CN109703750A - Unmanned aerial vehicle logistics system based on two-dimensional code navigation intelligent handling robot - Google Patents
Unmanned aerial vehicle logistics system based on two-dimensional code navigation intelligent handling robot Download PDFInfo
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- CN109703750A CN109703750A CN201910052234.3A CN201910052234A CN109703750A CN 109703750 A CN109703750 A CN 109703750A CN 201910052234 A CN201910052234 A CN 201910052234A CN 109703750 A CN109703750 A CN 109703750A
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- 239000000463 material Substances 0.000 claims abstract description 47
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- 230000033001 locomotion Effects 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 5
- 230000008901 benefit Effects 0.000 abstract description 4
- 239000007787 solid Substances 0.000 abstract description 2
- 230000002035 prolonged effect Effects 0.000 abstract 1
- 239000010410 layer Substances 0.000 description 16
- 230000032258 transport Effects 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 4
- 238000007726 management method Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000002093 peripheral effect Effects 0.000 description 3
- 239000000725 suspension Substances 0.000 description 3
- 238000012384 transportation and delivery Methods 0.000 description 3
- 230000007812 deficiency Effects 0.000 description 2
- 238000005192 partition Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
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- 239000002344 surface layer Substances 0.000 description 2
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Classifications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The present invention proposes a kind of UAV system logistics system based on two-dimension code navigation formula Intelligent transfer robot characterized by comprising AGV storage robot and bottom are fixed with the unmanned plane of material conveying device；AGV storage robot includes Omni-mobile chassis arranged at the bottom and the body that the Omni-mobile chassis upper is arranged in；The unmanned plane that two dimensional code mark is provided on the upside of the body shuts down platform；Two dimensional code identification camera is provided on the downside of the downside of the body and material conveying device.Scenario-frame provided by the invention is simple, rationally, can greatly promote the order of plane logistics transportation and stereoscopic logistic transport in logistics warehouse, takes full advantage of the solid space of logistics warehouse, the perfect linkage coordination system of unmanned plane and AGV robot.Prolonged accurate operation can be carried out in the environment of complete prosthetic participates in, and greatly improve work efficiency the degree of automation with working environment.
Description
Technical field
The present invention relates to intelligent storage technical fields, more particularly to one kind to be based on two-dimension code navigation formula Intelligent transfer robot
UAV system logistics system.
Background technique
With the development of the industries such as logistics and unmanned factory, store of goods often requires to use unmanned plane and carries out three-dimensional
Material is transported to specified region by transport spatially, by not limited by spatial altitude using unmanned plane the characteristics of.But it is existing
Some unmanned plane transportation systems cruising ability is poor, needs manually continually to recycle, and often needs during transportation artificial
Control movement, can not work under more complicated space environment.The intelligent logistics system that the country mainly uses at present is mainly wrapped
Intelligent three-dimensional warehouse and space Logistic Scheduling and AGV logistics sorting storage platform based on factory travelling crane are included, is based on this three kinds
The logistics transportation of mode suffers from greatly respective deficiency, thus more more and more urgent needs research and develop one kind on the basis of three-dimensional space
Based on express delivery unmanned plane and AGV robot linkage coordinate logistics transporting device.
Summary of the invention
In order to solve the problems, such as defect and deficiency of the existing technology, present invention incorporates based on AGV trolley
Navigation-type Intelligent transfer robot and unmanned plane, the benchmark by two dimensional code as path planning and fixation and recognition, the present invention
Specifically use following technical scheme:
A kind of UAV system logistics system based on two-dimension code navigation formula Intelligent transfer robot characterized by comprising AGV
Storage robot and bottom are fixed with the unmanned plane of material conveying device；AGV storage robot includes arranged at the bottom
Omni-mobile chassis and the body that the Omni-mobile chassis upper is set；Two dimension is provided on the upside of the body
The unmanned plane of code mark shuts down platform；Two dimensional code identification is provided on the downside of the downside of the body and material conveying device
Camera.
Preferably, the body is provided with AGV microprocessor, the avoidance identification module connecting with the AGV microprocessor
And wireless communication module.
Preferably, the Omni-mobile chassis is provided with the Mecanum wheel connecting with the AGV microprocessor.
Preferably, the material conveying device includes the belt conveyor being obliquely installed and jacking electric pushrod；It is described
The bottom of belt conveyor is provided with the switch gate coupled with belt conveyor power source.
Preferably, the unmanned plane shuts down and is provided with unmanned plane charging module on platform.
Preferably, the AGV microprocessor is also connected with radio frequency identification module and gyroscope, the Mecanum wheel
It is driven by the stepper motor with encoder.
Preferably, it is provided with wireless charging module on the Omni-mobile chassis or body, the wireless charging module connects
Connect unmanned plane charging module.
Preferably, the unmanned plane is eight rotor wing unmanned aerial vehicles.
Preferably, the storehouse AGV is identified as using the two dimensional code on the traveling space ground that AGV storage robot is arranged in
The movement for storing up robot provides location navigation；The nothing is identified as using the two dimensional code for the horizontal direction being arranged in logistics warehouse
Man-machine landing provides positioning.
Preferably, the two dimensional code mark for the identification of AGV storage robot and the two dimensional code identified for unmanned plane identify
It is arranged in Different Plane.
Scenario-frame provided by the invention is simple, reasonable, and compared with prior art, the present invention and its preferred embodiment can be big
The big order for promoting plane logistics transportation and stereoscopic logistic transport in logistics warehouse, takes full advantage of the solid of logistics warehouse
Space, the perfect linkage coordination system of unmanned plane and AGV robot.It can be grown in the environment of complete prosthetic participates in
The accurate operation of time, greatly improves work efficiency the degree of automation with working environment.It on the one hand can be by AGV on ground
Cargo is delivered to designated position；On the other hand unmanned plane being postponed to fixed bit by AGV transport cargo, material is transported into finger again
Fixed position.The unmanned logistics operation that three-dimensional space is realized by the method for this machine collaboration linkage, greatly improves
Working efficiency, and unmanned plane can be guaranteed in more complicated ring by the unmanned plane charging unit being arranged in AGV robot
Work accuracy and cruising ability under border.
Detailed description of the invention
The present invention is described in more detail with reference to the accompanying drawings and detailed description:
Fig. 1 is the perspective view of the embodiment of the present invention；
Fig. 2 is the front view of the embodiment of the present invention；
Fig. 3 is the top view of the embodiment of the present invention；
Fig. 4 is the side view of the embodiment of the present invention；
Fig. 5 be the embodiment of the present invention the three-dimensional space environment of plant under operation top view；
Fig. 6 be the embodiment of the present invention the three-dimensional space environment of plant under operation perspective view；
Fig. 7 is the plane layer working condition partial view of the embodiment of the present invention；
Fig. 8 is the high-order layer working condition partial view of the embodiment of the present invention；
Figure label explanation: eight rotor wing unmanned aerial vehicle of 1-；2- material transfer belt；3- material conveying device；4- Mecanum wheel；5-
Omni-mobile chassis peripheral protective shell body；6- senses camera；7- unmanned plane industrial PC；8- switch gate；9- jacking is electronic
Push rod；10- body；11- unmanned plane rotation motor；12- scram button；Avoidance identification module before 13-；14- Omni-mobile chassis；
15- connection frame；Roller is used in 16- transmission；17- industry control touch screen；18-AGV storage robot two dimensional code identifies camera；19- object
Expect that transmission device upper cover plate, 20- hang driving wheel, 21- platform pinboard, 22- material, 23- belt-driven belt, 24-
Avoidance identification module, 27- high level shipping two dimensional code terrestrial reference, 28- plane layer are turned with feeding after belt pulley, 25- stepper motor, 26-
Transport frame, 29- plane layer feeding industrial machinery arm, 30- plane layer blanking transfer carriage, 31- plane layer blanking industry mechanical arm,
32- high level palletizing mechanical arm, 33-AGV storage robot, 34- plane layer workshop numerical control machining center, the workshop numerical control of 35- high level
It is processed into center, 36- industry control warehousing management control centre numerical control tank, 37 unmanned plane two dimensional codes identification camera suspension partition, 38- biography
Send belt, 39- high level material storage center, 40- unmanned plane two dimensional code identification camera, 41- high level transit cargo rack, the storehouse 42-AGV
Store up robot tracking two dimensional code terrestrial reference.
Specific embodiment
For the feature and advantage of this patent can be clearer and more comprehensible, special embodiment below, and cooperate attached drawing, make specifically
It is bright as follows:
As shown in Figures 1 to 8, in this embodiment scheme, the 2 D shifting unit positioned at bottom is with AGV microprocessor
AGV storage robot 33, movement in the plane are driven by Omni-mobile chassis 14, are arranged on Omni-mobile chassis 14
Side is body 10, and the upside of body 10 is that the unmanned plane being made up of platform pinboard 21 shuts down platform.
The device for providing material transportation on three-dimensional space direction includes eight rotor wing unmanned aerial vehicles 1 and is fixed on eight rotor wing unmanned aerial vehicles
The material conveying device 3 of 1 bottom.
Material conveying device 3 can be identified by two dimensional code and identify and rest on platform pinboard 21, and can be passed through
Electromagnetic attracting device is fixed, and can be charged by unmanned plane charging module, and can fly away from platform pinboard when needed
21, while material 22 is carried by material conveying device 3, it is achieved in three-dimensional space operation.
Above-mentioned single unit system module by wireless communication, the long-range control of numerical control tank 36 in industry control warehousing management control centre
Under be scheduled operation.
It for the specific structure of material conveying device 3, is fixed, and led to by connection frame 15 and eight rotor wing unmanned aerial vehicles, 1 phase
It crosses transmission roller 16 and drives material transfer belt 2 to realize that mechanical structure motion, material transmission are transported in the loading and unloading of material
The electric-controlled that belt 2 provides transport by being connected with the stepper motor 25 of belt-driven belt 23 and belt pulley 24 is braked
Power.Switch gate 8 and the operating of stepper motor 25 are coupled, and when stepper motor 25, which operates, needs input or outputting material 22, open
Shutdown 8 opens or closes as needed.
Device is whole under plane layer working condition, when single unit system is moved to plane layer feeding transfer carriage 28, puts down
Surface layer feeding industrial machinery arm 29 is by the way that the good material clamping of preliminary working to be transported on plane layer feeding transfer carriage 28, by putting down
Material 22 is transported in material transfer belt 2 by surface layer feeding transfer carriage 28, and then material transfer belt 2 transports material 22
It is waited to the central location of material conveying device body 3 and performs the next step task, when single unit system is moved to plane layer blanking
When transfer carriage 30, power is provided by stepper motor 25 by material transfer belt 2, material 22 is transported into switch gate 8, then
Switch gate 8 is opened, and is grabbed material 22 by plane layer blanking industry mechanical arm 31 and is placed into plane layer blanking transfer carriage 30
On.This kind designs simple and reasonable for structure, has the advantage that and is existed by pre-designed program one-key operation material
Carrying on three-dimensional space, which not only improves the working efficiency of material in the handling process, and largely improve
The intelligence of working environment and unmanned degree.
In the present embodiment, AGV storage robot 33 realizes complete cycle to Working motion, to make by Mecanum wheel 4
Package unit flexible structure and compact, Mecanum wheel 4 are directly driven by the stepper motor with encoder, Mecanum
Wheel 4 and suspension driving wheel 20 are separately mounted to inside Omni-mobile chassis peripheral protective shell body 5.Scram button 12, preceding avoidance are known
Other module 13 and rear avoidance identification module 26 are respectively arranged on body 10, for realizing automatic obstacle avoiding and manually anxious
Stop, while there are also the top peripherals that an industry control touch screen 17 is mounted on body 10, use for manual operation programming.The storehouse AGV
Storage robot two dimensional code identification camera 18 hangs the bottom for being mounted on body 10 by 21 camera lens of platform pinboard downward, passes through knowledge
The AGV tracking on other ground carries out location navigation with two dimensional code terrestrial reference 42, by the transfer operation of plane layer by material to be processed
The processing that plane layer workshop numerical control machining center 34 completes workpiece is transported to by plane layer blanking transfer carriage 30.Meanwhile machine
Radio frequency identification module and gyroscope are additionally provided on body 10, for identification express delivery shelf location.Body 10 passes through battery
Power supply, battery give unmanned plane charging module for power supply simultaneously, and it is outer in factory using being arranged in be provided with wireless charging module
Portion's power supply charges.
In the present embodiment, by the material conveying device 3 installed below eight rotor wing unmanned aerial vehicles 1 body, when needing to transport
Cargo to high level when, by body 10 according to AGV storage robot tracking with 42 tracking of two dimensional code terrestrial reference transport material 22 to formulation
Position, the position program pre-set with touch screen 17 by industry control warehousing management control centre numerical control tank 36 or industry control
Progress builds figure automatically, has optimized path and has carried out autonomous tracking navigation later, realizes the intelligent management of space storage scheduling.Eight rotations
Sensing camera 6 is installed, for capturing the real-time pictures at high-rise scene to realize space Logistic Scheduling on 1 body of wing unmanned plane
Operating condition investigation, eight rotor wing unmanned aerial vehicles, 1 internal body is equipped with unmanned plane industrial PC 7, passes through unmanned plane industrial PC 7
Control the operation of unmanned plane rotation motor 11, eight rotor wing unmanned aerial vehicles 1 further include the gyro module for thering is conventional unmanned plane to have,
Electrical compass module, barometer module, ultrasonic range finder sensor, bluetooth communication module, unmanned plane wireless communication module and navigation
Locating module.Unmanned plane two dimensional code identification 40 camera lens of camera positioned at 3 bottom of material conveying device is hung facing downward is installed on nothing
On man-machine two dimensional code identification camera suspension partition 37, material transfer belt 2 is housed, when eight below material conveying device upper cover plate 19
When the starting operation of 1 body of rotor wing unmanned aerial vehicle, pass through presetting with being moved to corresponding high-rise shipping two dimensional code for programming system
It marks at 27, and is moved a certain distance according to setting to close to the side of high-rise transit cargo rack, next jack electric pushrod 9 and exist
Unmanned plane is wedge shaped with slowly jacking under the control of industrial PC 7, and then switch gate 8 is opened, while material transfer belt 2 is in step
Material 22 is placed into high-rise transit cargo rack 41 by way of air delivery under being driven under the action of into motor 25, then by
High-rise palletizing mechanical arm 32 puts on right position material 22, is transported to high level by the feed belt 38 in high-rise transit cargo rack 41
The shop material set-down location at material storage center 39, then material selection is processed at center 35 by high-rise workshop numerical control processing
Operation.
This patent is not limited to above-mentioned preferred forms, anyone can obtain other each under the enlightenment of this patent
The UAV system logistics system based on two-dimension code navigation formula Intelligent transfer robot of kind form, it is all according to the present patent application patent model
Done equivalent changes and modifications are enclosed, the covering scope of this patent should be all belonged to.
Claims (10)
1. a kind of UAV system logistics system based on two-dimension code navigation formula Intelligent transfer robot characterized by comprising
AGV storage robot and bottom are fixed with the unmanned plane of material conveying device；AGV storage robot includes being arranged in bottom
Omni-mobile chassis and the body of the Omni-mobile chassis upper is set；Two are provided on the upside of the body
The unmanned plane for tieing up code mark shuts down platform；Two dimensional code knowledge is provided on the downside of the downside of the body and material conveying device
Other camera.
2. the UAV system logistics system according to claim 1 based on two-dimension code navigation formula Intelligent transfer robot,
Be characterized in that: the body is provided with AGV microprocessor, the avoidance identification module that connect with the AGV microprocessor and wireless
Communication module.
3. the UAV system logistics system according to claim 2 based on two-dimension code navigation formula Intelligent transfer robot,
Be characterized in that: the Omni-mobile chassis is provided with the Mecanum wheel connecting with the AGV microprocessor.
4. the UAV system logistics system according to claim 1 based on two-dimension code navigation formula Intelligent transfer robot,
Be characterized in that: the material conveying device includes the belt conveyor being obliquely installed and jacking electric pushrod；The belt is defeated
The bottom of device is sent to be provided with the switch gate coupled with belt conveyor power source.
5. the UAV system logistics system according to claim 1 based on two-dimension code navigation formula Intelligent transfer robot,
Be characterized in that: the unmanned plane shuts down and is provided with unmanned plane charging module on platform.
6. the UAV system logistics system according to claim 3 based on two-dimension code navigation formula Intelligent transfer robot,
Be characterized in that: the AGV microprocessor is also connected with radio frequency identification module and gyroscope, and the Mecanum wheel passes through band
There is the stepper motor of encoder to drive.
7. the UAV system logistics system according to claim 5 based on two-dimension code navigation formula Intelligent transfer robot,
It is characterized in that: being provided with wireless charging module on the Omni-mobile chassis or body, the wireless charging module connects nobody
Machine charging module.
8. the UAV system logistics system according to claim 1 based on two-dimension code navigation formula Intelligent transfer robot,
Be characterized in that: the unmanned plane is eight rotor wing unmanned aerial vehicles.
9. the UAV system logistics system according to claim 1 based on two-dimension code navigation formula Intelligent transfer robot,
It is characterized in that: AGV storage machine is identified as using the two dimensional code on the traveling space ground that AGV storage robot is arranged in
The movement of people provides location navigation；The unmanned plane is identified as using the two dimensional code for the horizontal direction being arranged in logistics warehouse
Landing provides positioning.
10. the UAV system logistics system according to claim 9 based on two-dimension code navigation formula Intelligent transfer robot,
It is characterized in that: being identified for the two dimensional code of AGV storage robot identification and existed for the two dimensional code mark setting of unmanned plane identification
In Different Plane.
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| CN201910052234.3A CN109703750B (en) | 2019-01-21 | 2019-01-21 | Unmanned aerial vehicle carries commodity circulation system based on two-dimensional code navigation formula intelligent transfer robot |
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| CN201910052234.3A CN109703750B (en) | 2019-01-21 | 2019-01-21 | Unmanned aerial vehicle carries commodity circulation system based on two-dimensional code navigation formula intelligent transfer robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110303500A (en) * | 2019-07-10 | 2019-10-08 | 中信梧桐港供应链管理有限公司 | A kind of warehouse robot control system and method |
| CN111716359A (en) * | 2020-06-30 | 2020-09-29 | 福州大学 | Composite navigation differential storage robot and its working method |
| CN113651030A (en) * | 2021-09-02 | 2021-11-16 | 华中科技大学同济医学院附属协和医院 | An intelligent non-contact nucleic acid sample transportation system and its working method |
| CN113763306A (en) * | 2020-06-01 | 2021-12-07 | 杭州海康威视数字技术股份有限公司 | Landmark detection method and device and electronic equipment |
| CN113800168A (en) * | 2021-08-16 | 2021-12-17 | 青岛农业大学 | Workshop forklift scheduling management device and working principle thereof |
| CN114476460A (en) * | 2022-01-28 | 2022-05-13 | 安徽工程大学 | An omnidirectional multi-axis heavy-duty AGV scheduling system |
| CN114789866A (en) * | 2022-01-29 | 2022-07-26 | 南京航空航天大学苏州研究院 | AGV high-precision positioning device and accurate butt joint method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113763306A (en) * | 2020-06-01 | 2021-12-07 | 杭州海康威视数字技术股份有限公司 | Landmark detection method and device and electronic equipment |
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| CN113800168A (en) * | 2021-08-16 | 2021-12-17 | 青岛农业大学 | Workshop forklift scheduling management device and working principle thereof |
| CN113651030A (en) * | 2021-09-02 | 2021-11-16 | 华中科技大学同济医学院附属协和医院 | An intelligent non-contact nucleic acid sample transportation system and its working method |
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| CN114789866A (en) * | 2022-01-29 | 2022-07-26 | 南京航空航天大学苏州研究院 | AGV high-precision positioning device and accurate butt joint method |
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|---|---|
| CN109703750B (en) | 2023-12-15 |
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