CN108032315A - Automatic picking robot control system - Google Patents
Automatic picking robot control system Download PDFInfo
- Publication number
- CN108032315A CN108032315A CN201711277934.XA CN201711277934A CN108032315A CN 108032315 A CN108032315 A CN 108032315A CN 201711277934 A CN201711277934 A CN 201711277934A CN 108032315 A CN108032315 A CN 108032315A
- Authority
- CN
- China
- Prior art keywords
- pin
- module
- atmega16
- control system
- chips
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a kind of automatic picking robot control system applied to small depot, belong to warehouse automation technical field.The control system includes Atmega16 microcontrollers as core controller, further includes input module, motor drive module, display module, input module, multiple photoelectric sensors, audible alarm module and steering engine interface module.User treats the number of picking thing by input module input, and display module displays it.Atmega16 is received controls motor to control picking robot ambulation after input signal by motor drive module；Atmega16 is judged whether to walk along surface mark line according to the signal that photoelectric sensor collection is returned in walking process, and is adjusted；When reaching the position of cargo, audible alarm module makes a sound prompting, and captures cargo by servos control manipulator and be placed in container, is then transported to designated position.It is an advantage of the invention that small, stability and the degree of automation are high.
Description
Technical field
The invention belongs to warehouse automation technical field, is particularly applied to the automatic picking robot control of small depot
System.
Background technology
The control system of current warehouse picking robot, drive system, executing agency are all powerful, but structures
Complex, so as to cause volume big, mobility is poor, of high cost, and needs artificial real-time operation.But in small depot
Transport goods still manually physical, universal efficiency is low, and there are some potential safety problems.Existing warehouse picking robot control
System processed can not also be found broad application due to the shortcomings that volume is big, mobility is poor, of high cost in small depot.
The content of the invention
In view of the problems of the existing technology, the present invention provides a kind of automatic picking robot applied to small depot
Control system, the control system mobility is flexible, there is good human-computer interaction interface, solves small depot and manually carries goods
The problem of thing.
In order to achieve the above object, the technical solution that the present invention takes is as follows：
A kind of automatic picking robot control system, including microprocessor, motor drive module, display module, input mould
Block, multiple photoelectric sensors, audible alarm module and steering engine interface module, the input module and multiple photoelectric sensors with
Microprocessor input terminal connection, the motor drive module, display module, audible alarm module and steering engine interface module with
The output terminal connection of microprocessor；
The multiple photoelectric sensor is used for the identification to warehouse path indicator line；The output terminal of the motor drive module
Motor is connected with, for driving robot ambulation by motor；The output terminal of the steering engine interface module is connected with steering engine, is used for
Pass through the movement of servo driving gripper；The microprocessor is used for the information for treating picking thing inputted according to input module, leads to
Motor drive module control robot ambulation is crossed, the signal returned during walking by the collection of multiple photoelectric sensors judges
Whether walk along warehouse path indicator line, and the adjustment of travel direction, when reaching the position of cargo, the microprocessor is used for
Control audible alarm module makes a sound prompting, and capturing cargo by servo driving gripper transports the position specified back.
Further, power module is further included, the power module includes fixed power source and regulated power supply, the fixed electricity
It is microprocessor, display module, input module, multiple photoelectric sensors, audible alarm module and steering engine interface module that source, which is used for,
Power supply is provided；The regulated power supply is used to provide power supply for motor drive module；The power module includes LM2596 chips.
Further, the microprocessor includes Atmega16 microcontrollers.
Further, the Atmega16 microcontrollers include reseting module, crystal oscillator module and ISP download interfaces；It is described multiple
Position module includes external reset switch, and the reseting module is connected with the 4th pin of Atmega16 microcontrollers, for passing through pressing
External reset switch resets to realize.
Further, the multiple photoelectric sensor includes 6 RPR220 reflective photoelectric sensors, described each
The output terminal of RPR220 reflective photoelectric sensors is equipped with corresponding interface, each RPR220 reflection-type photoelectric sensings
Device is connected by corresponding interface with the PA interfaces of the Atmega16 microcontrollers；Each RPR220 reflection-type photoelectric sensings
Device is used for the identification to warehouse path indicator line.
Further, the warehouse path indicator line is black, and the bottom surface in the warehouse is white.
Further, the Atmega16 microcontrollers are used for what is exported according to RPR220 reflective photoelectric sensors output terminal
The change of level judges whether robot is walked along markings.
Further, the motor drive module includes L298 chips, the 5th pin of the L298 chips with it is described
The 19th pin connection of Atmega16 microcontrollers, the 7th pin of the L298 chips and the 20th of the Atmega16 microcontrollers the
Pin connects, and the 10th pin of the L298 chips is connected with the 21st pin of the Atmega16 microcontrollers, the L298 cores
12nd pin of piece is connected with the 22nd pin of the Atmega16 microcontrollers；6th pin of the L298 chips with it is described
The 13rd pin connection of Atmega16 microcontrollers, the 11st pin of the L298 chips and the 14th of the Atmega16 microcontrollers the
Pin connects, by the 6th pin and the 11st pin of the L298 chips come the speed of regulation motor；The of the L298 chips
2 pins, the 3rd pin, the 4th pin, the 13rd pin and the 14th pin reversal connection have multiple diodes, for eliminate motor open and
Sensing counter electromotive force caused by stopping.
Further, the display module is used to show the number for treating picking thing inputted by input module,
The display module includes LCD5110 liquid crystal displays, the 1st pins to the 5th pin of the LCD5110 liquid crystal displays respectively with it is described
The 9th pin, the 10th pin, the 12nd pin, the 15th pin and the connection of the 16th foot of Atmega16 microcontrollers, the LCD5110 liquid
The 6th pin and the 7th pin of crystalline substance screen are connected with the power module, the 8th pin ground connection of the LCD5110 liquid crystal displays.
Further, the audible alarm module is buzzer, and the buzzer is used to treat picking thing when robot reaches
Position when make a sound prompting.
Beneficial effect：Compared with prior art, the present invention by the input terminal of microprocessor be connected with input module and
Multiple photoelectric sensors, output terminal are connected with motor drive module, display module, audible alarm module and steering engine interface module,
It can realize the automated control of picking robot, it is high without artificial interference, the degree of automation during picking.
Passed through on this basis using Atmega16 microcontrollers as core controller, RPR220 reflective photoelectric sensors
Corresponding interface is connected with the PA interfaces of the Atmega16 microcontrollers, for avoiding Atmega16 microcontrollers from forming the mistake on border
Sentence, by setting a thresholding, increase the stability and reliability of distinguishing mark line.
The analog-digital converter of successive approximation is carried inside the Atmega16 microcontrollers that the present invention uses, corresponding I/O port is
The PA mouths of Atmega16 microcontrollers, are that the performance of each side such as the ADC of 10 precision, the linearity, resolution ratio all compares analog-to-digital conversion
Good more of device ADC0809, are increased without too many peripheral circuit, and the Atmega16 microcontrollers include reseting module, crystalline substance
Module of shaking and ISP download interfaces, have the advantages that cost is low, peripheral circuit is simple, the speed of service is fast.
Brief description of the drawings
Fig. 1 is control system functional block diagram described in the embodiment of the present invention；
Fig. 2 is the microcontroller circuit figure of the embodiment of the present invention；
Fig. 3 selects external reference voltage filter circuit figure for microcontroller of embodiment of the present invention analog-digital converter；
Fig. 4 is power module circuitry figure of the embodiment of the present invention；
Fig. 5 is RPR220 reflective photoelectric sensor circuit diagrams of the embodiment of the present invention；
Fig. 6 is reflection sensor interface circuit figure of the embodiment of the present invention；
Fig. 7 is optoelectronic switch interface circuit figure of the embodiment of the present invention；
Fig. 8 is buzzer alarm circuit figure of the embodiment of the present invention；
Fig. 9 is display module of the embodiment of the present invention and single chip circuit connection figure；
Figure 10 is motor-drive circuit circuit diagram of the embodiment of the present invention；
Figure 11 is manipulator rudder control interface circuit diagram of the embodiment of the present invention；
Figure 12 is keyboard input module circuit diagram of the embodiment of the present invention.
Embodiment
In the description of the present invention, it is to be understood that term：" first ",：" second " is only used for description purpose, without
It is understood that to indicate or implying relative importance or the implicit quantity for indicating indicated technical characteristic.Thus, define " the
One ",：One or more this feature can be expressed or be implicitly included to the feature of " second ".In the description of the present invention,
Unless otherwise indicated, " multiple " are meant that two or more.
The present invention is further elaborated with the present embodiment below in conjunction with the accompanying drawings.
Embodiment
With reference to figure 1, a kind of automatic picking robot control system, control system of the present invention in small depot,
Including microprocessor, motor drive module, display module, input module, multiple photoelectric sensors, audible alarm module and steering engine
Interface module, the input module and multiple photoelectric sensors are connected with the input terminal of microprocessor, and the motor drives mould
Block, display module, audible alarm module and steering engine interface module are connected with the output terminal of microprocessor；
The multiple photoelectric sensor is used for the identification to warehouse path indicator line；The output terminal of the motor drive module
Motor is connected with, for driving robot ambulation by motor；The output terminal of the steering engine interface module is connected with steering engine, is used for
Pass through the movement of servo driving gripper；The microprocessor is used for the information for treating picking thing inputted according to input module, leads to
Motor drive module control robot ambulation is crossed, the signal returned during walking by the collection of multiple photoelectric sensors judges
Whether walk along warehouse path indicator line, and the adjustment of travel direction, when reaching the position of cargo, the microprocessor is used for
Control audible alarm module makes a sound prompting, and capturing cargo by servo driving gripper transports the position specified back.
Further, include Atmega16 microcontrollers with reference to figure 2, the microprocessor, have that cost is low, peripheral circuit is simple
Singly, the advantages of speed of service is fast.
Further, with reference to figure 2, the Atmega16 microcontrollers include reseting module, crystal oscillator module and ISP downloads and connect
Mouthful；The reseting module includes external reset switch, and the reseting module is connected with the 4th pin of Atmega16 microcontrollers, uses
Resetted in by pressing external reset switch to realize, restarting operation.The ISP download interfaces are used to connect ISP downloads
Device, information is burnt in microcontroller by downloader.
It should be noted that the analog-digital converter of successive approximation, corresponding I/O port are carried inside Atmega16 microcontrollers
It is the PA mouths of Atmega16 microcontrollers, is that the performance of each side such as the ADC of 10 precision, the linearity, resolution ratio all turns than modulus
Good more of parallel operation ADC0809, and too many peripheral circuit is increased without, internal reference voltage can be used, is only needed at this time
The monolithic capacitor of a 0.1UF is accessed outside AREF pins, improves noiseproof feature.With reference to figure 3, if necessary to external reference electricity
Pressure, only need to be in the external a wave filter of AVCC and AREF pins.
Further, with reference to figure 5-7, the multiple photoelectric sensor includes 6 RPR220 reflective photoelectric sensors and uses
In the identification to warehouse path indicator line, the output terminal of each RPR220 reflective photoelectric sensors is equipped with accordingly
Interface, each RPR220 reflective photoelectric sensors are connect by the PA of corresponding interface and the Atmega16 microcontrollers
Mouth connection, for avoiding Atmega16 microcontrollers from forming the erroneous judgement on border, by setting a thresholding, increase distinguishing mark line
Stability and reliability.With reference to figure 5, by adding 3 monolithic capacitor in circuit, for eliminating high frequency and power supply ripple
Interference.
It should be noted that with reference to figure 5-7, it is anti-that 6 RPR220 reflective photoelectric sensors include the first RPR220
Penetrate formula photoelectric sensor, the 2nd RPR220 reflective photoelectric sensors, the 3rd RPR220 reflective photoelectric sensors, the 4th
RPR220 reflective photoelectric sensors, the 5th RPR220 reflective photoelectric sensors, the 6th RPR220 reflective photoelectric sensors；
The output terminal of the first RPR220 reflective photoelectric sensors by the 3rd pin of the first reflection sensor interface with it is described
The 37th pin connection of Atmega16 microcontrollers, the output terminal of the 2nd RPR220 reflective photoelectric sensors are anti-by second
The 3rd pin for penetrating formula sensor interface is connected with the 36th pin of the Atmega16 microcontrollers, the 3rd RPR220 reflections
The output terminal of formula photoelectric sensor pass through the 3rd pin of three-mirror reflective sensor interface and the Atmega16 microcontrollers the
35 pins connect, the output terminal of the 4th RPR220 reflective photoelectric sensors passes through the 4th reflection sensor interface
3rd pin is connected with the 34th pin of the Atmega16 microcontrollers, the 5th RPR220 reflective photoelectric sensors it is defeated
Outlet is connected by the 3rd pin of the 5th reflection sensor interface with the 33rd pin of the Atmega16 microcontrollers, described
The output terminal of 6th RPR220 reflective photoelectric sensors by the 3rd pin of the 6th reflection sensor interface with it is described
The 32nd pin connection of Atmega16 microcontrollers.
It should be noted that with reference to figure 7, the present embodiment is further equipped with optoelectronic switch interface in the middle, and the optoelectronic switch connects
Mouthful the 5th pin and the 6th pin be connected respectively with the 31st pin of the Atmega16 microcontrollers and the 30th pin, for pair
RPR220 reflective photoelectric sensors are controlled.
Further, the warehouse path indicator line is black, and the bottom surface in the warehouse is white.
Further, the Atmega16 microcontrollers are used for what is exported according to RPR220 reflective photoelectric sensors output terminal
The change of level judges whether robot is walked along markings.Specifically, RPR220 reflective photoelectric sensor infrared emissions end
The ground major part infrared light that the infrared ray launched transports to white can be launched, receiving terminal receive after infrared light will saturation lead
It is logical, the output terminal low level of RPR220.When the infrared ray at infrared emission end transports to the markings of black, most of red infrared light
It will be absorbed, receiving terminal will stop absolutely after not receiving infrared light.The output terminal of RPR220 depositing due to pull-up resistor at this time
And be driven high.The change for the level that Atmega16 can be exported according to the output terminal of RPR220 is it may determine that going out robot is
It is no to be walked along markings.
Further, with reference to figure 4, power module is further included, the power module includes fixed power source and regulated power supply, institute
State fixed power source and be used to be microprocessor, display module, input module, multiple photoelectric sensors, audible alarm module and steering engine
Interface module provides power supply；The regulated power supply is used to provide power supply for motor drive module；The power module includes 2
LM2596 chips, are respectively the first LM2596 chips and the 2nd LM2596 chips, it is micro- place that the first LM2596 chips, which are used for,
Manage device, display module, input module, multiple photoelectric sensors, audible alarm module and steering engine interface module and power supply is provided；It is described
2nd LM2596 chips are used to provide power supply for motor drive module, and optimal magnitude of voltage can be transferred to according to actual conditions.This
LM2596 chips described in embodiment have it is cheap, ripple is smaller, noise is low, partial encapsulation is small, reliable operation use
The simple advantage of the peripheral circuit that gets up.
Further, L298 chips, the 5th pin of the L298 chips are included with reference to figure 10, the motor drive module
It is connected with the 19th pin of the Atmega16 microcontrollers, the 7th pin and the Atmega16 microcontrollers of the L298 chips
The 20th pin connection, the 10th pin of the L298 chips is connected with the 21st pin of the Atmega16 microcontrollers, described
12nd pin of L298 chips is connected with the 22nd pin of the Atmega16 microcontrollers；6th pin of the L298 chips with
The 13rd pin connection of the Atmega16 microcontrollers, the 11st pin and the Atmega16 microcontrollers of the L298 chips
The 14th pin connection, by the 6th pin and the 11st pin of the L298 chips by adjusting the duty of PWM come regulation motor
Speed；The 2nd pin, the 3rd pin, the 4th pin, the 13rd pin and the 14th pin reversal connection of the L298 chips have multiple two poles
Pipe, is opening for eliminating motor and is stopping caused sensing counter electromotive force.
It should be noted that with reference to figure 10, indirect two capacitance C15 of the power supply ADJ of the L298 chips and ground connection
And C16, it is respectively intended to filter and eliminate the higher-order of oscillation.The L298 chips are connected by phase line CON1, CON2 with motor.At this
Motor is direct current generator in invention.
Further, with reference to figure 9, the display module is used to show the number for treating picking thing inputted by input module
Show to come, the display module includes LCD5110 liquid crystal displays, and the 1st pin to the 5th pin of the LCD5110 liquid crystal displays is distinguished
It is connected with the 9th pin, the 10th pin, the 12nd pin, the 15th pin and the 16th pin of the Atmega16 microcontrollers, it is described
6th pin of LCD5110 liquid crystal displays and the 7th pin are connected with the power module, the 8th pin of the LCD5110 liquid crystal displays
Ground connection.
Need to illustrate must to be the anode interface of the 7th pin backlight of the LCD5110 liquid crystal displays, for clearer
Display.The control instruction of LCD5110 liquid crystal displays described in the present embodiment is few, and occupancy single-chip I/O mouth is few, is typical serial logical
Believe connection, read or write speed is fast, without stand-by period, encapsulation volume very little, operating current is small, meets low-power consumption standard.
Further, the audible alarm module is buzzer, and the buzzer is used to treat picking thing when robot reaches
Position when make a sound prompting.The peak device that rings with reference to figure 8, described in the present embodiment employs the triodes of 8550 models to drive,
The base stage B of triode is connected by resistance R2 with the 11st pin of Atmega16 microcontrollers, for controlling the base stage B of triode.
The emitter E of triode meets power supply VCC, and collector C connects buzzer, and buzzer is grounded again.
It should be noted that Atmega16 microcontrollers can adjust the sound of ring peak device by adjusting the duty cycle of pulse
Adjust.
It should be noted that with reference to figure 11, rudder control interface described in the present embodiment includes two control interfaces, is respectively
First control interface and the second control interface, the 5th pin and the 6th pin of first control interface are mono- with Atmega16 respectively
42nd pin of piece machine and the 41st pin are connected, the 5th pin and the 6th pin of second control interface respectively with Atmega16
44th pin of microcontroller and the 43rd pin are connected.The steering engine is AM0550 in the present embodiment, is reached behind picking position,
Microcontroller drives the opening and closing of servos control gripper by the first control interface and the second control interface, and rotation, moves up and down, into
And capture cargo.
It should be noted that with reference to figure 12, the input module includes button S2, S3, S4 and S5, described S2, S3, S4 and
S5 is connected with the 25th pin, the 24th pin, the 23rd pin and the 26th pin of Atmega16 microcontrollers respectively, in the present embodiment
The 25th pin, the 24th pin, the 23rd pin and the 26th pin for giving tacit consent to Atmega16 microcontrollers are high level, when input module
When button sends change, corresponding pin is just changed into low level, and Atmega16 microcontrollers are detected by constantly inquiring about detection
Whether the 25th pin, the 24th pin, the level of the 23rd pin and the 26th pin change, so as to determine whether by key pressing.
The button of the present embodiment input module described in includes set key, number increase key, number and reduces key and acknowledgement key respectively.
Application example：
Automatic picking robot control system of the present invention is in the garage of small depot, since Automatic Warehouse is to lean on
The mark on ground carries out picking to find cargo.So user carries out treating setting for picking thing position number first by input module
Put, simultaneously show corresponding cargo position number on display module, it is confirmed it is errorless after, automatic picking robot passes through infrared external reflection
The walking of formula sensor automatic identification ground black designation, when deviation route, can carry out self adjustment, to treating picking thing designated position
When, the automatic picking robot of buzzer sounding stops walking.Manipulator behavior at this time, crawl cargo are put into container, take automatically
The loading of goods robot returns to garage.Whole process, without manual intervention, adequately achieves certainly since the cargo set
Dynamicization demand.
Above is the preferred embodiment of the present invention, it is noted that for those skilled in the art,
Various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also considered as this hair
Bright protection domain.
Claims (10)
- A kind of 1. automatic picking robot control system, it is characterised in that：Including microprocessor, motor drive module, display mould Block, input module, multiple photoelectric sensors, audible alarm module and steering engine interface module, the input module and multiple photoelectricity Sensor is connected with the input terminal of microprocessor, and the motor drive module, display module, audible alarm module and steering engine connect Mouth mold block is connected with the output terminal of microprocessor；The multiple photoelectric sensor is used for the identification to warehouse path indicator line；The output terminal connection of the motor drive module There is motor, for driving robot ambulation by motor；The output terminal of the steering engine interface module is connected with steering engine, for passing through The movement of servo driving gripper；The microprocessor is used for the information for treating picking thing inputted according to input module, passes through electricity Machine drive module controls robot ambulation, and the signal returned during walking by the collection of multiple photoelectric sensors judges whether Walk along warehouse path indicator line, and the adjustment of travel direction, when reaching the position of cargo, the microprocessor is used to control Audible alarm module makes a sound prompting, and capturing cargo by servo driving gripper transports the position specified back.
- A kind of 2. automatic picking robot control system according to claim 1, it is characterised in that：Further include power supply mould Block, the power module include fixed power source and regulated power supply, and the fixed power source is used for for microprocessor, display module, defeated Enter module, multiple photoelectric sensors, audible alarm module and steering engine interface module and power supply is provided；The regulated power supply is used for for electricity Machine drive module provides power supply；The power module includes LM2596 chips.
- A kind of 3. automatic picking robot control system according to claim 1, it is characterised in that：The microprocessor includes Atmega16 microcontrollers.
- A kind of 4. automatic picking robot control system according to claim 3, it is characterised in that：The Atmega16 is mono- Piece machine includes reseting module, crystal oscillator module and ISP download interfaces；The reseting module includes external reset switch, the reset Module is connected with the 4th pin of Atmega16 microcontrollers, for being resetted by pressing external reset switch to realize.
- A kind of 5. automatic picking robot control system according to claim 3, it is characterised in that：The multiple photoelectric transfer Sensor includes 6 RPR220 reflective photoelectric sensors, and the output terminal of each RPR220 reflective photoelectric sensors is matched somebody with somebody Corresponding interface is had, each RPR220 reflective photoelectric sensors pass through corresponding interface and the Atmega16 monolithics The PA interfaces connection of machine；Each RPR220 reflective photoelectric sensors are used for the identification to warehouse path indicator line.
- A kind of 6. automatic picking robot control system according to claim 1 or 5, it is characterised in that：The warehouse road Footpath markings are black, and the bottom surface in the warehouse is white.
- A kind of 7. automatic picking robot control system according to claim 5, it is characterised in that：The Atmega16 is mono- Whether the change for the level that piece machine is used to be exported according to RPR220 reflective photoelectric sensors output terminal judges robot along mark Will line is walked.
- A kind of 8. automatic picking robot control system according to claim 3, it is characterised in that：The motor drives mould Block includes L298 chips, and the 5th pin of the L298 chips is connected with the 19th pin of the Atmega16 microcontrollers, described 7th pin of L298 chips is connected with the 20th pin of the Atmega16 microcontrollers, the 10th pin of the L298 chips with The 21st pin connection of the Atmega16 microcontrollers, the 12nd pin and the Atmega16 microcontrollers of the L298 chips 22nd pin connects；6th pin of the L298 chips is connected with the 13rd pin of the Atmega16 microcontrollers, the L298 11st pin of chip is connected with the 14th pin of the Atmega16 microcontrollers, by the 6th pin of the L298 chips and 11st pin carrys out the speed of regulation motor；The 2nd pin, the 3rd pin, the 4th pin, the 13rd pin and the 14th of the L298 chips Pin reversal connection has multiple diodes, is opening for eliminating motor and is stopping caused sensing counter electromotive force.
- A kind of 9. automatic picking robot control system according to claim 3, it is characterised in that：The display module is used Shown in by the number for treating picking thing inputted by input module, the display module includes LCD5110 liquid crystal displays, institute State the 1st pins to the 5th pin of LCD5110 liquid crystal displays respectively the 9th pin with the Atmega16 microcontrollers, the 10th pin, 12nd pin, the 15th pin and the connection of the 16th foot, the 6th pin and the 7th pin and the power supply mould of the LCD5110 liquid crystal displays Block connects, the 8th pin ground connection of the LCD5110 liquid crystal displays.
- A kind of 10. automatic picking robot control system according to claim 3, it is characterised in that：The audible alarm Module is buzzer, and the buzzer is used to make a sound prompting when robot is reached when the position of picking thing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711277934.XA CN108032315A (en) | 2017-12-06 | 2017-12-06 | Automatic picking robot control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711277934.XA CN108032315A (en) | 2017-12-06 | 2017-12-06 | Automatic picking robot control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108032315A true CN108032315A (en) | 2018-05-15 |
Family
ID=62095587
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711277934.XA Pending CN108032315A (en) | 2017-12-06 | 2017-12-06 | Automatic picking robot control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108032315A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021135633A1 (en) * | 2019-12-31 | 2021-07-08 | 青岛海高设计制造有限公司 | Control method and apparatus for delivery apparatus, and refrigerator |
| CN115246127A (en) * | 2022-07-26 | 2022-10-28 | 湖北工业大学 | Security communication and early warning system and method for robot software based on Internet of Things |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06170770A (en) * | 1992-12-09 | 1994-06-21 | Seiko Epson Corp | Micro robot |
| DE4447434A1 (en) * | 1994-02-23 | 1995-08-31 | Gfr Ges Fuer Regelungstechnik | CCD sensor for reading out image zones or lines |
| CN1716342A (en) * | 2005-07-11 | 2006-01-04 | 天津市源峰科技发展公司 | Logistics operation training system and making method |
| CN2931012Y (en) * | 2005-09-05 | 2007-08-08 | 江渝 | Multifunctional intelligent robot microcomputer controller |
| CN201149746Y (en) * | 2008-01-29 | 2008-11-12 | 长安大学 | A tracking robot device for teaching |
| CN201327679Y (en) * | 2008-12-18 | 2009-10-14 | 河源职业技术学院 | Miniature programmable logistics teaching robot |
| WO2011135886A1 (en) * | 2010-04-27 | 2011-11-03 | 日本電気株式会社 | Radio tag sensor system and method for calibrating same |
| CN202342879U (en) * | 2011-11-10 | 2012-07-25 | 长安大学 | AVR SCM (Single-Chip Microcomputer)-based direction control device for model car |
| CN102950598A (en) * | 2012-11-02 | 2013-03-06 | 北京农业信息技术研究中心 | Portable three-dimensional micro-range moving device for acquiring cell tissue ion flow |
| CN104589336A (en) * | 2014-11-18 | 2015-05-06 | 天津工业大学 | A new type of snake-like bionic robot |
| CN204322076U (en) * | 2014-11-18 | 2015-05-13 | 天津工业大学 | A kind of novel snakelike bio-robot |
| CN104828576A (en) * | 2015-04-14 | 2015-08-12 | 广州达意隆包装机械股份有限公司 | Loading and unloading apparatus of container |
| CN107053185A (en) * | 2016-09-06 | 2017-08-18 | 南昌大学 | A kind of shelf express delivery based on STM32 robots intelligently takes hair system |
-
2017
- 2017-12-06 CN CN201711277934.XA patent/CN108032315A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06170770A (en) * | 1992-12-09 | 1994-06-21 | Seiko Epson Corp | Micro robot |
| DE4447434A1 (en) * | 1994-02-23 | 1995-08-31 | Gfr Ges Fuer Regelungstechnik | CCD sensor for reading out image zones or lines |
| CN1716342A (en) * | 2005-07-11 | 2006-01-04 | 天津市源峰科技发展公司 | Logistics operation training system and making method |
| CN2931012Y (en) * | 2005-09-05 | 2007-08-08 | 江渝 | Multifunctional intelligent robot microcomputer controller |
| CN201149746Y (en) * | 2008-01-29 | 2008-11-12 | 长安大学 | A tracking robot device for teaching |
| CN201327679Y (en) * | 2008-12-18 | 2009-10-14 | 河源职业技术学院 | Miniature programmable logistics teaching robot |
| WO2011135886A1 (en) * | 2010-04-27 | 2011-11-03 | 日本電気株式会社 | Radio tag sensor system and method for calibrating same |
| CN202342879U (en) * | 2011-11-10 | 2012-07-25 | 长安大学 | AVR SCM (Single-Chip Microcomputer)-based direction control device for model car |
| CN102950598A (en) * | 2012-11-02 | 2013-03-06 | 北京农业信息技术研究中心 | Portable three-dimensional micro-range moving device for acquiring cell tissue ion flow |
| CN104589336A (en) * | 2014-11-18 | 2015-05-06 | 天津工业大学 | A new type of snake-like bionic robot |
| CN204322076U (en) * | 2014-11-18 | 2015-05-13 | 天津工业大学 | A kind of novel snakelike bio-robot |
| CN104828576A (en) * | 2015-04-14 | 2015-08-12 | 广州达意隆包装机械股份有限公司 | Loading and unloading apparatus of container |
| CN107053185A (en) * | 2016-09-06 | 2017-08-18 | 南昌大学 | A kind of shelf express delivery based on STM32 robots intelligently takes hair system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021135633A1 (en) * | 2019-12-31 | 2021-07-08 | 青岛海高设计制造有限公司 | Control method and apparatus for delivery apparatus, and refrigerator |
| US11358812B2 (en) | 2019-12-31 | 2022-06-14 | Qingdao Haigao Design & Manufacturing Co., Ltd. | Method and apparatus for controlling article delivery device, and refrigerator |
| CN115246127A (en) * | 2022-07-26 | 2022-10-28 | 湖北工业大学 | Security communication and early warning system and method for robot software based on Internet of Things |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108032315A (en) | Automatic picking robot control system | |
| CN105964550A (en) | Full-automatic logistics robot | |
| CN105006142A (en) | Reflective infrared photoelectric sensor and program-controlled duty ratio distance-adjusting method of sensor | |
| CN108172024A (en) | A kind of managing system of car parking based on intelligent parking | |
| CN208985251U (en) | A kind of human body environment's optical detection system based on self-service cabinet | |
| CN102401697B (en) | Infrared wireless data button | |
| CN205215102U (en) | Automatic give soap dispenser | |
| CN207097060U (en) | An image detection device | |
| CN202632109U (en) | Wireless tracking trolley of infrared sensor | |
| CN211928420U (en) | A drip irrigation automatic control system based on 51 single chip microcomputer | |
| CN110219135B (en) | Water quantity control system of washing machine | |
| CN108052108A (en) | A kind of intelligent parking robot control system | |
| CN107430208A (en) | Optical detection device and electronic equipment | |
| CN201174138Y (en) | A timer for intelligent racing | |
| CN103690020A (en) | Intelligent window curtain control system | |
| CN212063876U (en) | Positioning circuit for C3200 camera | |
| CN210116880U (en) | Garbage data information acquisition system for garbage can | |
| CN117784644B (en) | Automatic feeding system for pig farm and control method | |
| CN203276312U (en) | Portable label automatic initialization device | |
| CN207370415U (en) | For the disengaging control system of annular show stand | |
| CN205060550U (en) | Electric garbage can | |
| CN208162067U (en) | Automatic sorting transmitting device and its system | |
| TW202124918A (en) | Encoding device, motor and controlling method of encoding device | |
| CN203673348U (en) | Automatic control system applied to obstacle avoidance of toy car | |
| CN110618380A (en) | Hall switch valve detection circuitry that targets in place |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20180716 Address after: 519000 Zhuhai 4 Xiangzhou 1, unit 702, 338 Cui Wei Road, Xiangzhou, Guangdong Applicant after: Zhuhai Shi Zhi Remote Sensing Technology Co., Ltd. Address before: 519000 303 Office of Fengshan industrial area, No. 1131 Cui Jing Road, Xiangzhou District, Zhuhai, Guangdong, China, 4 Applicant before: Zhuhai Jiaying science and Technology Development Co., Ltd. |
|
| TA01 | Transfer of patent application right | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180515 |
|
| RJ01 | Rejection of invention patent application after publication |