for the mobile robot.

In this case, the parameters of the lines of possible displacements of the mobile platform of the mobile robot along the corresponding passage are set, which are preferably set in the form of broken lines lying on the OXY plane of the global coordinate system, which represent the lines of possible displacements of the orthogonal projection of the origin of the coordinate system of the mobile platform on the OXY plane of the global coordinate system , when moving the mobile platform. Moreover, each such polyline is set 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 traversing the vertices of this polyline. In this case, this ordered sequence of numbers represents the parameters of the corresponding line of possible movement of the mobile robot along the corresponding passage.

In this case, the parameters of the passage intended for the movement of the mobile robot and the parameters of the lines of possible movements of the mobile robot along the corresponding passage are determined using equipment that contains the mobile robot and the control point, and these parameters are placed on the computer of the control point and on the on-board computer of the mobile robot, on appropriate storage devices.

To carry out warehouse operations in the warehouse, a control point is used. The control center contains a computer with a connected input device, a storage device, and wireless network equipment designed to connect this computer as a computer network node to a wireless local computer network based on Wi-Fi technology. The control point is located in the warehouse, outside the storage area of the warehouse, and outside the passageway intended for moving the mobile robot.

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

- real-time operating system;

- a special program by means of which the system time is set and maintained with the implementation of synchronization with the exact time server;

special programs through which parallel computing algorithms are implemented;

software designed to create a solid 3D model of an object with the ability to set the density of materials from which the elements that contain this object are made;

- software designed to calculate the center of mass of an object by using a solid 3D model of an object, taking into account the location of all elements of this object with given densities of materials from which the elements that contain this object are made.

The claimed method of moving a mobile robot in a warehouse differs from the known methods in that the mobile robot is moved to the shelf of the upper tier of the rack by jumping this mobile robot with subsequent capture on the fly by the holder (mounted on the upper tier of this rack) by a gripper mounted on the arm of this mobile robot, and by subsequently placing the mobile platform of this robot on the shelf of the upper tier of this rack by actuating the drives of the rotary joints installed in the hand of this mobile robot. In this case, the shelf of the upper tier of the rack is located at a height exceeding the sum of three values: the height of the body of the mobile platform, the length of the arm of the mobile robot on which the gripper is installed, and the maximum distance at which it is possible to simultaneously locate the centers of all wheels of the mobile platform from the lower surface of the bottom of the mobile platforms, due to the implementation of the work of an electronically controlled height-adjustable transport suspension.

Moving the mobile robot along the driveway, on the floor surface of the warehouse room to a predetermined location (which is specified by the task program) by means of the automatic functioning of this robot is carried out as follows. First, on the on-board computer, with the help of special programs, localization of this mobile robot is carried out by means of the automatic functioning of this robot. Then, on the on-board computer of a mobile robot, using special programs, the sequences of operating 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 are determined, through which all arms of the robot are moved, all the wrists of the robot and the mobile platform of this mobile robot to a predetermined location in accordance with certain lines of possible movements of the mobile platform of this mobile robot along a certain passage.

Packaged goods are manually placed on the shelves of the shelves. The placement of goods on the shelves is carried out without overhangs. The information about the addresses of the racks is placed in the computer of the control point on the information storage device, using the programming of manual data input, using the input device. Then they measure the warehouse premises (together with the contents of this room), build a three-dimensional model of the warehouse premises (together with the contents of this room) and determine the parameters of this three-dimensional model using a 3D scanner. The information that contains the parameters of this three-dimensional model is placed in the control room computer on the information storage device by using the input device.

Before starting the movement of the mobile robot in the warehouse, first, the operating mode of the suspension of the mobile platform of the mobile robot is carried out, by means of which the mobile platform of the mobile robot is lowered from the current location to the location corresponding to the set minimum lowering height of the mobile platform. Then, the mobile robot is placed in the passage intended for the movement of this mobile robot. In this case, information representing the parameters of the initial position of the mobile robot is placed in the computer of the control point on the information storage device by using the input device. Then, a wireless local computer network based on Wi-Fi technology is operated, to which, as nodes of a computer network, the computer of the control point and the on-board computer of the mobile robot are connected. At the same time, with the help of special programs, the system time is set and continuously maintained with synchronization with the exact time server on the computer of the control point and on-board computer of the mobile robot, in the automatic operation of this robot, using special programs through which parallel computing algorithms are implemented. In this case, the computer of the control point is installed as the time server. Then, all information related 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 computer of the control point to the on-board computer of the mobile robot.

Moving the mobile robot in the warehouse, namely, moving the mobile robot to the shelf of the upper tier of the rack, is carried out as follows. On the computer of the control room, using the programming of manual data entry, using the input device, enter the address of the rack, on the shelf of the upper tier of which the mobile robot will move. Then, on the computer of the control point, with the help of special programs, in the automatic operation of this control point, this address is transmitted to the on-board computer of the mobile robot via a wireless local computer network based on Wi-Fi technology.

Then, on the on-board computer of the mobile robot, through its automatic functioning, through a wireless local computer network based on Wi-Fi technology, the address of the rack is obtained, on the shelf of the upper tier of which the mobile robot will be moved.

Then, on the on-board computer of the mobile robot, by means of its automatic functioning, the parameters corresponding to this rack are determined, including the parameters of the initial location of the mobile platform of the mobile robot when this mobile robot jumps to the upper tier of this rack.

Then, on the on-board computer of the mobile robot, by means of its automatic functioning, the parameters of the lines are determined along which the mobile platform of the mobile robot will move along the corresponding passage to move from the current location of the mobile robot to the initial location when the mobile robot jumps to the upper tier of this rack. Then the mobile robot, by means of its automatic functioning, is moved (along the passage, along the corresponding line) to the initial position when the mobile robot jumps to the upper tier of this rack.

Moving the mobile robot onto the shelf of the upper tier of the rack by jumping this mobile robot is carried out as follows.

Before jumping, first, the gripper of the mobile robot is opened by the automatic operation of the mobile robot. Then, the gripping device is positioned in the open position, the robot's wrist and the robot arm, on which this gripping device and this robot's wrist are installed, which correspond to the beginning of the acceleration phase of the mobile robot when the mobile robot is jumping.

Then, by means of the automatic operation of the mobile robot, two video cameras placed on the mobile platform of the mobile robot are positioned by moving two robot arms and two robot wrists on which they are placed, so that the images obtained through these video cameras contain images of the gripper and the holder , which is installed on the top tier of this rack. In this case, the on-board computer of the mobile robot, using special programs, is configured, through the automatic operation of the mobile robot, to receive images from two video cameras located on the mobile platform of the mobile robot, and to process the resulting images to recognize the holder, gripper and to determine the real spatial the location of the gripper, using special programs, through which the algorithms of computer vision are implemented. In this case, all the elements of the mobile robot before the start of the acceleration phase of the mobile robot (taking into account the conditions described above for the locations of all elements of the mobile robot, which correspond to the beginning of the acceleration phase of the mobile robot, and the conditions for lifting the mobile platform in the acceleration phase), by means of the automatic functioning of the mobile robot, have so that the center of mass of the mobile robot is located on the axis of symmetry of the body of the mobile platform.

First, on the on-board computer of the mobile robot, using special programs, the calculated moment of the beginning of the acceleration phase of the mobile robot (to ensure the jump of this mobile robot along the calculated trajectory) is determined, and the calculated moment of separation of the mobile robot from the floor of the warehouse. Then, in the mode of automatic operation of the mobile robot, using special programs, the parameters of the operating modes of the drives of the transport suspension of the mobile robot are determined, at which the calculated speed of movement of the centers of all wheels of the mobile platform is provided perpendicular to the lower plane of the bottom of the mobile platform, away from the lower surface of the bottom of this mobile platform at a given calculated moment of separation of the mobile robot from the floor of the warehouse, for a given calculated moment of the beginning of the acceleration phase of this mobile robot, and for a given estimated duration of the acceleration phase of this mobile robot. In this case, the error in working out the trajectory of the omnidirectional mobile mechanism of this mobile robot is taken into account.

Then, this mobile robot is accelerated by operating the transport suspension of the mobile robot in accordance with these specific parameters of the operating modes of the transport suspension drives of the mobile robot, for a given design moment of the start of the acceleration phase of this mobile robot, and for a given design duration of the acceleration phase of this mobile robot, to implement displacement of the center of mass of the mobile robot in the acceleration phase along the design line so that at a given design moment of separation of the mobile robot from the floor of the warehouse, the center of mass of the mobile robot is located at the specified design point of separation of the mobile robot from the floor of the warehouse, and at the same time that the design speed of the center the mass of the mobile robot was equal to the specified calculated initial speed of separation of this mobile robot from the floor of the warehouse. As a result of these actions, the mobile robot jumps.

At the same time, images are obtained on the on-board computer of a mobile robot through two video cameras, and the resulting images are processed in real time, and the gripper and holder are recognized, and the real spatial position of the gripper is determined in relation to the global coordinate system, taking into account the time required for obtaining and processing images of this holder and the gripper, in particular, obtain, in real time, information about the location and speed of movement of the origin of the coordinate system of the gripper of the mobile robot, through the automatic operation of the mobile robot. In this case, special programs are used, through which parallel computing algorithms are implemented, by means of which they simultaneously process several images obtained through two video cameras in real time, and at the same time control the operation of the mobile robot, in particular, control the movements of the robot arm, the robot's wrist and the gripper. devices.

In this case, it is taken into account that when a mobile robot is jumping, this mobile robot may deviate from the calculated trajectory of movement. In order to grip on the fly for the holder with a possible deviation of this mobile robot from the calculated trajectory of movement, the following set of actions B1 is performed, designed to grip this holder on the fly, by implementing parallel computations, and through the automatic operation of the mobile robot, in in real time. In this case, the beginning of the execution of the set of actions B1 coincides with the calculated moment of separation of the mobile robot from the floor of the warehouse. At the same time, it is taken into account that if the gripping on the fly for the holder is not carried out by the mobile robot within, for example, 10 s after the separation of the mobile robot from the floor of the warehouse, then grab on the fly for this holder by means of the automatic functioning of the mobile robot under these circumstances it is impossible.

The set of actions B1 (its description consists of descriptions of steps 1-2) is as follows:

Step 1. On the on-board computer of the mobile robot, through the implementation of parallel computations, the mobile robot is localized and the parameters of the location of the gripper of the mobile robot relative to the global coordinate system are determined. This completes step 1 and proceeds to step 2.

Step 2.Using special programs, it is determined whether the location of the gripping device of the mobile robot (determined in step 1) belongs to the set of calculated locations of the gripping device of the mobile robot at the moment before closing this gripping device, such that when closing this gripping device at these positions of the gripping device device, it is possible to securely grip without slipping behind this holder, and if it does, then grab without slipping into the holder by instantly closing the gripper of the mobile robot, and exit this cycle from two steps 1-2, stopping all actions described in steps 1-2, and terminating all actions described in the set of actions B1. If the location of the gripping device of the mobile robot (determined in step 1) does not belong to the set of calculated positions of the gripping device of the mobile robot at the moment before closing this gripping device, such that when closing this gripping device with these positions of the gripping device, it is possible to perform a reliable grip without slipping behind this holder, then the following actions are performed. Determine the current moment of time H. Comparison of the estimated moment of separation of the mobile robot from the floor of the warehouse with the moment of time H is performed, and if the estimated moment of separation of the mobile robot from the floor of the warehouse differs from the moment of time H by an amount not less than 10 s, then transfer to the computer control point from the on-board computer of the mobile robot (via a wireless local area network based on Wi-Fi technology) a message about an unsuccessful attempt to grip the holder on the fly, and exit from this cycle from two steps 1-2, terminating all actions described in steps 1-2, and terminating all actions described in the set of actions B1. If the estimated moment of detachment of the mobile robot from the floor of the warehouse differs from the moment of time H by an amount less than 10 s, then step 2 is completed and go to step 1. This completes the description of the set of actions B1.

Thus, the mobile robot jumps and on-the-fly gripping of the holder by the automatic operation of the mobile robot. After gripping on the fly without slipping for the holder by means of the gripper of the mobile robot, all locking devices located in this gripper are activated. Then carry out the simultaneous movement (due to the implementation of the transport suspension), relative to this mobile platform, all the wheels of this mobile platform at the same speed, with the same acceleration and at the minimum possible distance to the bottom of this mobile platform, perpendicular to the lower plane of the bottom of this mobile platform, in side to this mobile platform. After that, the hand of the mobile robot is positioned (while maintaining the location of the gripper) by actuating the drives of the rotary hinges installed in this hand of the mobile robot, at which the distance from the center point of the wrist of the robot, on which it is installed, is reduced at least three times. gripper, up to a mobile platform. Then, in addition, the locking devices located in the robot's hand are activated, which at this moment have not yet been activated. Then only those locking devices are turned off which are used to block the rotary joint by means of which the robot arm is connected to the robot's wrist. After that, the rotary joint is rotated (by actuating the drive of this rotary joint), by means of which the robot arm is connected to the robot's wrist, at an angle of at least 30 degrees and not more than 60 degrees, while the rotational joint is rotated so that the mobile platform moves to the side to the rack. Previously, the angle of rotation of this rotary joint is determined experimentally so that after this rotation, the elements of the mobile robot do not touch the travel stop when the arm of the mobile robot is positioned, at which the distance from the central point of the wrist of the robot, on which it is installed, is increased at least three times. gripper, up to a mobile platform. Then, the locking devices are activated, which are used to block the rotational hinge, through which the robot arm is connected to the robot's wrist, and at the same time, all other locking devices located in the robot's hand are turned off, and the mobile robot arm is positioned (while maintaining the position of the gripper), by actuating rotary hinge drives installed in this arm of the mobile robot, in which the distance from the center point of the robot's wrist, on which the gripper is installed, to the mobile platform is increased by at least three times. As a result of these actions, the mobile platform is located above the shelf of the upper tier of the rack. Then again the locking devices located in the robot's hand are activated, which at this moment are not activated. The gripper of the mobile robot is then opened. As a result of these actions, the mobile platform is lowered by gravity onto the shelf of the upper tier of the rack. In this case, the travel stop installed on the upper tier of this rack prevents the mobile robot from overturning and falling onto the floor of the warehouse. This completes the transfer of this mobile robot to the shelf of the upper tier of the rack installed in the storage area of the warehouse.

The technical result to be achieved by the claimed invention is to ensure the movement of the mobile robot to the shelf of the upper tier of the rack installed in the warehouse.

This technical result of the claimed method of moving a mobile robot in a warehouse is achieved by the fact that the mobile robot is moved to the shelf of the upper tier of the rack by jumping this mobile robot with subsequent capture on the fly by the holder (mounted on the upper tier of this rack) by a gripper mounted on the arm of the mobile robot, and by subsequently arranging the mobile platform of the mobile robot on the shelf of the upper tier of the rack by actuating the drives of the rotary hinges installed in the hand of this mobile robot, and the shelf of the upper tier of this rack is located at a height exceeding the sum of three values: the height of the body of the mobile platform, the length of the arm of the mobile robot on which the gripper is installed, and the maximum distance at which it is possible to simultaneously locate the centers of all wheels of the mobile platform from the bottom surface of the bottom of the mobile platform s, due to the implementation of the work of an electronically controlled height-adjustable transport suspension.

Brief Description of Drawings

The figures schematically show:

Figure 1: view of a mobile robot.

Figure 2: view of the rack.

Figure 3: side view of the mobile robot at the moment before the start of the jump.

Figure 4: side view of the mobile robot at the moment after being gripped by the holder by the gripping device.

Figure 5: a side view of the mobile robot at the moment before the start of the rotation of the rotary joint by means of which the robot arm is connected to the wrist of the robot.

Figure 6: side view of the mobile robot at the moment after the rotation of the rotary joint by means of which the robot arm is connected to the wrist of the robot.

Figure 7: side view of a mobile robot at the moment before opening the gripper.

Figure 8: side view of a mobile robot at the moment after moving this mobile robot to the shelf of the upper tier of the rack.

Figure 9: warehouse plan.

In the figures, the numbers indicate: 1 - a mobile robot, 2 - a mobile platform, 3 - a gripper, 4 - a robot wrist, designed to install a gripper, 5 - a robot arm, designed to install a gripper, 6 - on-board computer, 7 - a device information storage connected to the on-board computer, 8 - network equipment connected to the on-board computer, 9 - energy source, 10 - video camera, 11 - robot arm, designed to install a video camera, 12 - wheel, 13 - transport suspension element to which it is attached wheel, 14 - rotary hinge, through which the robot arm is connected to the robot's wrist, on which the gripper is installed, 15 - rack, 16 - shelf of the lower tier of the rack, 17 - shelf of the upper tier of the rack, 18 - packaged goods, 19 - limiter course, 20 - holder, 21 - floor of the warehouse, 22 - control point, 23 - control point computer, 24 - information storage device, sub connected to the control point computer, 25 - network equipment connected to the control point computer, 26 - input device connected to the control point computer, 27 - passage designed for the movement of the mobile robot, 28 - line of possible movements of the mobile platform of the mobile robot, 29 - projection onto the OXY plane of the global coordinate system of the origin of the coordinate system of the mobile platform of the mobile robot in the initial position, which corresponds to the beginning of the acceleration phase of the mobile robot when moving the mobile robot to the shelf of the upper tier of the rack, 30 - storage area.

Implementation of the invention

The invention is a new way of moving a mobile robot in a warehouse. The claimed method is designed to move the mobile robot to the shelf of the upper tier of the rack installed in the storage area of the warehouse. The mobile robot 1 is moved to the shelf 17 of the upper tier of the rack 15 by making a jump of this mobile robot 1, followed by gripping on the fly without slipping by the gripper 3 (mounted on the arm 5 of this mobile robot 1) by the holder 20 installed on the upper tier of this rack 15, and by subsequently placing the mobile platform 2 of this mobile robot 1 on the shelf 17 of the upper tier of this rack 15 by actuating the rotary hinge drives installed in the hand of this mobile robot. After moving to the shelf 17 of the upper tier of the rack 15, the mobile robot 1 is used, for example, for inventorying and moving goods 18 placed on the upper tier of this rack 15.

To implement the claimed invention, a mobile robot 1 is used, which is an articulated robot containing rotational and spherical hinges.

Mobile robot 1 contains:

- a mobile platform 2, on which all other elements of the mobile robot 1 are placed, containing an omnidirectional mobile wheel-type mechanism containing a brake system, and the mobile platform 2 contains the body of the mobile platform 2;

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

- network equipment 8, designed to connect the on-board computer 6 as a computer network node to a wireless local computer network based on Wi-Fi technology;

- a robot arm 5, a robot wrist 4 mounted on this robot arm 5, and a robot working body, which is a gripping device 3, mounted on this robot wrist 4, wherein the robot arm 5 and the robot wrist 4 are connected by a rotational joint 14;

- two hands 11 of the robot, two wrists of the robot, which are installed one on each of these hands 11 of the robot, and are intended to be installed on each of them one video camera 10;

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

- energy source 9, designed to ensure the normal operation of all elements of the mobile robot 1.

Each video camera 10 is installed with the ability to obtain in real time at least 1000 images per second, with a resolution of at least 1024 × 1024 pixels.

The floor 21 of the warehouse room is made so that the upper plane of the floor 21 of the warehouse room is made in the form of a flat flat horizontal solid surface. Used mobile platform 2 with the ability to move on a flat flat solid horizontal surface at a speed of up to 5 km / h, and which, for example, has a mass of 4 kg. The body of the mobile platform 2 contains the bottom of the mobile platform 2, while the bottom plane of the bottom of the mobile platform 2 of the mobile robot 1 is made in the form of a rigid flat surface. Mobile robot 1, for example, has a mass of 8 kg. In this case, the length and width of the mobile platform 2 are 50 cm. The height of the body of the mobile platform 2 is 20 cm. The upper part of the mobile platform 2 is a flat flat horizontal surface. Mobile platform 2 contains an omnidirectional mobile mechanism containing a corresponding set of drives, drive control units and proprioceptive sensors, which are encoders.

All the hands 5, 11 of the robot, all the wrists mounted on the hands 11 of the robot, the wrist 4 of the robot, the gripper 3 contain a corresponding set of locking devices by means of which all the hinges that contain all the hands 5, 11 of the robot, all the wrists mounted on the hands are blocked 11 robots, 4 robots wrist, gripper 3.

All hands 5, 11 of the robot, all wrists mounted on the hands 11 of the robot, wrist 4 of the robot, gripper 3 contain a corresponding set of proprioceptive sensors, drives and drive control units.

The arm 5 of the mobile robot is chosen so that the length of this arm 5 is, for example, a value equal to three times the sum of the following two values: the height of the body of the mobile platform 2 and the minimum distance at which it is possible to simultaneously locate the centers of all wheels 12 of the mobile platform 2 from the bottom surface of the bottom mobile platform 2, due to the implementation of the work of an electronically controlled height-adjustable transport suspension.

The number of degrees of freedom of each arm 5, 11 of the robot is at least 7, while the maximum angular velocity of individual joints of each arm of 5, 11 of the robot is not less than 1200 degrees per second, the length of the arm 5 of the robot is 90 cm, the length of each arm 11 of the robot is 20 see The maximum angular velocity of individual joints of the gripper 3 is not less than 1200 degrees per second, the force of holding the object with the gripper 3 is more than 500 N.

Each drive, each drive control unit, each proprioceptive sensor are installed and connected to the power source 9 located on the mobile platform 2. Each drive is installed so that this drive can be controlled by the drive control unit. Each drive control unit is installed with the ability to receive signals from the on-board computer 6, representing the parameters of the drive operation modes, and with the ability to control the drive operation in accordance with the received signals. Each proprioceptive sensor is installed with the possibility of transmitting to the on-board computer 6 a signal representing the results of the operation of the corresponding drive included in the omnidirectional mobile mechanism, the hands 5, 11 of the robot, two wrists mounted on the hands 11 of the robot, the wrist 4 of the robot, the gripper 3.

The on-board computer 6 with a connected storage device 7 is installed on a mobile platform 2, while an omnidirectional mobile mechanism is connected to the on-board computer 6, a robot arm 5, a robot wrist 4, a gripper 3, and two robot arms 11 are connected to this on-board computer 6, two robot wrists, which are mounted one on each of these robot arms 11, two video cameras 10 mounted on these robot wrists, one on each of these wrists. At the same time, the connection to the on-board computer 6 of the omnidirectional mobile mechanism, the hands 5, 11 of the robot, two wrists mounted on the hands 11 of the robot, the wrist 4 of the robot, the gripper 3 is carried out by connecting to the on-board computer all proprioceptive sensors and all control units of drives that contain omnidirectional mobile mechanism, hands 5, 11 of the robot, two wrists mounted on the hands 11 of the robot, the wrist of the robot 4 and the gripper 3. The on-board computer 6 is installed with the ability to transmit to each control unit of the drive 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 an energy source 9 located on the mobile platform 2. Two video cameras 10 are connected to the on-board computer 6, installed on the robot's wrists, mounted on the robot's hands 11, with the possibility of receiving on the on-board computer 6 images through these two video cameras 10. Each video camera 10 is rigidly attached to the corresponding wrist of the robot, mounted on the arm 11 of the robot. Each video camera 10 is positioned and oriented by transmitting signals representing the parameters of the operating modes of the drives of the arm 11 of the robot and drives of the wrist of the robot mounted on the arm 11 of the robot, from the on-board computer 6 to the control units of the drives of the arm 11 of the robot and to the control units of the drives of the wrist of the robot mounted on hand 11 of the robot, and through the implementation of the operation of the drives in these modes.

On the mobile platform 2, network equipment 8 is installed, which is connected to the on-board computer 6 and to the energy source 9 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 the wireless local computer network based on Wi-Fi technology.

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

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

- real-time operating system;

- software for embedded real-time systems designed for real-time control of the robot arm, robot wrist, gripper, omnidirectional mobile mechanism;

- software designed to implement computer vision algorithms, in particular, for real-time processing of images, recognition of certain objects from the obtained images of these objects, determining the spatial location of certain objects from the obtained images of these objects, finding an estimate of the speed of an object from the received images of this object, determining the parameters of the trajectory of the object in three-dimensional space, calculating the distance to the object;

- special programs by means of which parallel computing algorithms are implemented;

- a special program by means of which the system time is set and maintained with the implementation of synchronization with the exact time server;

- software designed to create a solid 3D model of an object with the ability to set the densities of materials from which the elements that contain this object are made;

- software designed to calculate the center of mass of an object by using a solid 3D model of an object, taking into account the location of all elements of this object with given densities of materials from which the elements that contain this object are made.

On the mobile platform 2 of the mobile robot 1, an electronically controlled height-adjustable transport suspension is installed with the provision of independent suspension of each wheel 12 of this mobile platform 2. When the mobile robot 1 moves in operating mode along horizontal surfaces, the lower plane of the bottom of the mobile platform 2 of this robot is placed parallel the upper plane of the floor 21 of the warehouse premises due to the operation of this electronically controlled height-adjustable transport suspension. This suspension is installed with the possibility of increasing and with the possibility of reducing the ground clearance of the mobile platform 2 of the mobile robot 1. In this case, the increase in the ground clearance of this mobile platform 2 is carried out due to the operation of this transport suspension, by means of the simultaneous movement, relative to this mobile platform 2, of all wheels 12 of the mobile platform 2 at the same speed, with the same acceleration and at the same distance, perpendicular to the lower plane of the bottom of this mobile platform 2, away from this mobile platform 2. In this case, the decrease in the ground clearance of this mobile platform 2 is carried out due to the operation of this transport suspension, by means of the simultaneous moving, relative to this mobile platform 2, all wheels 12 of the mobile platform 2 at the same speed, with the same acceleration and at the same distance, perpendicular to the lower plane of the bottom of this mobile platform 2, towards this mobile platform 2. In this case, this e an electronically controlled height-adjustable transport suspension is connected to the on-board computer 6 of the mobile robot 1 (with the possibility of controlling its operation by means of this on-board computer 6), and to the energy source 9 installed on the mobile platform 2 of the mobile robot 1 (with the possibility of ensuring the normal operation of this electronically controlled height-adjustable transport suspension). By programming the control unit of this suspension, the maximum lifting height of this mobile platform 2 and the minimum lowering height of this mobile platform 2 are set. In this case, the maximum lifting height of the mobile platform 2 is set by setting the maximum distance at which it is possible to simultaneously locate the centers of all wheels 12 of this mobile platform 2 (due to the implementation of the operation of this transport suspension) from the bottom surface of the bottom of this mobile platform 2. In this case, the minimum lowering height of the mobile platform 2 is set by setting the minimum distance at which it is possible to simultaneously locate the centers of all wheels 12 of this mobile platform 2 (due to the implementation of the work this transport suspension) from the bottom surface of the bottom of this mobile platform 2. In this case, the maximum lifting height of the mobile platform 2 is reached by means of simultaneous movement (due to the operation of this transport platform weight), relative to this mobile platform 2, all wheels 12 of this mobile platform 2 at the same speed, with the same acceleration and at the maximum possible distance from the bottom of this mobile platform 2, perpendicular to the bottom plane of the bottom of this mobile platform 2, away from this mobile platform 2. In this case, the minimum lowering height of the mobile platform 2 is achieved by simultaneously moving (due to the operation of this transport suspension), relative to this mobile platform 2, all wheels 12 of this mobile platform 2 at the same speed, with the same acceleration and at the minimum possible distance to the bottom of this mobile platform 2, perpendicular to the bottom plane of the bottom of this mobile platform 2, towards this mobile platform 2. The operation of this suspension is controlled by transmitting a signal representing the operating parameters of this suspension from the on-board computer 6 to the control unit of this suspension. The following operating modes of the suspension are possible: the mode of lifting the mobile platform 2 of the mobile robot 1 from the current location due to the operation of this transport suspension, by simultaneously moving relative to this mobile platform 2, all wheels 12 of the mobile platform 2 at a given equal speed, with a given equal acceleration and on a predetermined equal distance perpendicular to the lower plane of the bottom of this mobile platform 2, away from this mobile platform 2, and the mode of lowering the mobile platform 2 of the mobile robot 1 from the current location to the location corresponding to the set minimum lowering height of the mobile platform 2.

The minimum distance at which it is possible to simultaneously locate the centers of all wheels 12 of the mobile platform 2 from the lower surface of the bottom of the mobile platform 2, due to the operation of an electronically controlled height-adjustable transport suspension, is, for example, 10 cm. The maximum distance at which it is possible to simultaneously locate the centers of all wheels 12 of the mobile platform 2 from the lower surface of the bottom of the mobile platform 2, due to the operation of the electronically controlled height-adjustable transport suspension, is, for example, 50 cm.

The jump of the mobile robot 1 is performed by means of the acceleration phase and the free flight phase of the mobile robot 1. The movement of the mobile robot 1 in the acceleration phase is carried out by increasing the ground clearance of the mobile platform 2 by means of the transport suspension, by means of the simultaneous movement of all wheels relative to this mobile platform 2 12 of the mobile platform 2 at the same speed, with the same acceleration and at the same distance, perpendicular to the lower plane of the bottom of this mobile platform 2, away from this mobile platform 2. In this case, the beginning of the acceleration phase corresponds to the minimum lowering height of the mobile platform 2, and the end of the acceleration phase corresponds to the maximum lifting height of the mobile platform 2.

The mobile robot 1 is manufactured using special software, which implements the possibility of calculating the center of mass of an object, taking into account the location of all elements of this object with given densities of materials from which these elements are made. Mobile platform 2 contains a body (containing the bottom of this mobile platform 2) having an axis of symmetry that is perpendicular to the bottom plane of the bottom of this mobile platform 2. The center of mass of the body of the mobile platform 2 is located on the axis of symmetry of this body. In this case, the omnidirectional mobile mechanism contains four identical wheels 12 with the provision of the same independent suspension for each wheel 12. In this case, these two pairs of wheels 12 are installed in pairs symmetrically relative to the axis of symmetry of the body of the mobile platform 2, and at the same time the corresponding suspension elements 13 to which these are attached two pairs of wheels 12 are also installed in pairs symmetrically relative to the axis of symmetry of the body of the mobile platform 2. In this case, before lifting and lowering the mobile platform 2, two pairs of wheels 12 are arranged in pairs symmetrically relative to the axis of symmetry of the body of this mobile platform 2 and turn on the brake system of the mobile platform 2. Thus, when lifting and lowering the mobile platform 2, the pairwise symmetry of these two pairs of wheels 12 relative to the axis of symmetry of the body of the mobile platform 2 is maintained, while maintaining the pairwise symmetry of the corresponding two pairs of suspension elements 13, to which these two pairs of wheels 12 are attached. Thus, the axis of symmetry of the body of the mobile platform 2 is parallel to the direction of gravity when this mobile platform 2 is located on the floor 21 of the warehouse so that the centers of all wheels 12 of this mobile platform 2 are located simultaneously at the same distance from the bottom bottom surface of this mobile platform 2.

All elements of the mobile platform 2 are installed so that the center of mass of the mobile platform 2 is located on the axis of symmetry of the body of the mobile platform 2, provided that two pairs of wheels 12 are symmetrically positioned relative to the axis of symmetry of the body of the mobile platform 2, and provided that the corresponding two pairs of suspension elements are arranged in pairs 13, to which these two pairs of wheels 12 are attached. Thus, when lifting and lowering the mobile platform 2 (taking into account the conditions described above for lifting and lowering the mobile platform 2), the center of mass of the mobile platform 2 is on the axis of symmetry of the body of the mobile platform 2.

All elements of the mobile robot 1 are installed on the mobile platform 2 so that with the initial position of the gripper 3 in the open position (which corresponds to the beginning of the acceleration phase of the mobile robot 1), with the initial positions (which correspond to the beginning of the acceleration phase of the mobile robot 1) two video cameras 10, two hands 11 of the robot, on which two video cameras 10 are installed, with the simultaneous arrangement of all wheels 12 of the mobile platform 2 at the minimum possible distance from the bottom of this mobile platform 2 (which corresponds to the minimum lowering height of the mobile platform 2), and provided that two pairs of pairs are symmetrically arranged in pairs wheels 12 relative to the axis of symmetry of the body of the mobile platform 2, and provided that the corresponding two pairs of suspension elements 13, to which these two pairs of wheels 12 are attached, the center of mass of the mobile robot 1 is located on the axis of symmetry of the body of the mobile platform 2, inside the body of this mobile platform 2.

Thus, when lifting the mobile platform 2 in the acceleration phase (taking into account the conditions described above for the location of all elements of the mobile robot 1, which correspond to the beginning of the acceleration phase of the mobile robot 1, and the conditions for lifting the mobile platform 2), the center of mass of the mobile robot 1 is located on the axis symmetry of the mobile platform body 2.

A one-story room, 100 m wide, 100 m long, 6 m high, with vertical walls, was used as a warehouse space, and this warehouse has, in particular, a storage area of 30. Lighting in the warehouse room is performed in accordance with with standard: GOST ISO 8995-2002. Principles of visual ergonomics. Indoor work systems lighting. - Introduction. 2004-01-01. - M .: IPK Publishing house of standards, 2003. - 32 p. In storage area 30, a passage 27 was created for intra-warehouse mechanization equipment. The mobile robot 1 is used to carry out an inventory of goods as an intra-warehouse means of mechanization and as a lifting and transport equipment containing load gripping devices. For storage of goods 18, shelf single-section bunk racks 15 are used.

The global coordinate system OXYZ is set to be orthogonal, right-oriented and set so that the origin of the global coordinate system belongs to the upper plane of the floor 21 of the warehouse. In this case, the OXY plane contains the upper horizontal plane of the floor 21 of this warehouse, the OZ axis is directed vertically upward, perpendicular to the OXY plane, the OX and OY axes belong to the OXY plane and are mutually perpendicular. Each coordinate system of each video camera 10 is set to be 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 video camera 10 and directed towards the video recording object, and the unit vector defining the direction of the first axis of this coordinate system , is perpendicular to the unit vector specifying the direction of the third axis of this coordinate system. In this case, the origin of the coordinate system of the video camera 10 belongs to the surface of the body of the video camera 10, at the point of intersection of this surface and the optical axis of this video camera 10. The coordinate system of the gripper 3 is set to be orthogonal, right-oriented and is set so that the origin of the coordinate system of the gripper 3 is the central point of the gripper 3, and the directions of the three coordinate axes of this coordinate system of the gripper 3 are set. The coordinate system of the mobile platform 2 is set orthogonal, right-oriented and set so that the unit vector specifying the direction of the first axis of this coordinate system is directed perpendicular to the axis of symmetry of the body of the mobile platform 2, unitary the vector specifying the direction of the third axis of this coordinate system is directed parallel to the axis of symmetry of the body of the mobile platform 2, while the origin of the coordinate system of the mobile platform 2 is chosen the starting point of the mobile platform 2.

These parameters of the global coordinate system, the coordinate system of each video camera 10, the coordinate system of the mobile platform 2, the coordinate system of the gripper 3 are determined using the equipment that contains the mobile robot 1 and the control station 22, and these parameters are placed on the computer 23 of the control station 22 and on on-board computer 6 of the mobile robot 1, on the corresponding storage devices 7, 24.

A separate passageway 27 is set for the mobile robot 1, along which this mobile robot 1 is moved. This passageway 27 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 that represents the boundary of this polygon. This simple polyline is specified by an ordered sequence of numbers that represent the coordinates of the vertices of this simple polyline, calculated in the global coordinate system, and which are written in accordance with the order of traversing the vertices of this oriented simple two-dimensional polygon. In this case, this ordered sequence of numbers represents the parameters of the passage 27 for the mobile robot 1. In this case, the width of this passage 27 is set not less than three times the width of the mobile platform 2 of the mobile robot 1.

For the mobile robot 1, a passage 27 has been created in the storage area 30, which is intended for the movements of the mobile robot 1. The parameters of the passage 27 for the mobile robot 1 have, for example, the form: (10, 40, 0), (90, 40, 0), ( 90, 80, 0), (10, 80, 0), (10, 70, 0), (80, 70, 0), (80, 50, 0), (10, 50, 0).

In this case, the parameters of the lines 28 of possible displacements of the mobile platform 2 of the mobile robot 1 along the passage 27 are set, which are preferably given in the form of broken lines lying on the OXY plane of the global coordinate system, which are lines 28 of possible displacements of the orthogonal projection of the origin of the coordinate system of the mobile platform 2 on the OXY plane of the global coordinate system, when moving the mobile platform 2. Moreover, each such polyline is specified 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 order of traversing the vertices of this broken line. In this case, this ordered sequence of numbers represents the parameters of the corresponding line 28 of the possible movement of the mobile robot 2 along the passage 27.

The parameters of the lines 28 of possible movements of the mobile platform 2 of the mobile robot 1 along the passage 27 are set, for example, by means of three broken lines: ((15, 45, 0), (85, 45, 0), (85, 75, 0), (15 , 75, 0)); ((15, 41, 0), (15, 49, 0)); ((15, 71, 0), (15, 79, 0)).

In this case, the parameters of the passage 27, designed to move the mobile robot 1, and the parameters of the lines 28 of possible movements of the mobile robot 1 along the passage 27 are determined using equipment that contains the mobile robot 1 and the control point 22, and these parameters are placed on the computer 23 of the control point 22 and on the on-board computer 6 of the mobile robot 1, on the corresponding storage devices 7, 24.

To carry out warehouse operations in the warehouse, a control point 22 is used. The control point 22 contains a computer 23 with a connected input device 26, an information storage device 24, and wireless network equipment 25 designed to connect this computer 23 as a computer network node to a wireless local computer network based on Wi-Fi technology. The control point 22 is located in the warehouse, outside the storage area 30 of the warehouse and outside the passageway 27 intended for moving the mobile robot 1.

The following special programs are installed on the computer 23 of the control point 22 with the connected storage device 24:

- real-time operating system;

- a special program by means of which the system time is set and maintained with the implementation of synchronization with the exact time server;

- special programs by means of which parallel computing algorithms are implemented;

- software designed to create a solid 3D model of an object with the ability to set the densities of materials from which the elements that contain this object are made;

- software designed to calculate the center of mass of an object by using a solid 3D model of an object, taking into account the location of all elements of this object with given densities of materials from which the elements that contain this object are made.

For a mobile robot 1, using weighing, measuring parts and, if necessary, using a stand to determine the center of mass of products, and using a 3D scanner, determine the following parameters corresponding to this mobile robot 1. These parameters are determined using special programs, through which computer vision algorithms are implemented, using software to create a solid 3D model of an object with the ability to set the densities of materials from which the elements that contain this object are made, and using software of embedded real-time systems designed for real-time control time by the hand of the robot, the wrist of the robot, the gripper, the omnidirectional mobile mechanism, using equipment that contains the mobile robot 1 and the control point 22, and these parameters are placed on the computer 23 of the control point 22 and on the on-board computer 6 of the mobile robot that 1, on the corresponding storage devices 7, 24. Thus, the following parameters corresponding to this mobile robot 1 are determined:

- parameters of a solid three-dimensional model (otherwise called a 3D model) of a mobile robot 1 with given densities of materials from which the elements that this mobile robot 1 contains are made;

- the coefficient of air resistance, determined by the properties of the environment, the shape of the mobile robot 1, corresponding to the square of the speed of the mobile robot 1, and corresponding to this mobile robot 1, and determined when this mobile robot 1 moves at a speed not exceeding 15 m / s.

The air drag coefficient K, corresponding to the movement of this mobile robot 1 with a given initial speed, is calculated experimentally, for example, using a video recording of the jump of the mobile robot 1 vertically upward.

For storing goods 18, one-section two-tier shelves 15 are used. The shelves 15 are placed in the storage area 30. All shelves 16, 17 of these shelves 15 are made in the form of flat flat solid surfaces, and are attached directly to the racks. All shelves 16, 17 of each rack 15 are arranged so that the upper planes of the shelves 16, 17 are located horizontally when this rack 15 is installed in the storage area 30. In this case, the shelf 17 of the upper tier of the rack 15 is located at a height exceeding the sum of three values: the height of the mobile body platform 2, the length of the arm 5 of the mobile robot 1, on which the gripping device 3 is installed, and the maximum distance at which it is possible to simultaneously locate the centers of all wheels 12 of the mobile platform 2 from the bottom surface of the bottom of the mobile platform 2, due to the implementation of the work of an electronically controlled adjustable height of the transport suspension.

On each shelf 17 of the upper tier of each rack 15, a travel stop 19 is installed, by means of which the mobile robot 1 is prevented from overturning after placing this mobile robot 1 on the shelf 17 of the upper tier of the rack 15. The travel stop 19 is made in the form of a rectangular plate with a length equal to the length of the upper shelf 17 tier of this rack 15, with a width exceeding the sum of the following two values: the height of the body of the mobile platform 2 and the minimum distance at which it is possible to simultaneously locate the centers of all wheels 12 of the mobile platform 2 from the bottom surface of the bottom of the mobile platform 2, due to the implementation of the work of an electronically controlled adjustable the height of the transport suspension, that is, for example, the length of this travel stop 20 is 5 m and the width is 0.31 m. The travel stop 19 is rigidly attached with its lateral side to the edge of the shelf 17 of the upper tier of the rack along the entire edge of the shelf 17 of the upper tier of this rack 15 so that the travel stop 19 is located n perpendicular to the upper plane of the shelf 17 of the upper tier of this rack 15.

On each shelf 17 of the upper tier of each rack 15, a holder 20 is installed. The holder 20 consists of a rod and two supports, by means of which this rod is positioned so that the longitudinal axis of this rod is parallel to the upper plane of the shelf 17 of the upper tier of this rack 15, while the rod is rigid are attached to the supports, and the supports are rigidly attached to the edge of the shelf 17 of the upper tier of this rack 15. Each support is L-shaped. The length of the rod is equal to the length of the shelf 17 of the upper tier of this rack 15. The diameter of this rod is determined experimentally so that it is possible to carry out a reliable grip without slipping behind this rod by the gripper 3 mounted on the arm 5 of the mobile robot 1, for example, the diameter of this rod is 5 cm This rod has a rough surface. In this case, the coefficient of static friction and the coefficient of sliding friction between the materials from which the surfaces of this rod and the contact surfaces of the gripper are made exceed 0.5. The rod, by means of two supports, is positioned so that the horizontal distance from this rod to the edge of the shelf 17 of the upper tier of the rack 15 exceeds half the length of the body of the mobile platform 2, that is, for example, equal to 30 cm. The vertical distance from this rod to the edge of the shelf 17 of the upper tier of the rack 15 is, for example, 0.9 values equal to the sum of the following three values: the height of the body of the mobile platform 2, the length of the arm 5 of the mobile robot 1, and the minimum distance at which it is possible to simultaneously locate the centers of all wheels 12 of the mobile platform 2 from the lower surface of the bottom of the mobile platform 2, due to the implementation of the work of the electronically controlled height-adjustable transport suspension, that is, it is 108 cm.

For each rack 15, parameters corresponding to this rack 15 are determined by measuring this rack 15, using special programs by which computer vision algorithms are implemented, and special equipment, in particular, for example, using a 3D scanner, while these parameters are determined using equipment that contains a mobile robot 1 and a control point 22, and using special programs designed to control in real time the robot arm, robot wrist, gripper, omnidirectional mobile mechanism. Thus, for each rack 15, the following parameters are determined corresponding to this rack 15 (in points (a) to (d)), and these parameters are placed on the computer 23 of the control point 22 and on the on-board computer 6 of the mobile robot 1, on the corresponding devices storage of information 7, 24:

(a) the address of the rack 15, which uniquely identifies this rack 15 in this warehouse, for example, the address of this rack 15 is: 5;

(b) parameters of the 3D model of the holder 20 installed on this rack 15, calculated in the global coordinate system;

(c) coordinates of four points belonging to the upper plane of the shelf 17 of the upper tier of this rack 15, calculated in the global coordinate system, which define a rectangle that defines the location of the mobile robot 1 after moving this mobile robot 1 to the shelf 17 of the upper tier of this rack 15, for example, the following ordered sequence of numbers is specified: (10, 30, 2), (15, 30, 2), (15, 40, 2), (10, 40, 2);

(d) the parameters of the travel stop 20 installed on the upper tier of this rack 15, that is, the length of this travel stop 20 is 5 m and the width is 0.31 m.

For the mobile robot 1 and for each rack 15, using special programs, the following parameters are determined, corresponding to the movement of the mobile robot 1 to the shelf 17 of the upper tier of this rack 15, and these parameters are determined using the equipment that contains the mobile robot 1 and the control point 22 , and these parameters are placed on the computer 23 of the control point 22 and on the on-board computer 6 of the mobile robot 1, on the corresponding storage devices 7, 24:

- the parameters of the initial calculated location of the mobile platform 2 of the mobile robot 1, which correspond to the beginning of the acceleration phase of the mobile robot 1 when the jump of this mobile robot 1 is performed, that is, the coordinates of the origin of the coordinate system (for which the projection 29 on the OXY plane is determined) of the mobile platform 2 of the mobile robot 1 , calculated in the global coordinate system, for example: (15; 41; 0.5), and the coordinates of the unit vectors of the first and third axes of the coordinate system of the mobile platform 2 of the mobile robot 1, calculated in the global coordinate system, and which correspond to the beginning of the acceleration phase of the mobile robot 1 when this mobile robot 1 jumps, for example: (0, -1, 0), (0, 0, 1);

- the parameters of the calculated locations (with respect to the global coordinate system) of two video cameras 10, two hands 11 of the robot and two wrists of the robot, located on the mobile platform 2 of the mobile robot 1, and on which these two video cameras 10 are installed, and which correspond to the beginning of the acceleration phase of the mobile robot 1 when performing the jump of this mobile robot 1 (while the center of mass of the mobile robot 1 is located on the axis of symmetry of the body of the mobile platform 2), in which the images obtained through these two video cameras 10 contain images of the gripper 3 and the holder 20 mounted on this rack 15, and which are calculated experimentally, for example, using a 3D scanner, using special programs by means of which computer vision algorithms are implemented, and using software of embedded real-time systems designed for real-time control of a robot arm, a robot wrist , gripper, vsena controlled mobile mechanism;

are the parameters of the initial calculated location of the gripper 3 in the open position, the wrist 4 of the robot and the hand 5 of the robot, in relation to the global coordinate system, which correspond to the beginning of the acceleration phase of the mobile robot 1 when this mobile robot 1 jumps (in this case, the center of mass of the mobile robot 1 is located on the axis of symmetry of the body of the mobile platform 2), and which are calculated experimentally, for example, using a 3D scanner, using special programs through which computer vision algorithms are implemented;

- the parameters of the calculated positions of the gripper 3 in the open position, the wrist 4 of the robot and the hand 5 of the robot, in relation to the global coordinate system, which correspond to the calculated moment of the beginning of the closure of the gripper 3 for gripping on the fly for the holder 20 by the gripper 3, that is correspond to the end of the free flight phase of the mobile robot 1, and which are calculated experimentally, for example, using a 3D scanner, using a video recording of the closing of the gripper 3 to grip the holder 20, using special programs that implement computer vision algorithms;

- the calculated coordinates (calculated in the global coordinate system) of the point of separation of this mobile robot 1 from the floor 21 of the warehouse room, that is, the calculated coordinates of the center of mass of this mobile robot 1 at the moment of separation of this mobile robot from the floor of the warehouse, which correspond to the beginning of the free flight phase of the mobile robot 1 when performing a jump of this mobile robot 1, for example: (15, 41, 1);

- the calculated coordinates (calculated in the global coordinate system) of the gripping point on the fly by the gripper 3 of the mobile robot 1 for the holder 20, that is, the calculated coordinates of the center of mass of this mobile robot 1 at the calculated moment of gripping on the fly by the gripper 3 of the mobile robot 1 for this holder 20 , and which correspond to the calculated moment before the closure of this gripping device 3, by means of which the gripping is carried out on the fly for this holder 20, that is, they correspond to the end of the free flight phase of the mobile robot 1, for example: (15, 41, 2);

- parameters of the calculated line of displacement of the center of mass of the mobile robot 1 in the acceleration phase, that is, the set of calculated coordinates of points, which are a set of locations of the center of mass of the mobile robot 1 when it moves in the acceleration phase, including the calculated coordinates of the point at which the center of mass of this mobile robot is located 1 in the initial position at the beginning of the acceleration phase, and including the calculated coordinates of the center of gravity of the mobile robot 1 at the moment of separation of this mobile robot 1 from the floor of the warehouse room 21, and which are a closed segment of a straight line connecting points with coordinates: (15; 41; 0 , 3) and (15; 41; 1);

- the estimated speed of movement of the center of mass of the mobile robot 1 at the calculated moment of capture on the fly by the gripper 3 of this mobile robot 1 for this holder 20, for example: 0.1 m / s;

- parameters of the calculated trajectory of movement of the mobile robot 1 in the free flight phase during the jump of this mobile robot 1, that is, the calculated coordinates of the center of mass of the mobile robot 1 and the calculated coordinates of the velocity vector of the center of mass of the mobile robot 1, calculated in the global coordinate system, for a set of specified calculated moments of time after the calculated moment of separation of this mobile robot 1 from the floor 21 of the warehouse during the jump, and the estimated duration of the free flight of the mobile robot 1, and which are calculated by formulas (1) - (6);

- the calculated speed of the center of mass of the mobile robot 1 at the moment of separation of this mobile robot 1 from the floor 21 of the warehouse, which corresponds to the beginning of the free flight phase of the mobile robot 1 when this mobile robot 1 jumps, and which is calculated by the formula (7) taking into account the formulas ( 1) - (6);

- the estimated speed of movement of the centers of all wheels 12 of the mobile platform 2 from the bottom surface of the bottom of this mobile platform 2 at the moment of separation of this mobile robot 1 from the floor 21 of the warehouse, which corresponds to the beginning of the free flight phase of the mobile robot 1 when this mobile robot 1 jumps, and which is calculated by the formula (10) taking into account the formulas (1) - (9);

- the estimated duration of the acceleration phase of the mobile robot 1 during the jump, which, for example, is equal to 3 s;

- parameters of the operating modes of the transport suspension drives of the mobile robot 1 at which they provide the design speed (which corresponds to the beginning of the free flight phase of the mobile robot 1 when this mobile robot 1 jumps) displacement of the centers of all wheels 12 of the mobile platform 2 from the bottom surface of the bottom of this mobile platform 2 to the moment of separation of this mobile robot 1 from the floor 21 of the warehouse at a given design time, taking into account the location of the mobile platform 2 of the mobile robot 1 when this mobile robot 1 jumps, for a given design moment of the start of the acceleration phase of this mobile robot 1, and for a given design the duration of the acceleration phase of this mobile robot 1;

- parameters of a plurality of calculated arrangements of the gripper 3 in the open position at the moment before the closure of this gripper 3, such that when this gripper 3 is closed with these positions of the gripper 3, it is possible to carry out a reliable grip without slipping behind this holder 20, that is, a corresponding set coordinates of the origin of the coordinate system of the gripper 3 in the open position of the mobile robot 1, calculated in the global coordinate system, and the corresponding set of coordinates of the unit vectors of all three axes of the coordinate system of the gripper 3 in the open position of the mobile robot 1, calculated in the global coordinate system, and which are calculated experimentally, for example, using a 3D scanner, using special programs through which computer vision algorithms are implemented, and using software of embedded real-time systems designed for control in the me real-time robot arm, robot wrist, gripper, omnidirectional mobile mechanism.

At the same time, to find the estimated speed of movement of the centers of all wheels 12 of the mobile platform 2 from the bottom surface of the bottom of this mobile platform 2 at the moment of separation of this mobile robot 1 from the floor 21 of the warehouse, software is used to calculate the center of mass of the object by using a solid 3D model of the object with taking into account the location of all the elements of this object with the given densities of materials from which the elements that contain this object are made. The speed of movement F of the centers of all wheels 12 of the mobile platform 2 away from the bottom surface of the bottom of this mobile platform 2 at the point of separation of the mobile robot 1 during the jump is calculated using special programs as follows. At the same time, it is taken into account that when lifting the mobile platform 2 in the acceleration phase (taking into account the conditions described above for the location of all elements of the mobile robot 1, which correspond to the beginning of the acceleration phase of the mobile robot 1, and the conditions for lifting the mobile platform 2 in the acceleration phase), the center of mass The mobile robot 1 is located on the axis of symmetry of the body of the mobile platform 2, and the axis of symmetry of the body of the mobile platform 2 is perpendicular to the upper plane of the floor 21 of the warehouse. The movement of the center of mass of the mobile robot 1 in the acceleration phase is carried out by increasing the ground clearance of this mobile platform 2 through the operation of the transport suspension, by simultaneously moving, relative to this mobile platform 2, all wheels 12 of the mobile platform 2 at the same speed, with the same acceleration and at the same the distance perpendicular to the bottom plane of the bottom of this mobile platform 2, away from this mobile platform 2. In this case, the beginning of the acceleration phase corresponds to the minimum lowering height of the mobile platform 2, and the end of the acceleration phase corresponds to the maximum lifting height of the mobile platform 2. The lifting height of the mobile platform in phase acceleration is uniquely determined by the distance at which the centers of all wheels 12 of this mobile platform 2 are simultaneously located (due to the operation of this transport suspension) from the bottom surface of the bottom of this mobile platform 2. First, a set of distances S _{i is} determined (for all numbers i from 0 to 1000), on which, in the acceleration phase, the centers of all wheels 12 of the mobile platform 2 are located simultaneously from the bottom surface of the bottom of this mobile platform 2, which is determined by formula (8). At the same time, the value of S ₀ is determined - the minimum distance at which, in the acceleration phase, the centers of all wheels 12 of the mobile platform 2 are simultaneously located from the bottom surface of the bottom of this mobile platform 2, corresponding to the minimum lowering height of the mobile platform 2, and the value of S ₁₀₀₀ is determined - the maximum distance, on which, in the acceleration phase, the centers of all wheels 12 of the mobile platform 2 are located simultaneously from the bottom surface of the bottom of this mobile platform 2, corresponding to the maximum lifting height of the mobile platform 2.

Then, for each value of S _i (for all integers i from 0 to 1000), the value U _i is determined - the distance from the center of mass of the mobile robot 1 to the floor 21 of the warehouse, corresponding to the location of the mobile robot 1 in the acceleration phase, at which the centers of all wheels 12 mobile platform 2 in the acceleration phase are located at a distance S _i from the bottom surface of the bottom of this mobile platform 2. In this case, each value of U _i (for all integers i from 0 to 1000) is found using software for calculating the center of mass of the object by using a solid 3D-models of mobile robot 1, taking into account the location of all elements of this mobile robot 1 with given densities of materials from which the elements that contain this mobile robot 1 are made. Thus, using formula (9), we obtain the function W, given in the table for all integers i from 0 to 1000. In this case, the table function W is a function by means of which the distance at which in the acceleration phase at the same time The centers of all wheels 12 of this mobile platform 2 are located from the bottom surface of the bottom of this mobile platform 2, the distance from the center of mass of the mobile robot 1 to the floor 21 of the warehouse is matched.

Therefore, the estimated speed F of displacement of the centers of all wheels 12 of the mobile platform 2 from the bottom surface of the bottom of this mobile platform 2 at the point of separation of the mobile robot 1 in the acceleration phase is determined by the formula (10). In this case, the value of the derivative of the function W with the value of the argument equal to S ₁₀₀₀ is calculated by using the methods of numerical differentiation for the function specified in the table.

In this case, the initial calculated positions of the gripper 3 in the open position, the wrist 4 of the robot and the hand 5 of the robot, which correspond to the beginning of the acceleration phase of the mobile robot 1 when this mobile robot 1 jumps, are preferably set so that the central point of the wrist 3 of the robot is located at a distance vertical from the mobile platform 2, which is from 2.3 to 3.3 values, equal to the sum of the following two values: the height of the body of the mobile platform 2 and the minimum distance at which it is possible to simultaneously locate the centers of all wheels 12 of the mobile platform 2 from the bottom surface of the bottom of the mobile platform 2, due to the implementation of the work of an electronically controlled height-adjustable transport suspension, that is, for example, is 93 cm.

Packaged goods 18 are manually placed on shelves 16, 17 of racks 15. Placement of goods 18 on shelves 16, 17 is performed without overhangs. Information about the addresses of the shelves 15 is placed in the computer 23 of the control point 22 on the information storage device 24, using the programming of manual data input, using the input device 26. Then the warehouse premises are measured (together with the contents of this room), 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, using a 3D scanner. The information that contains the parameters of this three-dimensional model is placed in the computer 23 of the control point 22 on the information storage device 24 by using the input device 26.

Before starting the movement of the mobile robot 1 in the warehouse, first, the operation mode of the suspension of the mobile platform 2 of the mobile robot 1 is carried out, by means of which the mobile platform 2 of the mobile robot 1 is lowered from the current location to the location corresponding to the set minimum lowering height of the mobile platform 2. Then the mobile robot 1 is placed in the passageway 27, intended for the movements of this mobile robot 1. In this case, information representing the parameters of the initial position of the mobile robot 1 is placed in the computer 23 of the control point 22 on the information storage device 24 by using the input device 26. Then, the wireless local computer network is operated based on Wi-Fi technology, to which, as nodes of a computer network, the computer 23 of the control point 22 and the on-board computer 6 of the mobile robot 1 are connected. The system time is synchronized with the exact time server on the computer 23 of the control point 22 and the on-board computer 6 of the mobile robot 1, in the automatic operation of this robot, using special programs by means of which parallel computing algorithms are implemented. In this case, the computer 23 of the control point 22 is installed as the server of the exact time. Then all information related to this warehouse, located in the computer 23 of the control point 22 on the information storage device 24, is transmitted via a wireless local computer network based on Wi-Fi technology from the computer 23 control points 22 to the on-board computer 6 of the mobile robot 1.

Moving the mobile robot 1 in the warehouse, namely, moving the mobile robot 1 to the shelf 17 of the upper tier of the rack 15 is carried out as follows. On the computer 23 of the control point 22, using the programming of manual data input, using the input device 26, the address of the rack 15 is entered, on the shelf 17 of the upper tier of which the mobile robot 1 will be moved. Then, on the computer 23 of the control point 22, using special programs, in the automatic operation mode of this control point 22, this address is transmitted to the on-board computer 6 of the mobile robot 1 via a wireless local area computer network based on Wi-Fi technology.

Then, on the on-board computer 6 of the mobile robot 1, through its automatic operation, through a wireless local computer network based on Wi-Fi technology, the address of the rack 15 is obtained, on the shelf 17 of the upper tier of which the mobile robot 1 will be moved.

Then, on the on-board computer 6 of the mobile robot 1, by means of its automatic functioning, the parameters corresponding to this rack 15 are determined, including the parameters of the initial location of the mobile platform 2 of the mobile robot 1 when this mobile robot 1 jumps to the upper tier of this rack 15.

Then, on the on-board computer 6 of the mobile robot 1, by means of its automatic operation, the parameters of the lines are determined along which the mobile platform 2 of the mobile robot 1 will move along the corresponding passageway 27 to move from the current location of the mobile robot 1 to the initial location when the mobile robot 1 jumps to the upper tier of this rack 15. Then, the mobile robot 1, by means of its automatic operation, is moved (along the passage 27, along the corresponding line) to the initial position when the mobile robot 1 jumps to the upper tier of this rack 15.

Moving the mobile robot 1 to the shelf 17 of the upper tier of the rack 15 by jumping this mobile robot 1 is carried out as follows.

Before jumping, the gripping device 3 of the mobile robot 1 is first opened by the automatic operation of the mobile robot 1. Then the gripping device 3 is positioned in the open position, the wrists 4 of the robot and the hands 5 of the robot, which correspond to the beginning of the acceleration phase of the mobile robot 1 during the jump of this mobile robot 1.

Then, through the automatic operation of the mobile robot 1, two video cameras 10 are positioned by moving two robot arms 11 and two robot wrists, on which the video cameras 10 are placed, so that the images obtained through these video cameras 10 contain images of the gripper 3 and the holder 20, which is installed on the upper tier of this rack 15. In this case, the on-board computer 6 of the mobile robot 1, using special programs, is configured, through the automatic operation of the mobile robot 1, to receive images from two video cameras 10, and to process the obtained images to recognize the holder 20, gripper 3 and to determine the real spatial location of the gripper 3, using special programs that implement computer vision algorithms. In this case, all elements of the mobile robot 1 before the start of the acceleration phase of the mobile robot 1 (taking into account the conditions described above for the locations of all elements of the mobile robot 1, which correspond to the beginning of the acceleration phase of the mobile robot 1, and the conditions for lifting the mobile platform 2 in the acceleration phase), by means of automatic the functioning of the mobile robot 1 is positioned so that the center of mass of the mobile robot 1 is located on the axis of symmetry of the body of the mobile platform 2.

First, on the on-board computer 6 of the mobile robot 1, using special programs, the calculated moment of the beginning of the acceleration phase of the mobile robot 1 (to ensure the jump of this mobile robot 1 along the calculated trajectory) is determined, and the calculated moment of separation of the mobile robot 1 from the floor 21 of the warehouse premises. Then, in the mode of automatic operation of the mobile robot 1, using special programs, the parameters of the operating modes of the transport suspension drives of the mobile robot 1 are determined, at which the calculated speed of movement of the centers of all wheels 12 of the mobile platform 2 is provided perpendicular to the lower plane of the bottom of the mobile platform 2, away from the bottom surface of the bottom of this mobile platform 2 at a given calculated moment of separation of the mobile robot 1 from the floor of the warehouse, for a given calculated moment of the beginning of the acceleration phase of this mobile robot 1, and for a given estimated duration of the acceleration phase of this mobile robot 1. In this case, the error of trajectory processing is taken into account movements of the omnidirectional mobile mechanism of this mobile robot 1. Then, this mobile robot 1 is accelerated by means of the operation of the transport suspension of the mobile robot 1 in accordance with these determined parameters of the operating modes of the drives of the transport suspension of the mobile robot 1, for a given estimated moment of the beginning of the acceleration phase of this mobile robot 1, and for a given estimated duration of the acceleration phase of this mobile robot 1, to move the center of mass of the mobile robot 1 in the acceleration phase along the calculated line so that at a given estimated moment of separation of the mobile of the robot 1 from the floor 21 of the warehouse, the center of mass of the mobile robot 1 was located at a given calculated point of separation of the mobile robot 1 from the floor 21 of the warehouse, and at the same time, the calculated speed of the center of mass of the mobile robot 1 was equal to the given calculated initial speed of separation of this mobile robot 1 from the floor of the 21 warehouse. As a result of these actions, the jump of the mobile robot 1 is carried out.

At the same time, images are obtained on the on-board computer 6 of the mobile robot 1 through two video cameras 10, and the obtained images are processed in real time, and the gripper 3 and the holder 20 are recognized, and the real spatial position of the gripper 3 with respect to the global coordinate system is determined, taking into account the time required for the acquisition and processing of images of this holder 20 and the gripper 3, in particular, in real time, information about the location and speed of movement of the origin of the coordinate system of the gripper 3 of the mobile robot 1 is obtained through the automatic operation of the mobile robot 1 In this case, special programs are used, by means of which parallel computing algorithms are implemented, by means of which several images are simultaneously processed in real time, obtained through two video cameras 10, and at the same time they control the operation of the mobile robot 1, in in particular, the movements of the robot arm 5, the robot wrist 4 and the gripping device 3 are controlled.

In this case, it is taken into account that during the jump of the mobile robot 1, this mobile robot 1 may deviate from the calculated trajectory of movement. In order to grip on the fly for the holder 20 with a possible deviation of the mobile robot 1 from the calculated trajectory of movement, the following set of actions B1 is performed, designed to grip this holder 20 on the fly, by implementing parallel calculations, and through the automatic operation of the mobile robot 1, in real time. In this case, the beginning of the execution of the set of actions B1 coincides with the calculated moment of separation of the mobile robot 1 from the floor 21 of the warehouse. In this case, it is taken into account that if the gripping on the fly for the holder 20 is not carried out by the mobile robot 1 within, for example, 10 seconds after the mobile robot 1 is lifted off the floor 21 of the warehouse, then grab on the fly for this holder 20, by the automatic functioning of the mobile robot 1 under these circumstances is impossible.

The set of actions B1 (its description consists of descriptions of steps 1-2) is as follows:

Step 1. On the on-board computer 6 of the mobile robot 1, through the implementation of parallel calculations, localize the mobile robot 1 and determine the location parameters of the gripper 3 of the mobile robot 1 relative to the global coordinate system. This completes step 1 and proceeds to step 2.

Step 2.With the help of special programs, it is determined whether the location of the gripping device 3 of the mobile robot 1 (determined in step 1) belongs to the set of calculated locations of the gripping device 3 of the mobile robot 1 at the moment before the closure of this gripping device 3, such that when closing this gripper device 3, with these arrangements of the gripper 3, it is possible to securely grip without slipping behind this holder 20, and if it does, then grip without slipping into the holder 20 by instantly closing the gripper 3 of the mobile robot 1 and exit this cycle from two steps 1 -2, terminating all actions described in steps 1-2, and ending all actions described in set of actions B1. If the location of the gripping device 3 of the mobile robot 1 (determined in step 1) does not belong to the plurality of calculated locations of the gripping device 3 of the mobile robot 1 at the moment before the closure of this gripping device 3, such that when closing this gripping device 3 with these positions of the gripping device device 3, it is possible to carry out a reliable grip without slipping behind this holder 20, then the following actions are performed. Determine the current moment of time H. Comparison of the calculated moment of separation of the mobile robot 1 from the floor 21 of the warehouse room with the moment of time H is performed, and if the calculated moment of separation of the mobile robot 1 from the floor 21 of the warehouse space differs from the moment of time H by an amount not less than 10 s, then a message is transmitted to the computer 23 of the control point 22 from the on-board computer 6 of the mobile robot 1 (via a wireless local computer network based on Wi-Fi technology) a message about an unsuccessful attempt to grip on the fly for the holder 20, and exit from this cycle from two steps 1- 2, stopping all actions described in steps 1-2, and stopping all actions described in set of actions B1. If the estimated moment of detachment of the mobile robot 1 from the floor 21 of the warehouse premises differs from the moment of time H by an amount less than 10 s, then step 2 is completed and go to step 1. This completes the description of the set of actions B1.

Thus, the mobile robot 1 jumps and the gripping on the fly for the holder 20 is carried out by the automatic operation of this mobile robot 1. After the gripping on the fly without slipping for the holder 20 by the gripping device 3 of the mobile robot 1, all locking devices located in this gripping device 3. Then carry out the simultaneous movement (due to the implementation of the transport suspension), relative to this mobile platform 2, all wheels 12 of this mobile platform 2 at the same speed, with the same acceleration and at the minimum possible distance to the bottom of this mobile platform 2, perpendicular to the bottom plane of the bottom of this mobile platform 2, towards this mobile platform 2. After that, the hand 5 of the mobile robot 1 is positioned (while maintaining the position of the gripper 3) by actuating the drives of the rotary hinges installed in this hand e 5 of the mobile robot 1, in which the distance from the central point of the wrist 4 of the robot, on which the gripper 3 is installed, to the mobile platform 2, is reduced by at least three times. Then, the locking devices located in the hand 5 of the robot are additionally activated, which at this point have not yet been activated. Then only such locking devices are turned off which are used to block the rotary joint 14, by means of which the robot arm 5 is connected to the robot wrist 4. After that, the rotary joint 14 is rotated (by actuating the drive of this rotary joint 14), by means of which the robot arm 5 is connected to the robot's wrist 4, at an angle of at least 30 degrees and not more than 60 degrees, while the rotation of the rotary joint 14 is carried out as follows so that the mobile platform 2 moves sideways to the rack 15. Preliminary, the angle of rotation of this rotary hinge 14 is determined experimentally so that after this rotation, the elements of the mobile robot 1 do not touch the travel stop 19 when the hand 5 of the mobile robot 1 is positioned. less than three times increase the distance from the center point of the wrist 4 of the robot, on which the gripper 3 is installed, to the mobile platform 2. Then, the locking devices used to block the rotary joint 14, through which the arm 5 of the robot is connected to the wrist 4, are activated robot, and at the same time turn off all other locking devices located in the hand 5 of the robot are placed and the hand 5 of the mobile robot 1 is positioned (while maintaining the location of the gripper 3) by actuating the drives of the rotary hinges installed in this hand 5 of the mobile robot 1, in which at least than three times increase the distance from the central point of the wrist 4 of the robot, on which the gripper 3 is installed, to the mobile platform 2. As a result of these actions, the mobile platform 2 is located above the shelf 17 of the upper tier of the rack 15. Then, the locking devices are again activated, 5 robots located in the hand, which at this moment are not activated. Then open the gripper 3 of the mobile robot 1. As a result of these actions, the mobile platform 2 is lowered by gravity onto the shelf 17 of the upper tier of the rack 15. In this case, the travel stop 19, installed on the upper tier of this rack 15, prevents the mobile robot from overturning and falling 1 on the floor of 21 warehouse premises. This completes the movement of the mobile robot 1 to the shelf 17 of the upper tier of the rack 15 installed in the storage area 30 of the warehouse.

Claims (1)

A method for moving a mobile robot in a warehouse, for the implementation of which a mobile robot is used, containing a mobile platform, a mobile platform body, an omnidirectional wheel-type mobile mechanism, an electronically controlled height-adjustable transport suspension, in the automatic operation of a mobile robot, characterized in that the mobile robot is moved to the shelf of the upper tier of the rack installed in the warehouse by jumping a mobile robot with subsequent gripping on the fly by a gripper mounted on the arm of the mobile robot by the holder installed on the upper tier of this rack, and by subsequently placing the mobile robot on the shelf of the upper the shelf tier due to the actuation of the rotary hinge drives installed in the hand of the mobile robot, while the jump of the mobile robot is carried out by lifting the mobile platform of the mobile robot due to the operation of the electronic control unit adjustable height-adjustable transport suspension of the mobile platform of the mobile robot, and at the same time the shelf of the upper tier of the rack is located at a height exceeding the sum of three values: the height of the mobile platform body, the length of the arm of the mobile robot on which the gripper is installed, and the maximum distance at which it is possible simultaneously position the centers of all wheels of the mobile platform from the lower surface of the bottom of the mobile platform, due to the implementation of the work of the electronically controlled height-adjustable transport suspension.

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