CN111102975A

CN111102975A - Information floor block in robot conveying system

Info

Publication number: CN111102975A
Application number: CN202010167730.6A
Authority: CN
Inventors: 李玉平; 任登军
Original assignee: Shenzhen Zhuting Intelligent Technology Co Ltd
Current assignee: Shenzhen Zhuting Intelligent Technology Co Ltd
Priority date: 2020-03-11
Filing date: 2020-03-11
Publication date: 2020-05-05

Abstract

The invention discloses an information floor block in a robot conveying system, which comprises: the single bus device comprises an information block insulating substrate and a conductive information surface, wherein the conductive information surface is covered on the top surface of the information block insulating substrate and is used for being electrically contacted with a data terminal of the single bus device. The conductive information plane covers the information block insulating substrate entirely, or the conductive information plane is embedded in the top surface of the information block insulating substrate. The invention has the advantages that: the conductive information surface and the information block insulating substrate are firm and durable, are not afraid of water immersion and treading, and the conductive information surface well transmits the coded data of the single bus device to provide accurate azimuth information for the robot.

Description

Information floor block in robot conveying system

Technical Field

The invention relates to a floor block, in particular to a special floor block for bearing a walking robot, and especially relates to an information floor block which can be embedded or connected with a single-bus electronic device so that the floor block forms a marker with coded data and is used for being identified by a robot.

Background

In the prior art, there are various walking robots capable of conveying articles, and in order to accurately convey articles to a destination, there are various navigation methods, such as:

firstly, two-dimensional codes are arranged on a walking line, a two-dimensional code scanner of a robot identifies zone bits, and the mode can only be suitable for special channels, such as parcel sorting and restaurant meal delivery.

In the application of restaurant food delivery, the special channel occupies a large amount of restaurant space, and sometimes, in order to meet the configuration of a dining table, great difficulty is brought to the design of the special channel; if the walking route is arranged on the ground, customers can easily tread the two-dimensional code to be fuzzy, so that the scanner cannot identify the two-dimensional code.

Secondly, set up the RFID label on the route of walking, discernment position by the RFID scanner of robot, this kind of mode can set up the route of walking subaerial in the application of dining room meal delivery, the difficult point of this kind of position discernment lies in hardly accurate counterpoint, and the wireless induction distance error between scanner and the RFID label is great, easy misreading.

And thirdly, setting UWB equipment navigation in an activity space, such as 201810585592.6, which is a Chinese patent application, and an indoor AGV navigation control method based on UWB positioning and dead reckoning. The control principle is as follows: set up the four corners that a plurality of UWB equipment are fixed in and set for the space dome, the inside receiving module that sets up of AGV dolly, this module has the return signal function, and many UWB equipment carry out the measurement of course angle and distance to the AGV dolly to calculate the position coordinate of AGV dolly. The measurement error is less than 150 mm. The method is suitable for guiding the AGV to run in an unobstructed and open field, if the objects in the running space are numerous and the AGV is buried in the objects or trees, the navigation precision is greatly reduced, and if the controlled field is very narrow and short, such as in a restaurant crowded with people, the distance measurement error is increased.

Therefore, people always find a robot conveying system which has the use right of a common channel between a customer and a robot, has simple conveying form, hidden landmarks, firmness and durability, is not afraid of trampling, does not need maintenance, has accurate navigation, moderate precision, interference resistance and low cost, and the background of the invention is as follows: the inventor designs a tracking and navigating robot with a single bus device, as shown in fig. 2, a first conductive universal wheel 121 and a second conductive universal wheel 122 are arranged under the base of the robot 1 and are insulated from each other, the two conductive universal wheels are linked with a circuit for reading coded data of the single bus device in the robot, and as can be seen from fig. 2, the first conductive universal wheel 121 is located on an information floor block 2.

Fig. 3 shows a type of the single-bus device 4 in the background art, which is an ibutton information button.

For the circuit and control principle of the information floor board and the coded data read single bus device, please refer to the other patent application documents of the applicant.

The patent application is specially provided for the specific structure of the information floor block matched with the robot.

Disclosure of Invention

In order to make the robot have a firm walking environment and read the coded data of the single bus device, the invention designs the information floor block in the conveying system of the robot, the patent application of the invention is realized as follows:

the information floor block includes: the single bus device comprises an information block insulating substrate and a conductive information surface, wherein the conductive information surface is attached to the top surface of the information block insulating substrate and is used for being in electrical contact with a data terminal of the single bus device.

The conductive information plane entirely covers the information block insulating substrate.

Or the conductive information surface is embedded in the top surface of the information block insulating substrate.

The conductive information plane may have a portion of its edge overlying the information block insulating substrate and a portion of its edge embedded in the top surface of the information block insulating substrate.

The information floor block is square.

Or the information floor block is triangular.

Or the information floor block is hexagonal.

Or the information floor block is octagonal.

Or the information floor block is trapezoidal.

Or the information floor block is round or oval.

Or the information floor block is in a square or round or oval or triangular or hexagonal or octagonal or trapezoidal split shape.

The invention has the advantages that: the conductive information surface and the information block insulating substrate are firm and durable, are not afraid of water immersion and treading, have good conductive information surface and transmit the coded data of the single bus device, provide accurate azimuth information for the robot, the invention is easy to lay, with low costs, maintain simply, esthetic and durable.

Drawings

Fig. 1 is a schematic view of a first embodiment of an information floorboard 2, i.e. a conductive information surface 21 entirely covering an information board insulating substrate 29, and a corresponding ground floorboard 3, which is also a conductive surface entirely covering the substrate, in a solution of the information floorboard in a robotic transport system according to the invention;

fig. 2 is a schematic view of a background art self-contained robot 1 seated on an information floor 2;

FIG. 3 is a schematic diagram of a prior art ibutton information button that is one of a selection of single-bus devices to be used, wherein the data side 41 of the single-bus device 4 will be in electrical contact with the conductive information surface 21;

fig. 4 is a schematic view of a second information floor plate in an embodiment of the robot transportation system of the present invention, in which a conductive information surface is embedded in the top surface of an information block insulating substrate, and the conductive information surface is completely embedded in the top surface of the information block insulating substrate.

Fig. 5 is a schematic view of a fourth embodiment of the information floorboard in the robotic conveying system of the present invention, where the conductive information surface 21 entirely covers the information-block insulating substrate 29, and the ground floorboard 3 is shown with the conductive surface embedded in the top surface of the insulating substrate;

fig. 6 is a schematic view of a fifth embodiment of the information floor block in the robot transportation system of the present invention, in which the conductive information surface 21 is embedded in the top surface of the information block insulating substrate 29, and the ground floor block 3 is a conductive surface covering the top surface of the insulating substrate.

Detailed Description

The application method of the present invention is described below with reference to the drawings, and for the convenience of understanding by the reader, the drawings introducing the background art need to be described:

as shown in fig. 1, the robot cannot recognize the single bus device with only one information floor board 2, and the information floor board 2 of the present invention must be described as a ground floor board 3 because the single bus device has two end surfaces.

Designing and manufacturing an information floor panel in a robotic conveying system, said information floor panel 2 comprising: a block insulating substrate 29, a conductive information plane 21, said conductive information plane 21 being attached to the top surface of the block insulating substrate 29, said conductive information plane 21 being intended to be in electrical contact with the data terminal 41 of the single bus device 4 shown in fig. 3.

In the first embodiment, as shown in fig. 1, the conductive information plane 21 entirely covers the information block insulating substrate 29.

In the second embodiment, as shown in fig. 4, the conductive information surface 21 is embedded in the top surface of the information block insulating substrate 29.

In the third embodiment, the conductive information plane may have a part of its edge covering the information block insulating substrate and a part of its edge embedded in the top surface of the information block insulating substrate.

In the fourth embodiment, the conductive information surface 21 may entirely cover the information block insulating substrate 29, and the ground floor block 3 may have a conductive surface embedded in the top surface of the insulating substrate.

As shown in fig. 6, in the fifth embodiment, the conductive information surface 21 is embedded in the top surface of the information block insulating substrate 29, and the ground floor block 3 is schematically shown when the conductive surface is covered on the top surface of the insulating substrate.

In other embodiments, the information floor board 2 may have a square shape, a triangular shape, a hexagonal shape, an octagonal shape, a trapezoidal shape, a circular shape, an oval shape, or a split shape of the above-described various shapes.

In the first embodiment of fig. 1, the data terminal of the single bus device 4 is embedded in a hole and pressed against the back side of the conductive information plane 21 to be electrically contacted, a pressing plate 25 is pressed on the ground terminal 42 of the single bus device 4, the pressing plate 25 is connected with the lead 24, the lead 24 is connected with the ground pressing plate 35 of the ground floor block 3, and the ground pressing plate 35 is electrically contacted with the ground plane 31 through the conductor 33.

In this embodiment, the information block insulating substrate 29 and the ground block insulating substrate 39 are provided with information block cable grooves 28 and ground block cable grooves 38 for the leads 24.

In this embodiment, since there is a possibility that the conductive information plane 21 and the ground plane 31 are electrically contacted, the spacer 23 is attached to electrically isolate them when the floor is laid.

In other embodiments, the conductive information plane 21 and the ground plane 31 do not contact with each other due to the existence of the information substrate edge 291 and the ground substrate edge 391 shown in fig. 4, and therefore, the spacer 23 does not need to be added.

The above description is only a preferred embodiment of the present invention, and the present invention should not be limited by the above description, which should be interpreted as limiting the scope of the present invention, since the person skilled in the art can change the invention in the details of the embodiment and the range of applications according to the spirit of the present invention.

Claims

1. An information floor board in a robot conveying system, characterized in that the information floor board (2) comprises: an information block insulating substrate (29), a conductive information surface (21), and the conductive information surface (21) Covered on the top surface of the insulating substrate (29) of the information block, the conductive information surface (21) is used for electrical contact with the data terminal of the single bus device.

2 . The information floor board in the robot conveying system according to claim 1 , wherein the conductive information surface ( 21 ) completely covers the information block insulating substrate ( 29 ). 3 .

3. The information floorboard in the robot conveying system according to claim 1, wherein the conductive information surface (21) is embedded in the top surface of the information block insulating substrate (29).

4 . The information floorboard in the robot conveying system according to claim 1 , wherein the information floorboard ( 2 ) is square. 5 .

5 . The information floorboard in the robot conveying system according to claim 1 , wherein the information floorboard ( 2 ) is triangular. 6 .

6 . The information floorboard in the robot conveying system according to claim 1 , wherein the information floorboard ( 2 ) is hexagonal. 7 .

7 . The information floor board in the robot conveying system according to claim 1 , wherein the information floor board ( 2 ) is octagonal. 8 .

8 . The information floor board in the robot conveying system according to claim 1 , wherein the information floor board ( 2 ) is trapezoidal. 9 .

9 . The information floorboard in the robot conveying system according to claim 1 , wherein the information floorboard ( 2 ) is circular or oval. 10 .

10 . The information floorboard in the robot conveying system according to claim 1 , wherein the information floorboard ( 2 ) is a combination of square or circle or ellipse or triangle or hexagon or octagon or trapezoid. 11 . shape.