CN112249568A - Paint supply system, carrying robot and paint supply method - Google Patents
Paint supply system, carrying robot and paint supply method Download PDFInfo
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- CN112249568A CN112249568A CN202011051986.7A CN202011051986A CN112249568A CN 112249568 A CN112249568 A CN 112249568A CN 202011051986 A CN202011051986 A CN 202011051986A CN 112249568 A CN112249568 A CN 112249568A
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- 239000003973 paint Substances 0.000 title claims abstract description 167
- 238000000034 method Methods 0.000 title claims abstract description 32
- 239000000463 material Substances 0.000 claims abstract description 221
- 238000005507 spraying Methods 0.000 claims abstract description 133
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- 238000007726 management method Methods 0.000 claims abstract description 21
- 230000009471 action Effects 0.000 claims abstract description 17
- 238000000576 coating method Methods 0.000 claims description 75
- 239000011248 coating agent Substances 0.000 claims description 74
- 238000012546 transfer Methods 0.000 claims description 59
- 238000010276 construction Methods 0.000 claims description 33
- 238000012384 transportation and delivery Methods 0.000 claims description 19
- 238000003860 storage Methods 0.000 claims description 13
- 230000000007 visual effect Effects 0.000 claims description 8
- 230000002159 abnormal effect Effects 0.000 claims description 7
- 238000005303 weighing Methods 0.000 claims description 7
- 230000008569 process Effects 0.000 abstract description 14
- 238000007599 discharging Methods 0.000 abstract description 9
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- 238000010422 painting Methods 0.000 description 7
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
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- G—PHYSICS
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
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- General Engineering & Computer Science (AREA)
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Abstract
The embodiment of the invention discloses a paint supply system, a carrying robot and a paint supply method. The planning and scheduling subsystem receives a paint demand beat generated by the spraying robot, generates a paint demand plan and a material sending worksheet according to the spraying demand beat, generates a material receiving worksheet according to the material sending worksheet through the warehouse management subsystem, generates a material receiving instruction and determines map information of an operation site through the scheduling subsystem, and sends the material receiving instruction and the map information to the carrying robot, so that the carrying robot moves to a paint warehouse to execute a material receiving action based on the material receiving instruction and the map information, transports the received material to the position of the spraying robot according to the map information, and unloads the received material to the spraying robot. The whole process can be automatically realized, the purposes of automatically generating a material receiving plan, automatically controlling material receiving and automatically controlling material discharging are achieved, the paint supply efficiency is further improved, and the labor cost is reduced.
Description
Technical Field
The embodiment of the invention relates to an industrial control technology, in particular to a paint supply system, a carrying robot and a paint supply method thereof.
Background
Currently, the building and real estate industries in China are developed rapidly, and the building industry is still a labor-intensive industry. With the progress of social economy and technology and the improvement of human living standard, the construction is required to be developed towards the directions of safety, high efficiency, high quality and the like, and the spraying operation is taken as a link with larger workload in the construction.
At present, a manual spraying mode is mainly adopted, the production efficiency is low, the cost is high and the condition of reworking due to poor construction quality often exists by means of manual spraying. Meanwhile, a plurality of construction pieces are involved in the spraying operation, the flow in each construction link is complex, errors often occur in the management of material inlet and outlet and the management of the on-site construction flow, the labor cost is wasted, the working efficiency is low, and the construction cost is wasted.
Disclosure of Invention
The embodiment of the invention provides a coating supply system, a carrying robot and a coating supply method thereof, which are used for realizing the effect of automatic control of the delivery and supply processes of coatings, thereby reducing the construction cost of buildings and improving the working efficiency.
In a first aspect, an embodiment of the present invention provides a paint supply system, including:
the plan scheduling subsystem receives a spraying demand beat generated by a spraying robot, and generates a paint demand plan and a material sending work order corresponding to the paint demand plan according to the spraying demand beat and current paint information;
the warehouse management subsystem acquires the material sending work order, determines the paint storage position information according to the material sending work order and generates a material receiving work order;
and the scheduling subsystem is used for receiving the material receiving work order, generating a material receiving instruction according to the material receiving work order, determining map information of an operation site of the spraying robot, sending the material receiving instruction and the map information to the carrying robot so that the carrying robot moves to a paint warehouse to execute a material receiving action based on the material receiving instruction and the map information, transporting the received material to the position of the spraying robot according to the map information, and unloading the received material to the spraying robot.
In a second aspect, an embodiment of the present invention further provides a transfer robot, including: the controller, the code scanner and the material receiving weighing sensor;
the controller is used for receiving a material receiving instruction and map information sent by a coating supply system and controlling the carrying robot to move to a coating warehouse based on the material receiving instruction and the map information;
the code scanner is used for scanning the two-dimensional code of the paint position corresponding to the paint storage position information in the paint warehouse and determining whether the scanned two-dimensional code is correct or not;
the material picking weighing sensor is used for determining the current material picking amount when the two-dimensional code is correct;
and the controller is also used for generating a control instruction for finishing material receiving when the current material receiving amount is consistent with the theoretical demand of the material sending work order.
In a third aspect, an embodiment of the present invention further provides a paint supply method, including:
receiving a spraying demand beat generated by a spraying robot through a plan scheduling subsystem, and generating a paint demand plan and a material sending work order corresponding to the paint demand plan according to the spraying demand beat and current paint information;
acquiring the material sending work order through a warehouse management subsystem, determining paint storage position information according to the material sending work order, and generating a material receiving work order;
receiving the material receiving work order through a dispatching subsystem, generating a material receiving instruction according to the material receiving work order, determining map information of an operation site of the spraying robot, sending the material receiving instruction and the map information to a carrying robot, enabling the carrying robot to move to a paint warehouse to execute a material receiving action based on the material receiving instruction and the map information, and transporting the received material to the spraying robot according to the map information.
According to the technical scheme, the paint supply system comprises a planning and scheduling subsystem, a warehouse management subsystem and a scheduling subsystem, wherein the planning and scheduling subsystem receives paint demand beats generated by a spraying robot, generates a paint demand plan and a material sending worksheet according to the spraying demand beats, generates a material receiving worksheet according to the material sending worksheet, generates a material receiving instruction and determines map information of an operation site through the scheduling subsystem, and sends the material receiving instruction and the map information to a carrying robot, so that the carrying robot moves to a paint warehouse to execute a material receiving action based on the material receiving instruction and the map information, transports the received materials to the position of the spraying robot according to the map information, and unloads the received materials to the spraying robot. Above-mentioned whole process can the automation realize, has solved the lower problem of human cost work efficiency among the prior art, reaches automatic generation material picking plan, automatic control material picking and automatic control purpose of unloading, further improves coating supply efficiency and reduces the human cost.
Drawings
Fig. 1 is a schematic structural diagram of a paint supply system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of another paint supply system according to an embodiment of the present invention;
fig. 3 is a schematic structural view of a transfer robot according to a second embodiment of the present invention;
fig. 4 is a schematic flow chart of a paint supply method according to a third embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a schematic structural diagram of a paint supply system according to an embodiment of the present invention, which is applicable to a paint supply situation for a painting robot. As shown in fig. 1, the system includes: a plan scheduling subsystem 100, a warehouse management subsystem 200, and a dispatch subsystem 300.
The plan scheduling subsystem 100 receives a spraying demand beat generated by a spraying robot, and generates a paint demand plan and a material sending work order corresponding to the paint demand plan according to the spraying demand beat and the current paint information; the warehouse management subsystem 200 is used for acquiring the material sending work order, determining the paint storage position information according to the material sending work order and generating a material receiving work order; and the scheduling subsystem 300 is used for receiving the material receiving work order, generating a material receiving instruction according to the material receiving work order, determining map information of an operation site of the spraying robot, sending the material receiving instruction and the map information to the carrying robot, enabling the carrying robot to move to a paint warehouse to execute a material receiving action based on the material receiving instruction and the map information, transporting the received material to the position of the spraying robot according to the map information, and unloading the received material to the spraying robot.
And the spraying demand rhythm acquires current paint information through the spraying robot and generates the current paint information through the spraying robot. The spraying robot is the robot that carries out the spraying operation at the job site, and the spraying robot includes construction control module and data acquisition sensor, construction control module control spraying robot removes and sprays, the data acquisition sensor is used for taking notes current coating information, and current coating information includes coating quantity U, coating surplus M and spraying time T to according to coating quantity U, coating surplus M and spraying time T, calculate spraying demand beat T1, spraying demand beat T1 refers to unit quantity coating consumption used time. Optionally, the current paint information may also be externally input, or acquired by other devices and sent to the painting robot.
Optionally, the painting robot further comprises: the device comprises a visual sensing device and a positioning device, wherein the visual sensing device acquires the current spraying progress of the spraying robot, and the positioning device acquires the current position of the spraying robot; and the spraying robot sends the current spraying progress, the current position and the running state to the planning and scheduling subsystem so that the planning and scheduling subsystem determines whether to generate abnormal information according to the current spraying progress, the current position and the running state.
The visual sensing device can be a camera, a camera and the like, and the current spraying progress can be understood as the spraying construction progress and comprises a total wall surface area S0, a sprayed area S1 and a spraying amount U1; the positioning device may be a global positioning system positioning device, a satellite positioning device or a base station positioning device; the spraying robot sends the current spraying progress, the current position and the running state to the planning and scheduling subsystem 100, and the planning and scheduling subsystem processes the received data and determines whether to generate abnormal information, so that the monitoring of a construction site can be realized, safety early warning can be carried out, and safety operation can be guaranteed.
The Planning and Scheduling subsystem 100 refers to an Advanced Planning and Scheduling (APS) subsystem. The planning and scheduling subsystem 100 can calculate a paint complete consumption node according to the spraying demand beat t1 and the paint allowance M, and generate a paint demand plan by combining the running state of the spraying robot, the floor where the spraying robot is located and the room where the spraying robot is located. Optionally, the paint demand plan includes a demand paint material number, a demand time node, a paint demand amount, and the like, the paint demand plan is made into a material sending work order, the material sending work order is sent to the warehouse management subsystem 200, a material preparation operation is executed through the warehouse management subsystem 200, and the material sending work order includes the paint material number and the paint demand amount.
Optionally, the required paint number may be a paint number, and may be obtained according to a construction floor, a construction progress and decoration design information on the floor fed back by the spraying robot; the required time node T1 is T0+ M/T1+ T1 ', wherein T0 is the current time node, M/T1 is the time required by the complete consumption of all the residual paint on the working site of the spraying robot, and T1' is the downtime of the spraying robot; the required amount of the coating is (S0-S1) (U1/S1), wherein S0-S1 are areas which are remained to be sprayed, and U1/S1 is the amount of the coating used per unit area.
When receiving the material sending work order and executing material preparation operation, the Warehouse Management subsystem 200 (WMS System for short) determines the storage location of the paint according to the paint number of the material sending work order, generates a material receiving work order, and sends the material receiving work order to the scheduling subsystem, so that the scheduling subsystem executes the material receiving operation according to the material receiving work order. The material receiving work orders correspond to the material sending work orders one by one.
The scheduling subsystem 300 is a system for scheduling a transfer robot, and the scheduling subsystem may generate a material getting action instruction according to a material getting work order, determine map information of the scheduled transfer robot, send the map information to the scheduled transfer robot, so that the transfer robot moves to a paint warehouse to perform a material getting action based on the material getting instruction and the map information, transport the material getting to a position where the spraying robot is located according to the map information, and unload the material getting to the spraying robot, where the map information includes longitude and latitude information of a construction site, floor information, obstacle positions, material getting routes, unloading routes, and the like.
When the carrying robot moves to the paint warehouse to execute the material receiving action, the actual material receiving amount is compared with the required material receiving amount of the material receiving work order, if the actual material receiving amount is equal to the required material receiving amount in the material receiving work order, the material receiving action is finished, the received material is transported to the position of the spraying robot according to the unloading route in the map information, the posture is automatically adjusted to enable the hopper to be lifted to the height of the material loading port and close to the spraying robot, when the relative position of the hopper and the material loading port of the spraying robot is determined to meet the requirement, the hopper and the material loading port are opened simultaneously to unload the material until the received material is completely unloaded to the spraying robot, and the position returns to the standby position or the next task is executed.
Optionally, the planning and scheduling subsystem 100 is further configured to receive a current spraying progress, a current position, and an operation state sent by the spraying robot, and determine whether to generate abnormal information according to the current spraying progress, the current position, and the operation state, where the current spraying progress is acquired by a visual sensing device of the spraying robot, and the current position is acquired by a positioning device of the spraying robot; the planning and scheduling subsystem 100 is further configured to adjust a tempo associated with the paint supply according to the current time node, the paint consumption speed of the painting robot, and the paint supply speed of the painting robot.
Optionally, the visual sensing device may be a camera, or the like, and the current spraying progress may be understood as a spraying construction progress, including a total wall surface area S0, a sprayed area S1, and a spraying amount U1; the positioning device may be a global positioning system positioning device, a satellite positioning device or a base station positioning device; the spraying robot sends the current spraying progress, the current position and the running state to the planning and scheduling subsystem 100, the planning and scheduling subsystem 100 processes the received data and determines whether to generate abnormal information, so that the construction site can be monitored, safety early warning is realized, and the effect of safety operation is ensured.
In this embodiment, the planning and scheduling subsystem 100 may determine the transportation state of the current time node, the coating consumption rate received from the painting robot, and the coating supply rate received from the transfer robot in real time, and adjust the beats according to the relationship between the coating consumption rate and the coating supply rate, and the transportation state of the current time node of the transfer robot. Specifically, if the coating material consumption speed is greater than the coating material supply speed, the coating material supply tact needs to be accelerated; if the paint consumption rate is less than the paint supply rate, it is necessary to slow down the paint supply tact. By adjusting the related beats of paint supply, the balance between the paint supply speed and the paint consumption speed can be ensured, and the abnormity in the paint supply process is avoided.
As shown in fig. 2, the system may further include: a lift and cloud platform; the elevator comprises a tension sensor and a height sensor. The dispatching subsystem is further used for generating an elevator dispatching instruction, sending the elevator dispatching instruction to a lifting elevator through a cloud platform, enabling the lifting elevator to detect load data of the carrying robot through a tension sensor, enabling the lifting elevator to detect height data through a height sensor, and enabling the lifting elevator to send the load data and the height data to the cloud platform; if the cloud platform determines that the load data exceeds a load threshold value, receiving an overload alarm signal generated by the cloud platform, and/or if the cloud platform determines that the floor where the elevator arrives reaches the coating warehouse or the floor where the spraying robot is located according to the height information, receiving an elevator arrival signal generated by the cloud platform; generating a lifting stopping instruction according to the overload alarm signal and/or the elevator arrival signal, and sending the lifting stopping instruction to the elevator through the cloud platform so that the elevator stops lifting according to the lifting stopping instruction.
When the elevator bears the carrying robot, load data are detected through the tension sensor, the load data are uploaded to the cloud platform through the internet module, the cloud platform judges whether the elevator is overloaded, if so, the cloud platform generates an overload alarm signal, and the overload alarm signal is sent to the dispatching subsystem; meanwhile, when the elevator bears the carrying robot, the height sensor detects height data and uploads the height data to the cloud platform through the internet module, the cloud platform determines the current floor where the elevator arrives according to the height data, and if the current floor is the floor where the coating warehouse is located, the cloud platform generates an elevator arrival signal and sends the elevator arrival signal to the dispatching subsystem; and the dispatching subsystem generates a lifting stopping instruction according to the overload alarm signal and/or the elevator arrival signal, sends the lifting stopping instruction to the elevator through the cloud platform, and controls the elevator to stop lifting according to the lifting stopping instruction. Optionally, the cloud platform may further receive operation information (including normal operation, waiting, and downtime) sent by the spraying robot, a paint demand plan and a material sending work order sent by the plan scheduling subsystem, a material receiving work order sent by the warehouse management subsystem, a material receiving instruction sent by the scheduling subsystem, map information, real-time position information of the transfer robot, load data and height data sent by the elevator, and the like. By designing the elevator, when the spraying robot, the carrying robot and the paint warehouse are positioned on different floors, the carrying robot can be carried to the different floors to take materials, so that the paint supply process is perfected; through designing the cloud platform, relevant information in the coating supply engineering can be sent to the cloud platform, and the coating supply can be ensured to be carried out orderly through storing, processing and transmitting the relevant information by the cloud platform. Through the communication mode, the related information in the coating supply process can be transmitted between different robots and different subsystems in order, and the coating supply process is ensured to be carried out in order.
According to the technical scheme, the paint supply system comprises a planning and scheduling subsystem, a warehouse management subsystem and a scheduling subsystem, wherein the planning and scheduling subsystem receives paint demand beats generated by a spraying robot, generates a paint demand plan and a material sending worksheet according to the spraying demand beats, generates a material receiving worksheet according to the material sending worksheet, generates a material receiving instruction and determines map information of an operation site through the scheduling subsystem, and sends the material receiving instruction and the map information to a carrying robot, so that the carrying robot moves to a paint warehouse to execute a material receiving action based on the material receiving instruction and the map information, transports the received materials to the position of the spraying robot according to the map information, and unloads the received materials to the spraying robot. Above-mentioned whole process can the automation realize, has solved the lower problem of human cost work efficiency among the prior art, reaches automatic generation material picking plan, automatic control material picking and automatic control purpose of unloading, further improves coating supply efficiency and reduces the human cost.
Example two
Fig. 3 is a schematic structural view of a transfer robot according to a second embodiment of the present invention, the transfer robot including: controller 101, scanner 201, and a material load cell 301.
The controller 101 is configured to receive a material getting instruction and map information sent by a paint supply system, and control the transfer robot to move to a paint warehouse based on the material getting instruction and the map information;
the code scanner 201 is configured to scan a two-dimensional code of a paint position corresponding to paint storage position information in a paint warehouse, and determine whether the scanned two-dimensional code is correct;
the material picking weighing sensor 301 is used for determining the current material picking amount when the two-dimensional code is correct;
the controller 101 is further configured to generate a control instruction for ending the material picking when the current material picking amount is consistent with the theoretical demand of the material sending work order.
Wherein, the material weighing sensor 301 can be a weight sensor or a volume sensor. Specifically, when the transfer robot moves to a specified position of a paint warehouse, scanning a two-dimensional code of a storage position corresponding to paint storage position information through a set code scanner 201, determining a paint material number according to the scanned two-dimensional code, confirming the obtained paint material number and the paint material number of a material receiving work order of the warehouse management subsystem, and if the obtained paint material number is consistent with the paint material number of the material receiving work order of the warehouse management subsystem, determining that the scanned two-dimensional code is correct, and executing a material receiving action; and in the process of executing the material picking action, determining the current material picking amount through a material picking weighing sensor, and if the current material picking amount is consistent with the theoretical demand of the material issuing work order, finishing the material picking action. Through setting up the two-dimensional code of bar code scanner scanning goods shelves, confirm coating material number to the coating material number of receiving the material work order compares, can avoid coating wrong collar, lead less or lead more, realizes carrying out standardization and accurate control to the material receiving process.
Further, the transfer robot further includes: a position sensor; the position sensor is used for acquiring current position data and sending the current position data to the controller;
and the controller is used for comparing the current position data with the map information, generating route deviation information if the current position data is inconsistent with the specified position in the map information, and generating a position adjusting instruction according to the route deviation information and the map information.
The position sensor can be a global positioning system sensor, a satellite positioning sensor or a base station positioning sensor, and the map information comprises longitude and latitude information, floor information, obstacle positions, material receiving routes, discharging routes and the like of a construction site. Specifically, when the transfer robot moves to a paint warehouse for material receiving, or when the transfer robot moves from the paint warehouse to the position of the spraying robot, the transfer robot collects current position data in real time through a position sensor, and compares the current position data with map information. For example, the current position data is compared with a material receiving route, or the current position data is compared with an unloading route, whether the current position data is consistent with a specified position in map information or not is determined, if the current position data is not consistent with the specified position in the map information, the carrying robot is determined to yaw, a position adjusting instruction is generated, an alarm is given and timely correction is carried out, and therefore the carrying robot is enabled to return to the specified position in the map information. According to the above description, the carrying robot can acquire the current position data of the carrying robot in real time by arranging the position sensor, the influence of yawing on the coating supply progress is avoided, and the coating supply efficiency is further improved.
Further, the transfer robot further includes: a vision sensor and a distance sensor; the vision sensor is used for acquiring an image of the surrounding environment; the distance sensor is used for acquiring the distance between the carrying robot and the obstacle in the surrounding environment image; and the controller is used for generating a walking route changing instruction according to the map information when the distance between the transfer robot and the obstacle is smaller than a set distance threshold value.
The vision sensor may be a camera, or the like, and the distance sensor may be a laser ranging sensor. Specifically, when the transfer robot moves to a paint warehouse for material taking or moves from the paint warehouse to a position where the spray robot is located, the visual sensor is used for collecting images of the surrounding environment, whether obstacles exist around the spray robot is determined according to the images of the surrounding environment, the sensor is used for collecting the distance between the robot and the obstacles, the controller is used for determining that the transfer robot has a collision risk when the distance between the transfer robot and the obstacles is smaller than a set distance threshold value, a route changing instruction is generated according to map information, and the transfer robot is controlled to change a walking route so as to prevent the transfer robot from colliding.
According to the description, the carrying robot can acquire surrounding images and the distance from the obstacle in real time by arranging the vision sensor and the distance sensor, determine whether collision risks exist, timely change the walking route if the collision risks exist, and avoid the collision of the carrying robot and influence on the coating supply progress. The transfer robot in this embodiment can also carry out instant location and map construction, accurate perception and adaptation construction site environment, with the help of efficient environmental recognition, intelligent analysis technique, construct indoor outer panorama map, and pass back data in real time, the map information that the dispatch subsystem was issued is updated, and send the map information of update to cloud platform and dispatch subsystem in real time, so that the more accurate state of mastering the construction site of dispatch subsystem, plan more getting material route and route of unloading, improve and get material and the conveying efficiency of unloading, further improve coating supply efficiency.
Further, the controller is further used for calculating relevant beats of paint supply according to the self moving speed, the waiting time, the horizontal moving distance, the vertical moving distance, the paint amount and the paint unloading speed, and sending the relevant beats of paint supply to the planning scheduling subsystem so that the planning scheduling subsystem adjusts the relevant beats of paint supply according to the current time node, the paint consumption speed of the spraying robot and the paint supply speed of the spraying robot, wherein the relevant beats of paint supply comprise a beat of paint warehouse-out, a beat of ground horizontal transportation, a beat of vertical transportation, a beat of construction floor horizontal transportation and a beat of unloading.
The paint delivery beat t2 is L0/v11+ H0/v21+ t2 ', wherein t 2' is the waiting time of the transfer robot in an idle state scheduled by the scheduling subsystem, L0 is the horizontal distance from the transfer robot to the paint warehouse, v11 is the horizontal moving speed of the transfer robot, H0 is the vertical distance from the transfer robot to the paint warehouse, and v21 is a lifting elevator; the ground horizontal transportation beat t3 is L1/v12+ t3 ', wherein t 3' is the waiting time of the transfer robot due to avoidance of other robots, abnormality, waiting for the elevator, and the like, L1 is the distance from the paint warehouse to the elevator, and v12 is the horizontal moving speed of the transfer robot; the vertical transportation beat t4 is H1/v22+ t4 ', wherein t 4' is the waiting time of the elevator due to the abnormal reasons, H1 is the height of the transfer robot from the floor where the spraying robot is located, and v22 is the vertical lifting speed of the elevator; the construction floor horizontal transportation beat t5 is L3/v13+ t5 ', wherein t 5' is waiting time of the transfer robot due to avoidance of other robots, abnormity, waiting of elevators and the like, L3 is a horizontal distance of the transfer robot moving to a position of the transfer robot at an elevator port of a floor where the transfer robot is located, and v13 is a horizontal moving speed of the transfer robot; the discharge beat t6 is M/UL + t6 ', where t 6' is the time for the transfer robot and the painting robot to prepare for posture adjustment, M is the amount of paint held by the transfer robot, and UL is the discharge speed of the transfer robot.
Specifically, when adjusting the related tempo of paint supply, the planning and scheduling subsystem firstly determines the transportation state of the current time node of the transfer robot, wherein the transportation state includes five states, namely a paint delivery state, a ground horizontal transportation state, a vertical transportation state of a lift elevator, a construction floor horizontal transportation state and a discharge state, and the tempo corresponding to each state is as follows: the method comprises the following steps of (1) paint delivery beat t2, ground horizontal transportation beat t3, vertical transportation beat t4, construction floor horizontal transportation beat t5 and unloading beat t 6; determining a size relationship between a paint consumption speed and a paint supply speed while determining a transport state of the transfer robot at the current time; and correspondingly adjusting the beat according to the size relationship between the paint consumption speed and the paint supply speed and the transportation state of the current time node of the transfer robot.
Specifically, if the coating material consumption speed is greater than the coating material supply speed, the coating material supply tact needs to be accelerated; if the paint consumption rate is less than the paint supply rate, it is necessary to slow down the paint supply tact. For example, the adjustment manner of the paint supply tact may include the following manners:
(1) if the coating material consumption speed is greater than the coating material supply speed, the coating material supply tact is accelerated. The method specifically comprises the following steps: for the delivery beat, the delivery is regulated in modes of preferentially scheduling the delivery robot for delivery, preferentially scheduling the delivery robot with the closest distance, accelerating the moving speed of the delivery robot, preferentially selecting the shortest path, avoiding other interfered robots and the like; for the horizontal transportation beat on the ground, the horizontal transportation speed of the transfer robot is accelerated, the shortest path is preferentially selected, and other interfered robots avoid and promote the priority of entering the elevator; for the vertical transportation beat, the adjustment is carried out by accelerating the lifting speed of the elevator, preferentially stopping the required floor and avoiding other interfered robots and the like; for the horizontal transportation beat of the construction floor, the horizontal transportation beat is adjusted by accelerating the moving speed of the transfer robot, preferentially selecting the shortest path and other interfered robots to avoid and the like; for the discharging beat, the stable transmission of the coating and other modes are adjusted by properly slowing down the discharging speed.
(2) If the paint consumption rate is less than the paint supply rate, the paint supply tact is slowed. The method specifically comprises the following steps: for the delivery beat, the delivery beat is regulated by modes of suspending dispatching the delivery robot, dispatching the delivery robot with a longer distance, slowing down the moving speed of the delivery robot, selecting a path which does not influence other delivery robots and the like; for the ground horizontal transportation beat, the horizontal transportation speed of the transfer robot is reduced, the priority of entering the elevator is reduced, and the paths of other transfer robots are selected to be not influenced; for the vertical transportation beat, the speed of the elevator is normally controlled and other floors with requirements are limited to stop; for the horizontal transportation beat of the construction floor, the horizontal transportation beat is adjusted by slowing down the moving speed of the transfer robot, selecting a path which does not influence other robots and the like; and for the discharging beat, the discharging speed is properly accelerated to ensure that the coating is not splashed out and the like.
It should be noted that when the coating material supply tempo is adjusted according to the magnitude relationship between the coating material consumption rate and the coating material supply rate, the current time node T0 needs to be determined. For example, if the transfer robot is performing paint delivery, that is, T0< T2, at least one of a paint delivery beat T2, a ground horizontal transportation beat T3, a vertical transportation beat T4, a construction floor horizontal transportation beat T5, and a discharge beat T6 may be adjusted, wherein the adjusted paint supply beat T1 is T0+ T2+ T3+ T4+ T5-T6; if the transfer robot is in horizontal ground transportation, i.e., T2< T0< T3, at least one of a ground horizontal transportation beat T3, a vertical transportation beat T4, a construction floor horizontal transportation beat T5, and a discharging beat T6 may be adjusted, wherein the adjusted paint supply beat T1 is T0+ T3+ T4+ T5-T6; if the transfer robot is in vertical transportation, i.e., T3< T0< T4, at least one of a vertical transportation tempo T4, a construction floor horizontal transportation tempo T5, and a discharging tempo T6 may be adjusted, wherein the adjusted paint supply tempo T1 is T0+ T4+ T5-T6; if the transfer robot is transporting on the horizontal ground of the construction floor, i.e. T4< T0< T5, at least one of the construction floor horizontal transportation tempo T5 and the unloading tempo T6 can be adjusted, wherein the adjusted paint supply tempo T1 is T0+ T5-T6; if the transfer robot is discharging, i.e. T5< T0< T6, at least one of the discharge times T6 can be adjusted, wherein the adjusted paint supply time T1 is T0-T6. It should be noted that, when the coating supply tempo is adjusted, one or more tempos can be selected for adjustment according to the adjustable tempo, the influence generated by the adjustment mode selection is the smallest, different adjustment schemes are calculated and compared, and all robots are adjusted by selecting the mode with the smallest comprehensive transportation.
Through above-mentioned beat adjustment mode, can guarantee that coating supply and coating consumption guarantee the balance, reduce the coating supply and appear unusually to the reason that the analysis robot produced the waiting is optimized process and plan adjustment, realizes the fine management, also can utilize robot utilization ratio data analysis robot optimum to put in quantity, avoids putting in too much robot and producing extravagantly, also avoids leading to the extension of time limit for a project because of the robot is not enough, guarantees that the coating supply goes on in order.
EXAMPLE III
Fig. 4 is a schematic flow chart of a paint supply method according to a third embodiment of the present invention, which can be implemented by a planning and scheduling subsystem, a warehouse management subsystem, and a scheduling subsystem of a paint supply system in an automatic paint supply case. Referring specifically to fig. 4, the method may include the steps of:
and S310, receiving a spraying demand beat generated by the spraying robot through the plan scheduling subsystem, and generating a paint demand plan and a material sending work order corresponding to the paint demand plan according to the spraying demand beat and the current paint information.
And S320, acquiring the material sending work order through the warehouse management subsystem, determining the paint storage position information according to the material sending work order, and generating a material receiving work order.
S330, receiving the material receiving work order through the dispatching subsystem, generating a material receiving instruction according to the material receiving work order, determining map information of a working site of the spraying robot, sending the material receiving instruction and the map information to the carrying robot, enabling the carrying robot to move to a paint warehouse to execute a material receiving action based on the material receiving instruction and the map information, and transporting the received material to the spraying robot according to the map information.
Further, the method further comprises: generating an elevator dispatching instruction through the dispatching subsystem, and sending the elevator dispatching instruction to a lifting elevator through a cloud platform, so that the lifting elevator detects load data of the carrying robot through a tension sensor, the lifting elevator detects height data through a height sensor, and the lifting elevator sends the load data and the height data to the cloud platform; determining whether the load data exceed a load threshold value through the cloud platform, and determining whether the floor reached by the elevator reaches the coating warehouse or the floor where the spraying robot is located according to the height information through the cloud platform; if the load data exceeds the load threshold value, generating an overload alarm signal through the cloud platform, and/or if the floor where the elevator arrives reaches the coating warehouse or the floor where the spraying robot is located, generating an elevator arrival signal through the cloud platform; and generating a lifting stopping command according to the overload alarm signal and/or the elevator arrival signal through the dispatching subsystem so that the lifting elevator is controlled to stop lifting according to the lifting stopping command. By designing the elevator, when the spraying robot, the carrying robot and the paint warehouse are positioned on different floors, the carrying robot can be carried to the different floors to take materials, so that the paint supply process is perfected; through designing the cloud platform, relevant information in the coating supply engineering can be sent to the cloud platform, and the coating supply can be ensured to be carried out orderly through storing, processing and transmitting the relevant information by the cloud platform.
Optionally, the method further comprises: and acquiring current paint information through the spraying robot, and generating the spraying demand beat according to the current paint information.
Optionally, the method further comprises: receiving a current spraying progress, a current position and an operation state sent by the spraying robot through the planning and scheduling subsystem, and determining whether abnormal information is generated according to the current spraying progress, the current position and the operation state, wherein the current spraying progress is acquired through a visual sensing device of the spraying robot, and the current position is acquired through a positioning device of the spraying robot; and adjusting the related tempo of the paint supply according to the current time node, the paint consumption speed of the spraying robot and the paint supply speed of the spraying robot by the planning and scheduling subsystem.
According to the technical scheme, a spraying demand beat generated by a spraying robot is received through a planning and scheduling subsystem, a material sending work order corresponding to a coating demand plan and the coating demand plan is generated according to the spraying demand beat and current coating information, the material sending work order is obtained through a warehouse management subsystem, coating storage position information is determined according to the material sending work order, a material receiving work order is generated, a material receiving instruction is received through a scheduling subsystem, a material receiving instruction is generated according to the material receiving work order, map information of an operation site of the spraying robot is determined, the material receiving instruction and the map information are sent to a carrying robot, the carrying robot is enabled to move to a coating warehouse to execute a material receiving action based on the material receiving instruction and the map information, and the received material is transported to the spraying robot according to the map information. Above-mentioned whole process can the automatic realization, has solved the lower problem of human cost work efficiency among the prior art, reaches automatic control material picking, automatic transportation and automatic discharge's purpose, further improves coating supply efficiency and reduces the human cost.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A paint supply system, comprising:
the plan scheduling subsystem receives a spraying demand beat generated by a spraying robot, and generates a paint demand plan and a material sending work order corresponding to the paint demand plan according to the spraying demand beat and current paint information;
the warehouse management subsystem acquires the material sending work order, determines the paint storage position information according to the material sending work order and generates a material receiving work order;
and the scheduling subsystem is used for receiving the material receiving work order, generating a material receiving instruction according to the material receiving work order, determining map information of an operation site of the spraying robot, sending the material receiving instruction and the map information to the carrying robot so that the carrying robot moves to a paint warehouse to execute a material receiving action based on the material receiving instruction and the map information, transporting the received material to the position of the spraying robot according to the map information, and unloading the received material to the spraying robot.
2. The system of claim 1, wherein the coating demand tempo is obtained by the coating robot current coating information and generated by the coating robot from the current coating information.
3. The system of claim 1, wherein the planning and scheduling subsystem is further configured to receive a current spraying progress, a current position, and an operation status sent by the spraying robot, and determine whether to generate abnormal information according to the current spraying progress, the current position, and the operation status, wherein the current spraying progress is acquired by a visual sensing device of the spraying robot, and the current position is acquired by a positioning device of the spraying robot;
the planning and scheduling subsystem is further used for adjusting the related beats of the paint supply according to the current time node, the paint consumption speed of the spraying robot and the paint supply speed of the spraying robot.
4. The system of claim 1, wherein the dispatch subsystem is further configured to generate an elevator dispatch command, send the elevator dispatch command to a hoist elevator through a cloud platform, to cause the hoist elevator to detect load data of the transfer robot via a tension sensor, to cause the hoist elevator to detect height data via a height sensor, and to cause the hoist elevator to send the load data and the height data to the cloud platform;
if the cloud platform determines that the load data exceeds a load threshold value, receiving an overload alarm signal generated by the cloud platform, and/or if the cloud platform determines that the floor where the elevator arrives reaches the coating warehouse or the floor where the spraying robot is located according to the height information, receiving an elevator arrival signal generated by the cloud platform;
generating a lifting stopping instruction according to the overload alarm signal and/or the elevator arrival signal, and sending the lifting stopping instruction to the elevator through the cloud platform so that the elevator stops lifting according to the lifting stopping instruction.
5. A transfer robot, characterized by comprising: the controller, the code scanner and the material receiving weighing sensor;
the controller is used for receiving a material receiving instruction and map information sent by a coating supply system and controlling the carrying robot to move to a coating warehouse based on the material receiving instruction and the map information;
the code scanner is used for scanning the two-dimensional code of the paint position corresponding to the paint storage position information in the paint warehouse and determining whether the scanned two-dimensional code is correct or not;
the material picking weighing sensor is used for determining the current material picking amount when the two-dimensional code is correct;
and the controller is also used for generating a control instruction for finishing material receiving when the current material receiving amount is consistent with the theoretical demand of the material sending work order.
6. The transfer robot of claim 5, further comprising: a position sensor;
the position sensor is used for acquiring current position data and sending the current position data to the controller;
and the controller is used for comparing the current position data with the map information, generating route deviation information if the current position data is inconsistent with the specified position in the map information, and generating a position adjusting instruction according to the route deviation information and the map information.
7. The transfer robot of claim 5, further comprising: a vision sensor and a distance sensor;
the vision sensor is used for acquiring an image of the surrounding environment;
the distance sensor is used for acquiring the distance between the carrying robot and the obstacle in the surrounding environment image;
and the controller is used for generating a walking route changing instruction according to the map information when the distance between the transfer robot and the obstacle is smaller than a set distance threshold value.
8. The transfer robot according to claim 5, wherein the controller is further configured to calculate a coating material supply-related tact based on the own moving speed, the waiting time, the horizontal moving distance, the vertical moving distance, the amount of coating material, and the coating material unloading speed;
sending the related beats of the paint supply to a planning and scheduling subsystem so that the planning and scheduling subsystem adjusts the related beats of the paint supply according to the current time node, the paint consumption speed of the spraying robot and the paint supply speed of the spraying robot;
wherein the related beats of paint supply comprise a beat of paint delivery, a beat of ground horizontal transportation, a beat of vertical transportation, a beat of construction floor horizontal transportation and a beat of unloading.
9. A paint supply method, comprising:
receiving a spraying demand beat generated by a spraying robot through a plan scheduling subsystem, and generating a paint demand plan and a material sending work order corresponding to the paint demand plan according to the spraying demand beat and current paint information;
acquiring the material sending work order through a warehouse management subsystem, determining paint storage position information according to the material sending work order, and generating a material receiving work order;
receiving the material receiving work order through a dispatching subsystem, generating a material receiving instruction according to the material receiving work order, determining map information of an operation site of the spraying robot, sending the material receiving instruction and the map information to a carrying robot, enabling the carrying robot to move to a paint warehouse to execute a material receiving action based on the material receiving instruction and the map information, and transporting the received material to the spraying robot according to the map information.
10. The method of claim 9, further comprising:
generating an elevator dispatching instruction through the dispatching subsystem, and sending the elevator dispatching instruction to a lifting elevator through a cloud platform, so that the lifting elevator detects load data of the carrying robot through a tension sensor, the lifting elevator detects height data through a height sensor, and the lifting elevator sends the load data and the height data to the cloud platform;
determining whether the load data exceed a load threshold value through the cloud platform, and determining whether the floor reached by the elevator reaches the coating warehouse or the floor where the spraying robot is located according to the height information through the cloud platform;
if the load data exceeds the load threshold value, generating an overload alarm signal through the cloud platform, and/or if the floor where the elevator arrives reaches the coating warehouse or the floor where the spraying robot is located, generating an elevator arrival signal through the cloud platform;
and generating a lifting stopping command according to the overload alarm signal and/or the elevator arrival signal through the dispatching subsystem so that the lifting elevator is controlled to stop lifting according to the lifting stopping command.
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