CN110817228A - Unmanned storage carrier - Google Patents

Abstract

The invention discloses an unmanned storage truck, comprising a body, a mechanical arm arranged on the body, a power source, a wheel and a motor. The body is provided with a sensor and a main control unit, and the sensor is used to scan grids on the ground. The main control unit calculates and judges the intersection of the grid lines to realize the positioning and movement of the truck. Sensors are located around the body. The invention can realize indoor autonomous positioning and driving, carry out operations such as cargo identification, classification, and handling, and can replace manual operations such as cargo sorting, palletizing, loading and unloading in warehouses, post stations, factories, etc.; greatly reduces the use of manpower, and the efficiency High, low error rate, can greatly improve productivity.

Description

An unmanned storage truck

technical field

The invention relates to a truck, in particular to an unmanned storage truck.

Background technique

In recent years, with the development of economy, e-commerce and express logistics industry have also developed rapidly. Online shopping and logistics express industry have been deeply integrated into people's production and life, but it has also brought a series of problems: the huge amount of goods, The sorting efficiency is low, time-consuming, requires huge manpower and material resources, and has a high error rate, which is prone to problems.

SUMMARY OF THE INVENTION

Purpose of the invention: The present invention aims to provide an unmanned storage truck that can realize low-cost positioning, cargo identification, grabbing, sorting, and handling.

Technical solution: An unmanned storage truck of the present invention includes a body, a mechanical arm, a power supply, wheels and a motor arranged on the body. The body is provided with a sensor and a main control unit, and the sensor is used to scan the ground The grid line is calculated and judged by the main control unit to realize the positioning and movement of the truck. The sensors are arranged around the vehicle body, and there are at least four sensors.

The sensor is a camera, a CCD or a 7-channel digital grayscale sensor.

The vehicle body is provided with a communication unit, and a local area network of the truck is constructed through the communication unit.

The communication unit adopts Wifi or ZigBee protocol.

The robotic arm includes a pan/tilt, a gripper, an arm, a connector and at least three steering gears; the gripper can complete the grabbing action under the control of the first steering gear; the arm is connected to the second steering gear through the connector, and is The telescoping and rotation are completed under the control of the servo; the gimbal is rotated under the control of the third servo.

The motor is connected to the main control unit through a motor drive device.

The main control unit controls the motor and the steering gear, makes the motor realize the functions of forward and reverse rotation, braking and stop, controls the rotation angle, speed and torque of the steering gear, and reads the feedback data of the steering gear.

The vehicle body is also provided with a scanning device for reading cargo information, and the data collected by the device is transmitted to the main control unit.

The main control unit, the scanning device and the communication unit are arranged on the upper part of the vehicle body.

The unmanned storage truck system of the present invention, based on the above-mentioned unmanned storage truck, further includes a communication terminal and a ground grid line; the communication terminal is used to read the scanning information of the truck, and issue instructions to the transport vehicle The main control unit of the vehicle; the ground grid lines are black or gray, and are vertically crossed to cover the transportation path of the goods.

Beneficial effects: Compared with the prior art, the present invention has the following significant advantages: the present invention can realize indoor autonomous positioning and driving, carry out operations such as cargo identification, classification, and handling, and can replace manual cargo handling in warehouses, stations, factories, etc. Sorting, palletizing, loading and unloading operations. It greatly reduces the use of manpower, has high efficiency and low error rate, and can greatly improve productivity.

Description of drawings

Fig. 1 is the structural representation of the present invention;

FIG. 2 is a schematic diagram of the truck system of the present invention.

Detailed ways

The technical solutions of the present invention will be further described below with reference to the accompanying drawings.

As shown in FIG. 1 , the unmanned storage truck includes a body, a robotic arm provided on the body, a power source, wheels 12 and a motor 13 . The body is composed of two rectangular steel plates, and the four corners of the lower plate of the body are fixed by steel parts 10 with four motors 13, and the motors 13 are permanent magnet DC gear motors. The wheel 12 and the motor 13 are connected together through a coupling, and the wheel 12 is a Mecanum wheel. When the main control unit 18 is a single-chip microcomputer, since the signal driving capability output by the single-chip microcomputer is relatively weak, a motor driving device 9 is also connected between the single-chip microcomputer and the motor 13. The motor drive adopts two TB6612FNG chips. A single chip can control two DC motors to realize the functions of forward and reverse rotation, braking and stop. Two chips can make the four motors independently realize different rotations and give full play to the advantages of the Mecanum wheel.

The lower part of the vehicle body is also provided with sensors 11, which are respectively arranged in the front, rear, left and right directions of the vehicle body, and the sensors are cameras, CCDs or 7-channel digital grayscale sensors. The sensor 11 is used to read the color difference information of the ground grid 21, and sends the read information to the main control unit 18, and the main control unit 18 calculates the orientation of the truck. When the truck moves, the sensor 11 in the moving direction is used to ensure straight running, and then combined with the side sensor to determine the number of crossing points that it travels through, and the X and Y coordinates are increased or decreased combined with the front direction, so as to calculate the absolute coordinates of the trolley. In an indoor environment without GPS signals, it is difficult to locate an unmanned guided vehicle, but the unmanned guided vehicle of the present invention can avoid the above problems.

The robotic arm includes a gimbal 5, a gripper 1, an arm and at least three steering gears. The gripper 1, the gimbal 5 and the arm are all made of carbon steel. The gripper 1 can complete the grasping action under the control of the first steering gear 2 . The gripper 1 adopts a double-layer arc-shaped gripper, and the gripper on both sides forms a circle-like structure when grasping, and grasps the goods to the middle of the gripper. The arm includes a connecting piece 4 and a second steering gear 3 , and the connecting piece 4 and the second steering gear 3 are alternately connected. There are at least two connectors 4, and the number of connectors and steering gears is adjusted according to the required cargo size, shelf height and other factors. The connecting piece 4 is stretched and rotated under the control of the second steering gear 3 . The gimbal 5 is rotated under the control of the third steering gear 6, and the platform is supported by large-sized bearings, which enhances its stability while ensuring accuracy. The above steering gear is a serial communication type steering gear, which has many functions and can realize data feedback while controlling the speed and torque. The steering gear is controlled by the main control unit 18 and feeds back data to the main control unit 18 . There is also a steering gear drive device 17 between the steering gear and the single-chip microcomputer, which is used to convert the single-wire half-duplex serial port of the steering gear into a two-wire half-duplex serial port, which is convenient for connection with the single-chip computer, so that the single-chip computer can control the rotation angle of the steering gear, Speed, torque, etc., and the feedback data of the steering gear can be read at the same time to achieve more precise control of the robotic arm movement.

The upper part of the vehicle body is also provided with a main control unit 18 , a motor drive device 9 , a display device 7 , a communication unit 16 , a camera 14 and a code scanning device 15 . Through the layered design of the upper and lower plates, the moving mechanism of the car is separated from the electronic control mechanism, and the components are easily separated for debugging and maintenance, which brings great convenience to later maintenance.

The communication unit 16 adopts the Wifi or ZigBee protocol to build a local communication network, realizes the interaction between the communication terminal 19 and the small workshop, publishes the task scheduling and division of labor information when the trolley is working, and reads back the information of the goods recognized by the trolley.

The camera 14 and the scanning device 15 are collectively referred to as a scanning device. The color, size, texture and other information of the goods recognized by the camera 14 are transmitted to the main control unit 18 through the line to classify them. The scanning device 15 is used to scan the goods. Read the two-dimensional code on the device, read the tracking number and other information, and transmit the information to the main control unit 18 through the line.

The display device 7 can display the working status information of the trolley. It adopts the serial resistance touch screen, develops the interactive interface through the host computer, transmits data with the single-chip microcomputer through the serial communication protocol, realizes the display of the trolley status information and the trolley parameter setting function to set the trolley parameters, and improves the communication between the user and the user. interactive and easy to troubleshoot when problems occur.

The present invention also includes an unmanned storage truck system, including a communication terminal 19 and grid lines on the ground, as shown in FIG. 2 . The communication terminal 19 is used to read the scanning information of the truck, and issue an instruction to the main control unit of the truck. The grid lines are black or gray, and the grid lines are set vertically to cover the transport path of the goods.

According to the working principle of the present invention, be further described:

The truck starts from the starting point, recognizes the ground grid 21 through the sensor 11, and calculates real-time coordinates. The released task information is obtained through the communication unit 16, and the original storage place of the object to be transported and the target rack 20 to be transported are obtained. Go to the goods storage place and identify the goods information through the camera 14 and the code scanning device 15 . The truck controls the robot arm to grab the goods through the main control unit 18 and carry them to the target area. Repeat the above process until all cargo handling is complete. Finally, return to the starting point and wait for subsequent tasks to be released.

Claims (9)

1. An unmanned storage carrier comprises a carrier body, mechanical arms arranged on the carrier body, a power supply, wheels (12) and a motor (13), and is characterized in that the carrier body is provided with a main control unit (18) and a sensor (11), the sensor is used for scanning grid lines on the ground, and the intersection points of the grid lines are calculated and judged through the main control unit (18), so that the positioning and the movement of the carrier are realized; the sensors (11) are arranged on the periphery of the vehicle body.

2. The automated warehouse cart according to claim 1, wherein the sensor (11) is a camera, a CCD or a grayscale sensor.

3. The automated warehousing cart of claim 1, wherein said body is provided with communication units (16) by which a cart local area network is constructed.

4. The automated warehouse cart according to claim 3, wherein the communication unit (16) employs Wifi or ZigBee protocol.

5. The automated warehouse cart of claim 1, wherein the robotic arm comprises a pan head (5), a gripper (1), an arm, and at least three steering engines; the gripper (1) finishes grabbing action under the control of the first steering engine (2); the arm is connected to a second steering engine (3) through a connecting piece (4) and stretches and rotates under the control of the steering engine; the cradle head (5) rotates under the control of the third steering engine (6).

6. The automated warehouse cart according to claim 1, characterized in that the motor (13) is connected to the main control unit (18) by a motor drive (9).

7. The unmanned warehousing and transportation vehicle of claim 5 or 6, wherein the main control unit (18) controls the motor (13) and the steering engine, so that the motor can realize forward and reverse rotation, braking and stopping functions, control the rotation angle, speed and torque of the steering engine, and read the feedback data of the steering engine.

8. The automated warehouse cart of claim 1, further comprising a scanning device for reading the cargo information, wherein the data collected by the scanning device is transmitted to the main control unit.

9. An automated storage and transportation vehicle system according to any one of claims 1 to 8, further comprising a communication terminal (19) and a ground grid line (21); the communication terminal (19) is used for reading the scanning information of the carrier and issuing an instruction to the carrier main control unit; the ground grid lines (21) are arranged in a vertical crossing mode and cover the transportation path of the goods.

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