CN108908361B - Warehouse patrol robot system and patrol method thereof - Google Patents
Warehouse patrol robot system and patrol method thereof Download PDFInfo
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- CN108908361B CN108908361B CN201810798339.9A CN201810798339A CN108908361B CN 108908361 B CN108908361 B CN 108908361B CN 201810798339 A CN201810798339 A CN 201810798339A CN 108908361 B CN108908361 B CN 108908361B
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- 238000007689 inspection Methods 0.000 claims description 15
- 241000531116 Blitum bonus-henricus Species 0.000 abstract description 3
- 235000008645 Chenopodium bonus henricus Nutrition 0.000 abstract description 3
- 238000007726 management method Methods 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
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- 230000000694 effects Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000003331 infrared imaging Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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Abstract
The invention discloses a warehouse patrol robot system, which relates to the field of warehouse management and comprises an infrared obstacle avoidance module, a shooting module, a charging module, a camera shooting platform, a server, a transmission module and a processor, wherein the infrared obstacle avoidance module is used for automatically detecting a road to realize automatic steering and avoiding during line patrol; the shooting module: the system is used for shooting videos or photos of goods; the camera shooting pan-tilt: driving the shooting module to rotate and lift; the server: the background controls the operation of the robot and sends a corresponding instruction to the robot; the transmission module is characterized in that: the forward, backward and steering of the robot are realized; the processor: the method includes the steps that the robot is controlled to operate according to instructions of a server, uploaded information is stored, the walking route of the robot and the position of a goods shelf are recorded, path planning and map drawing are achieved, and the method can be used for patrolling a warehouse through the robot and patrolling all goods.
Description
Technical Field
The invention relates to the field of warehouse management, in particular to a warehouse patrol robot system and a patrol method thereof.
Background art:
in the commodity circulation warehouse, when the state of goods in the storage is looked over to needs, mainly lay a plurality of static cameras in the warehouse among the prior art and realize (be latticed and arrange), this scheme is on the one hand because of arranging camera a large number, therefore the cost is higher, and this scheme still has certain observation dead angle in addition, consequently in order to solve this drawback, adopts the robot to patrol the line to the warehouse.
For application number CN201510374850.2 discloses an inspection robot goes up and down traditional thread binding putting and be equipped with its inspection robot system of going up and down a line, include: the hanging basket is used for supporting the line inspection robot and is provided with a hanging basket guide rail; the lifting device is connected with the hanging basket; the guide device comprises a guide rail, and the guide rail is provided with a butt joint matched with the hanging basket guide rail. Above-mentioned line inspection robot goes up and down traditional thread binding putting, elevating gear drive hanging flower basket way shaft tower along the line rises to guide rail position, and the hanging flower basket guide rail docks with guide rail, and line inspection robot can remove to guide rail from the hanging flower basket guide rail, and then removes to overhead transmission line ground wire through guide rail, accomplishes automatic line feeding. Or the line patrol robot moves from the ground wire of the overhead transmission line to the hanging basket guide rail through the guide rail, and automatic line unloading is completed. Therefore, an operator does not need to climb a line tower to hang the line inspection robot on the ground wire of the overhead transmission line or take the line inspection robot off the ground wire of the overhead transmission line, so that the installation efficiency is improved, but the robot does not disclose a method for effectively inspecting articles in a warehouse.
For example, application number CN200910273513.9 discloses a navigation method, and in particular relates to a GIS-GPS navigation method for a line patrol robot. In order to realize autonomous navigation on a global line, the invention introduces an advanced GPS-GIS technology. A high-voltage transmission line information system is established based on a GIS technology, a GPS positioning system is used for monitoring the specific position of a robot in real time and the distance between the robot and barriers relative to front and rear towers, the line patrol plan of the robot is determined, and meanwhile, visible light camera shooting and an infrared imaging system are guided to patrol according to the autonomous patrol global structure environment information of the towers and lines stored in the GIS line information system, but the robot navigation method does not disclose a method for effectively patrolling the objects in a warehouse.
Disclosure of Invention
The invention aims to provide a warehouse patrol robot system and a patrol method thereof, so as to solve the defects caused in the prior art.
A warehouse patrol robot system comprises an infrared obstacle avoidance module, a shooting module, a charging module, a camera holder, a server, a transmission module and a processor, wherein the infrared obstacle avoidance module is used for automatically detecting a road during line patrol to realize automatic steering and avoidance; the shooting module: the system is used for shooting videos or photos of goods; the camera shooting pan-tilt: driving the shooting module to rotate and lift; the server: the background controls the operation of the robot and sends a corresponding instruction to the robot; the transmission module is characterized in that: the forward, backward and steering of the robot are realized; the processor: the method comprises the following steps of controlling the operation of the robot according to the instruction of a server, storing uploaded information, recording the walking route of the robot and the position of a shelf, and realizing path planning and map drawing, wherein the line patrol method of the patrol robot comprises the following steps:
s1: automatically patrolling the line to advance through an infrared device, drawing a line map in the system, and patrolling the line forward according to the principle of external inspection and internal inspection;
s2: when a branch is detected in the line patrol process, the branch is marked as W1, then the advancing is continued, if the branch is detected again on the advancing road, the branch is marked as W2, and so on;
s3, marking the line as A and returning to the starting point after the external line patrols, continuously patrolling forward along the first line and patrolling the turnout in turn according to the sequence of the turnout mark until meeting the line A and returning to the original line when no other turnout exists, marking the turnout as a1, continuously marking if a new turnout is met in the turnout patrolling process, and zeroing other turnout marks if the turnout is superposed with other turnout marks;
s4, after the original path returns to the original point of the branch path, continuing the next route patrol with the mark W2 along the path A, and repeating the step S3;
s5: marking the floor occupation information and the shape of the shelf in real time in the line patrol process, and numbering the detected shelf sequentially B1 and B2;
s6, converting the scale of the map and the actual line and the size of the corner according to the motion parameters of the transmission module, storing the line and uploading the stored line to a server for storage;
s7: when line patrol is needed, an optimal line patrol route is planned according to an instruction of the server for line patrol and shooting, and a shooting result is stored and uploaded.
Preferably, the infrared obstacle avoidance module can detect the periphery of the robot, so that the specific position of the robot and the actual specification of a warehouse are accurately judged, and the line planning of the robot is facilitated.
Preferably, the charging module is arranged at a wall corner, the charging position can be marked on a map, the electric power of the robot is ensured to be sufficient, and the charging mode of the charging module can be contact charging or wireless charging.
Preferably, the camera shooting cloud platform includes the lifter and rotates the platform, rotates the platform and can drive the rotation that shoots the module and go on controlling 360 degrees, and the lifter can drive and shoot the module and shoot from ground to the goods shelves highest point.
Preferably, the transmission module internally comprises a gear set and a running wheel with a specific proportion, the processor converts the proportion of the actual route and the map according to the rotation turns of the gear set or the running wheel, and the rotation angle is calculated according to the rotation angle of the running wheel.
Preferably, in the step S2, when the branch is marked, a left arrow is marked if the branch is left, a right arrow is marked if the branch is right, and a cross arrow is marked if the branch is cross.
The invention has the advantages that: according to the patrol robot system capable of automatically planning the line and the line patrol method thereof, the robot patrols the warehouse and patrols the goods shelves, the problem that a traditional camera cannot patrol all goods due to the existence of dead angles can be avoided, the goods on each goods shelf are checked, and the line can be automatically arranged without manual too much interference.
Drawings
FIG. 1 is a schematic flow chart of the present invention.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
Example 1
As shown in fig. 1, a warehouse patrol robot system comprises an infrared obstacle avoidance module, a shooting module, a charging module, a camera head, a server, a transmission module and a processor, wherein the infrared obstacle avoidance module is used for automatically detecting a road during line patrol to realize automatic steering and avoidance; the shooting module: the system is used for shooting videos or photos of goods; the camera shooting pan-tilt: driving the shooting module to rotate and lift; the server: the background controls the operation of the robot and sends a corresponding instruction to the robot; the transmission module is characterized in that: the forward, backward and steering of the robot are realized; the processor: the method comprises the following steps of controlling the operation of the robot according to the instruction of a server, storing uploaded information, recording the walking route of the robot and the position of a shelf, and realizing path planning and map drawing, wherein the line patrol method of the patrol robot comprises the following steps:
s1: automatically patrolling the line to advance through an infrared device, drawing a line map in the system, and patrolling the line forward according to the principle of external inspection and internal inspection;
s2: when a branch is detected in the line patrol process, the branch is marked as W1, then the advancing is continued, if the branch is detected again on the advancing road, the branch is marked as W2, and so on;
s3, marking the line as A and returning to the starting point after the external line patrols, continuously patrolling forward along the first line and patrolling the turnout in turn according to the sequence of the turnout mark until meeting the line A and returning to the original line when no other turnout exists, marking the turnout as a1, continuously marking if a new turnout is met in the turnout patrolling process, and zeroing other turnout marks if the turnout is superposed with other turnout marks;
s4, after the original route returns to the original point of the branch route, continuing the next route round of the branch route mark W2 along the route A, and repeating the step S3;
s5: marking the floor occupation information and the shape of the shelf in real time in the line patrol process, and numbering the detected shelf sequentially B1 and B2;
s6, converting the scale of the map and the actual line and the size of the corner according to the motion parameters of the transmission module, storing the line and uploading the stored line to a server for storage;
s7: when line patrol is needed, an optimal line patrol route is planned according to an instruction of the server for line patrol and shooting, and a shooting result is stored and uploaded.
It is worth noting that the charging module is arranged at a wall corner, a charging position can be marked on a map, the electric power of the robot is ensured to be sufficient, and the charging mode of the charging module can be contact charging or wireless charging.
In this embodiment, the transmission module includes a gear set and a running wheel in a specific ratio, the processor converts the ratio of the actual route to the map according to the number of turns of the gear set or the running wheel, and calculates the magnitude of the turning angle according to the turning angle of the running wheel.
In the case of the branch marking in step S2, a left arrow is marked if the branch is left, a right arrow is marked if the branch is right, and a cross arrow is marked if the branch is cross.
Example 2
As shown in fig. 1, a warehouse patrol robot system comprises an infrared obstacle avoidance module, a shooting module, a charging module, a camera head, a server, a transmission module and a processor, wherein the infrared obstacle avoidance module is used for automatically detecting a road during line patrol to realize automatic steering and avoidance; the shooting module: the system is used for shooting videos or photos of goods; the camera shooting pan-tilt: driving the shooting module to rotate and lift; the server: the background controls the operation of the robot and sends a corresponding instruction to the robot; the transmission module is characterized in that: the forward, backward and steering of the robot are realized; the processor: the method comprises the following steps of controlling the operation of the robot according to the instruction of a server, storing uploaded information, recording the walking route of the robot and the position of a shelf, and realizing path planning and map drawing, wherein the line patrol method of the patrol robot comprises the following steps:
s1: automatically patrolling the line to advance through an infrared device, drawing a line map in the system, and patrolling the line forward according to the principle of external inspection and internal inspection;
s2: when a branch is detected in the line patrol process, the branch is marked as W1, then the advancing is continued, if the branch is detected again on the advancing road, the branch is marked as W2, and so on;
s3, marking the line as A and returning to the starting point after the external line patrols, continuously patrolling forward along the first line and patrolling the turnout in turn according to the sequence of the turnout mark until meeting the line A and returning to the original line when no other turnout exists, marking the turnout as a1, continuously marking if a new turnout is met in the turnout patrolling process, and zeroing other turnout marks if the turnout is superposed with other turnout marks;
s4, after the original route returns to the original point of the branch route, continuing the next route round of the branch route mark W2 along the route A, and repeating the step S3;
s5: marking the floor occupation information and the shape of the shelf in real time in the line patrol process, and numbering the detected shelf sequentially B1 and B2;
s6, converting the scale of the map and the actual line and the size of the corner according to the motion parameters of the transmission module, storing the line and uploading the stored line to a server for storage;
s7: when line patrol is needed, an optimal line patrol route is planned according to an instruction of the server for line patrol and shooting, and a shooting result is stored and uploaded.
It is worth noting that the infrared obstacle avoidance module can detect the periphery of the robot, so that the specific position of the robot and the actual specification of a warehouse can be accurately judged, and the line planning of the robot is facilitated.
In this embodiment, the charging module is arranged at a wall corner, so that the charging position can be marked on a map, the electric power of the robot is ensured to be sufficient, and the charging mode of the charging module can be contact charging or wireless charging.
In this embodiment, the cloud platform of making a video recording includes the lifter and rotates the platform, rotates the platform and can drive and shoot the module and go on controlling 360 degrees rotations, and the lifter can drive and shoot the module and shoot from ground to the goods shelves highest point.
In this embodiment, the transmission module includes a gear set and a running wheel in a specific ratio, the processor converts the ratio of the actual route to the map according to the number of turns of the gear set or the running wheel, and calculates the magnitude of the turning angle according to the turning angle of the running wheel.
In the case of the branch marking in step S2, a left arrow is marked if the branch is left, a right arrow is marked if the branch is right, and a cross arrow is marked if the branch is cross.
Based on the above, the patrol robot system capable of automatically planning the line and the line patrol method thereof can patrol the warehouse and patrol the goods shelves through the robot, can avoid the problem that the traditional camera cannot patrol all goods due to the existence of dead angles, ensure that the goods on each goods shelf are checked, and can automatically arrange the line without too much manual interference.
It will be appreciated by those skilled in the art that the invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The embodiments disclosed above are therefore to be considered in all respects as illustrative and not restrictive. All changes which come within the scope of or equivalence to the invention are intended to be embraced therein.
Claims (6)
1. The warehouse patrol robot system is characterized by comprising an infrared obstacle avoidance module, a shooting module, a charging module, a camera head, a server, a transmission module and a processor, wherein the infrared obstacle avoidance module is used for automatically detecting a road during line patrol to realize automatic steering and avoidance; the shooting module: the system is used for shooting videos or photos of goods; the camera shooting pan-tilt: driving the shooting module to rotate and lift; the server: the background controls the operation of the robot and sends a corresponding instruction to the robot; the transmission module is characterized in that: the forward, backward and steering of the robot are realized; the processor: the method comprises the following steps of controlling the operation of the robot according to the instruction of a server, storing uploaded information, recording the walking route of the robot and the position of a shelf, and realizing path planning and map drawing, wherein the line patrol method of the patrol robot comprises the following steps:
s1: automatically patrolling the line to advance through an infrared device, drawing a line map in the system, and patrolling the line forward according to the principle of external inspection and internal inspection;
s2: when a branch is detected in the line patrol process, the branch is marked as W1, then the advancing is continued, if the branch is detected again on the advancing road, the branch is marked as W2, and so on;
s3, marking the line as A and returning to the starting point after the external line patrols, continuously patrolling forward along the first line and patrolling the turnout in turn according to the sequence of the turnout mark until meeting the line A and returning to the original line when no other turnout exists, marking the turnout as a1, continuously marking if a new turnout is met in the turnout patrolling process, and zeroing other turnout marks if the turnout is superposed with other turnout marks;
s4, after the original path returns to the original point of the branch path, continuing the next route patrol with the mark W2 along the path A, and repeating the step S3;
s5: marking the floor occupation information and the shape of the shelf in real time in the line patrol process, and numbering the detected shelf sequentially B1 and B2;
s6, converting the scale of the map and the actual line and the size of the corner according to the motion parameters of the transmission module, storing the line and uploading the stored line to a server for storage;
s7: when line patrol is needed, an optimal line patrol route is planned according to an instruction of the server for line patrol and shooting, and a shooting result is stored and uploaded.
2. The warehouse patrol robot system according to claim 1, wherein: the infrared obstacle avoidance module can detect the periphery of the robot, so that the specific position of the robot and the actual specification of a warehouse are accurately judged, and the line planning of the robot is facilitated.
3. The warehouse patrol robot system according to claim 1, wherein: the charging module is arranged at a wall corner, the charging position can be marked on a map, the electric power of the robot is ensured to be sufficient, and the charging mode of the charging module can be contact charging or wireless charging.
4. The warehouse patrol robot system according to claim 1, wherein: the cloud platform of making a video recording includes lifter and swivel stand, and the swivel stand can drive the rotation that shoots the module and go on controlling 360 degrees, and the lifter can drive and shoot the module and shoot from ground to the goods shelves highest point.
5. The warehouse patrol robot system according to claim 1, wherein: the processor converts the proportion of an actual route and a map according to the rotating number of turns of the gear set or the running wheel, and calculates the size of a corner according to the rotating angle of the running wheel.
6. The warehouse patrol robot system according to claim 1, wherein: in the case of the branch marking in step S2, a left arrow is marked if the branch is left, a right arrow is marked if the branch is right, and a cross arrow is marked if the branch is cross.
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| CN201810798339.9A CN108908361B (en) | 2018-07-19 | 2018-07-19 | Warehouse patrol robot system and patrol method thereof |
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| CN109579848B (en) * | 2018-12-27 | 2020-03-10 | 武汉大学 | Intermediate planning method for robot under global path |
| CN110757476A (en) * | 2019-10-22 | 2020-02-07 | 北京深醒科技有限公司 | Workshop safety protection patrol robot system and patrol method thereof |
| CN110716549A (en) * | 2019-11-04 | 2020-01-21 | 中国船舶重工集团公司第七一六研究所 | Autonomous navigation robot system for map-free area patrol and navigation method thereof |
| CN111660278A (en) * | 2020-07-06 | 2020-09-15 | 苏淼 | Self-tidying robot |
| CN113325850A (en) * | 2021-06-01 | 2021-08-31 | 武汉商学院 | Autonomous cruise system and method for cloud tour guide robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPS58144710A (en) * | 1982-02-23 | 1983-08-29 | Honda Motor Co Ltd | Running path guiding device for vehicle |
| JPS60189512A (en) * | 1984-03-09 | 1985-09-27 | Jgc Corp | Unmanned carrier control system |
| JPH0658230B2 (en) * | 1985-10-07 | 1994-08-03 | 日産自動車株式会社 | Vehicle route guidance device |
| CN102799178B (en) * | 2012-07-03 | 2015-11-04 | 航天科工深圳（集团）有限公司 | A kind of pipeline crusing robot independently patrols routing method and has the robot of the method |
| CN107009366A (en) * | 2016-11-28 | 2017-08-04 | 国网山东省电力公司日照供电公司 | A kind of firefighting of warehouse safety automation inspecting robot |
| CN108284427B (en) * | 2017-11-24 | 2020-08-25 | 浙江国自机器人技术有限公司 | Security robot and automatic inspection method thereof |
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Denomination of invention: A Warehouse Patrol Robot System and Its Inspection Method Granted publication date: 20200922 Pledgee: Wuhu Renmin Road sub branch of Huishang Bank Co.,Ltd. Pledgor: ANHUI GONGSHENG LOGISTICS TECHNOLOGY CO.,LTD. Registration number: Y2024980011979 |
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