CN110465928A - A kind of paths planning method of storage commodity pick-and-place mobile platform and the mobile platform - Google Patents
A kind of paths planning method of storage commodity pick-and-place mobile platform and the mobile platform Download PDFInfo
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- CN110465928A CN110465928A CN201910781253.XA CN201910781253A CN110465928A CN 110465928 A CN110465928 A CN 110465928A CN 201910781253 A CN201910781253 A CN 201910781253A CN 110465928 A CN110465928 A CN 110465928A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
- B60P1/04—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading with a tipping movement of load-transporting element
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of storage commodity to pick and place mobile platform and the paths planning method of the mobile platform, including mobile platform ontology, obstacle avoidance apparatus, mechanical arm device, commodity apparatus for placing, article identification device and commodity grabbing device；Obstacle avoidance apparatus, mechanical arm device and commodity apparatus for placing are mounted on mobile platform ontology, and commodity grabbing device is mounted on the end of mechanical arm device, and article identification device is mounted on commodity grabbing device；The mechanical arm device includes rotating mechanism and multiple mechanical arms, multiple mechanical arms are mutually rotatablely connected, multiple mechanical arms form a modular mechanical arm, and one end and the rotating mechanism of first mechanical arm are fixed, and end and the commodity grabbing device of the last one mechanical arm are fixed.This method adjusts three weights of evaluation function using improved dynamic window method in real time, improves mobile platform to the adaptability of environment, ensure that mobile platform reaches the success rate of designated position point.
Description
Technical field
The present invention relates to mobile robot field, in particular to a kind of storage commodity pick and place mobile platform and the mobile platform
Paths planning method.
Background technique
With the high speed development of internet, online shopping become people pass through frequently with one of shopping way.Online shopping promotes object
The high speed development for flowing industry has gradually appeared unmanned factory and unmanned sorting, and mobile robot can be storage, transport and dispatching
It is greatly facilitated etc. bringing.
Have much for the mobile robot for picking and placing storage commodity at present, but most of mobile robots are easily achieved
The pick-and-place of larger volume commodity is but not easily accomplished the pick-and-place of small volume commodity.
Application No. is 201520955138.7 Chinese patents to disclose a kind of transfer robot of small article, the carrying
Robot realizes the clamping of two grippers by two articulated jibs using worm gear mechanism and separates, and is cutting with scissors since gripper is arranged
The end for connecing arm keeps the distance between worm gear and two grippers larger, causes the distance between the point of application and stress point larger, drop
The reliability of low crawl object；Additionally due to worm-drive has biggish opposite sliding between the flank of tooth, heat is generated, worm screw is made
Transmission is failed because of gluing；And worm and gear is mounted in mounting base, mounting base coats worm and gear completely, worm and gear by
In that cannot radiate in time and glued, worm geared bearing capacity is influenced, further reduces the reliability of crawl object.
Application No. is 201811183053.6 Chinese patent disclose it is a kind of for picking and placing the mobile machine of shelf cargo
People, the mobile robot realize the crawl of cargo by the grasping plate of cargo grabbing device；Since grasping plate is in class c-type, using encircling
Mode grab cargo, be suitable for grabbing large volume of cargo, and relatively difficult to achieve for the crawl of small volume cargo.
In addition, generalling use A* algorithm at present and method that dynamic window method combines realizes the path rule of mobile robot
It draws, referring to document " the global active path planning that fusion improves A* algorithm and dynamic window method "；But most of dynamic windows
Three weights of method evaluation function are definite value always in the overall process of path planning, cannot be changed because of the variation of environment, from
And causing mobile robot poor to the adaptive ability of environment, obstacle avoidance ability is also poor.
Summary of the invention
In view of the deficiencies of the prior art, the problem of present invention intends to solve is to provide a kind of storage commodity pick-and-place mobile platform
And the paths planning method of the mobile platform.
The present invention solve the problems, such as the mobile platform the technical solution adopted is that:
A kind of storage commodity pick-and-place mobile platform, including mobile platform ontology, obstacle avoidance apparatus, mechanical arm device, commodity
Apparatus for placing, article identification device and commodity grabbing device；Obstacle avoidance apparatus, mechanical arm device and commodity apparatus for placing are mounted on
On mobile platform ontology, commodity grabbing device is mounted on the end of mechanical arm device, and article identification device is mounted on commodity and grabs
It takes on device；
The mechanical arm device includes rotating mechanism and multiple mechanical arms, and multiple mechanical arms are mutually rotatablely connected, multiple
Mechanical arm forms a modular mechanical arm, and one end and the rotating mechanism of first mechanical arm are fixed, the last one mechanical arm
End is fixed with commodity grabbing device；Rotating mechanism is mounted on mobile platform ontology, and modular mechanical arm is mounted on whirler
On structure；
The commodity grabbing device include connection frame, leading screw bearing, lead screw, feed screw nut, two push away refer to bar, two fingers
With the 4th motor；The side of the connection frame and the side of modular mechanical arm end are connected, and lead screw branch is equipped on the other side
Seat；It is rotatably mounted with lead screw in leading screw bearing, feed screw nut is set on lead screw, feed screw nut can slide on lead screw,
One end of lead screw is connected by shaft coupling with the output shaft for the 4th motor for being mounted on the modular mechanical arm end other side；Two
One end of finger is respectively hinged on connection frame, and what the other end was formed dehisces for grabbing commodity；Two push away the one end point for referring to bar
It is not fixed on corresponding finger, the other end is hinged on feed screw nut.
The commodity apparatus for placing includes the 5th motor, electric machine support, rockover plectrum, two rockover brackets and rockover；Two
A rockover bracket and electric machine support are each attached on mobile platform ontology, and one end of rockover is provided with the groove of arc, and rockover is another
The two sides of one end all have connecting column, and two connecting columns cooperate with the notch of corresponding rockover bracket respectively, and rockover can be relative to turning over
Platform holder pivots；5th motor is fixed on electric machine support, and rockover plectrum, rockover plectrum are equipped on the output shaft of the 5th motor
Always it is stuck in the groove of rockover.
The rotating mechanism includes pedestal, mounting base, the first output flange and first motor；Pedestal is mounted on mobile platform
On ontology, first motor is installed on the base, the first output flange is equipped on the output shaft of first motor, mounting base is mounted on
On first output flange.
The mechanical arm includes the second motor, the second output flange and mechanical arm body；The mechanical arm body includes No. 1
Arm board mount, the first arm board, U-shaped 2 trumpeter's arm board mounts and the second arm board；The side of 1 trumpeter's arm board mount with
One end of second output flange and the second arm board is connected；The other side of 1 trumpeter's arm board mount and one end phase of the first arm board
Even, the end of the first arm board and the second arm board is connected with 2 trumpeter's arm board mounts.
The obstacle avoidance apparatus includes radar supports, laser radar scanning rangefinder and multiple ultrasonic sensors；Radar branch
Frame is mounted on the front end of mobile platform bodies top, and laser radar scanning rangefinder is mounted on radar supports；Multiple ultrasonic waves
Sensor is mounted on the surrounding of mobile platform ontology.
The mobile platform further includes control system, and the control system includes motion control board and host computer, motion control
Plate and host computer are installed on mobile platform ontology, and host computer and motion control board communicate to connect, motion control board and motor
Electrical connection, host computer are communicated to connect with laser radar scanning rangefinder and multiple ultrasonic sensors respectively；Motion control board is adopted
With STM32F429 chip；Host computer is using association thinkpadx260.
The commodity grabbing device further includes spring, and the both ends of spring are solid close to one end of connection frame with two fingers respectively
Even.
There are multiple non-slip grooves on the finger.
The present invention solve the problems, such as the method the technical solution adopted is that:
A kind of storage commodity pick and place the paths planning method of mobile platform, method includes the following steps:
1) it constructs global map: before work, it is complete that completion being scanned to working environment by laser radar scanning rangefinder
The building of local figure, and global map is stored in host computer；
Wherein, working environment includes commodity classification location information and obstacle information；
2) global path planning: host computer issues pick-up instruction, and retrieves commodity classification position, using A* algorithm to movement
Platform starting point carries out global path planning to the travel path between commodity classification position；If occurring new obstacle in global map
Object, host computer judge the positional relationship between new barrier and global path；If new barrier is not on global road
Then mobile platform continues on diameter；It is thened follow the steps 3) if new barrier is located in global path, bypasses mobile platform
New barrier simultaneously returns in global path；
3) local path optimizes: to mobile platform current location and bypassing new barrier using improved dynamic window method
It returns to the path between global path and carries out local path optimization, adjust the three of the evaluation function of improved dynamic window method in real time
A weight.
Wherein, it is the step of improved dynamic window method in step 3):
S1, the working environment that the barrier with different number is built by matlab, obtain it is multiple it is of different sizes can
The row velocity space；
S2, multiple path planning is carried out to each working environment with dynamic window method, obtained under each working environment
Best initial weights combination；The set of the best initial weights combination of all working environment is successively obtained by this step, and constructs fuzzy logic
Controller；
S3, by the size in the real-time feasible speed space of mobile platform and mobile platform current location and commodity classification position
The distance between set input of the size as fuzzy logic controller, obtain in real time improved dynamic window method evaluation function α,
Tri- weights of β, γ realize that mobile platform independently finds the function of optimal weights combination and then real-time adjusts path, reach target
Point.
Compared with prior art, the beneficial effects of the present invention are:
1) present invention realizes the crawl of commodity by two fingers of commodity grabbing device, and two fingers are similar to pliers
Binding clip, increases the reliability for picking and placing commodity, this mobile platform is particularly suitable for displaying the maximum volume put and easily on shelf
Draw the sizable commodity of tank.
2) present invention realizes the folding of two fingers by lead screw transmission, and then grabs commodity, due to lead screw and lead screw spiral shell
There are the frictional force of very little between mother, transmission efficiency further improves the reliability of mobile platform crawl commodity up to 97%；
And lead screw transmission is able to achieve microfeed, can lower the amount of feeding of lead screw transmission when commodity comparatively dense, guarantees crawl
Accuracy.
3) present invention makes leaning out and receiving for commodity grabbing device using commodity grabbing device in such a way that mechanical arm combines
Return it is more flexible, be particularly suitable for layer away between lesser shelf；And (the 240*80* small in size of commodity grabbing device
40mm), it can preferably be suitable for that commodity are more, the case where being placed more densely.
4) two mechanical arm bodies use light-weight design, are made of arm board and arm board mount, have on arm board
There are multiple hollow holes, effectively reduce the weight of arm, reduce the load-carrying of mobile platform itself, makes the rotation of mechanical arm device
Turn and the walking of mobile platform is more flexible；Furthermore band etc. can be used on mechanical arm device in the hollow hole on arm board
The cables of the equipment such as motor carry out tying up fixation, avoid the mixed and disorderly of mobile platform cabling.
5) camera is mounted on the end of second mechanical arm ontology, is made by the present invention using the structure strategy of " eye is on hand "
Camera is identified in commodity proximal end, improves the accuracy rate of commodity identification, convenient for crawl.
6) paths planning method of the mobile platform is using improved dynamic window method to three weights of evaluation function
It is adjusted in real time, so that mobile platform is preferably adapted to barrier quantity and change violent working environment, improved mobile flat
Platform ensure that mobile platform reaches the success rate of designated position point to the adaptability of environment.
7) four arm boards of the invention are the arm board of specification of the same race, facilitate the replacement and maintenance of later period arm, drop
Low maintenance cost.
8) mobile platform of the invention can be automatically performed the transfer of picking and cargo, greatly improve the automation journey of sorting
Degree improves working efficiency.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the structural schematic diagram of mobile platform ontology and control system of the present invention；
Fig. 3 is the structural schematic diagram of rotating mechanism of the present invention；
Fig. 4 is the structural schematic diagram of first mechanical arm of the present invention；
Fig. 5 is the structural schematic diagram of second mechanical arm of the present invention；
Fig. 6 is the structural schematic diagram of commodity grabbing device of the present invention；
Fig. 7 is the structural schematic diagram of article identification device of the present invention；
Fig. 8 is the structural schematic diagram of commodity apparatus for placing of the present invention；
Fig. 9 is the cooperation schematic diagram of rockover plectrum of the present invention and rockover；
Figure 10 is the structural schematic diagram of obstacle avoidance apparatus of the present invention；
Figure 11 is the simulation result schematic diagram of present invention experiment 1；
Figure 12 is the simulation result schematic diagram of present invention experiment 2；
Figure 13 is the simulation result schematic diagram of present invention experiment 3；
In figure: 1- mobile platform ontology；2- control system；3- obstacle avoidance apparatus；4- mechanical arm device；5- commodity place dress
It sets；6- article identification device；7- commodity grabbing device；
21- motion control board；22- host computer；31- radar supports；32- laser radar scanning rangefinder；33- ultrasonic wave passes
Sensor；41- rotating mechanism；42- first mechanical arm；43- second mechanical arm；The 5th stepper motor of 51-；52- electric machine support；53-
Rockover plectrum；54- rockover bracket；55- rockover；61- camera；62- camera mounting bracket；71- connection frame；72- leading screw bearing；73-
Lead screw；74- feed screw nut；75- spring；76- pushes away finger bar；77- finger；The 4th stepper motor of 78-；
411- pedestal；412- mounting base；The first output flange of 413-；The first stepper motor of 414-；421- the second stepping electricity
Machine；The second output flange of 422-；423-1 trumpeter's arm board mount；The first arm board of 424-；425-2 trumpeter's arm board mount；426-
Two arm boards；431- third stepper motor；432- third output flange；433-3 trumpeter's arm board mount；434-4 arm board branch
Frame；435- third arm board；The 4th arm board of 436-.
Specific embodiment
Specific embodiments of the present invention are given below.Specific embodiment is only used for that present invention be described in more detail, unlimited
The protection scope of the claim of this application processed.
The present invention provides a kind of storage commodity to pick and place mobile platform (abbreviation mobile platform, referring to Fig. 1-13), the movement
Platform includes mobile platform ontology 1, control system 2, obstacle avoidance apparatus 3, mechanical arm device 4, commodity apparatus for placing 5, commodity knowledge
Other device 6 and commodity grabbing device 7；Control system 2, obstacle avoidance apparatus 3, mechanical arm device 4 and commodity apparatus for placing 5 are mounted on
On mobile platform ontology 1, obstacle avoidance apparatus 3 is located at the front end of mobile platform ontology 1, and commodity apparatus for placing 5 is located at robot arm device 4
The region that can touch of mechanical arm in；Commodity grabbing device 7 is mounted on mechanical arm device 4, and article identification device 6 is mounted on
On commodity grabbing device 7；
The mechanical arm of the mechanical arm device 4 reaches commodity position by rotary motion；Commodity apparatus for placing 5 is used
In the commodity held after sorting and the transfer that commodity will be completed；Article identification device 6 by end article is identified and based on
Calculate the positioning that commodity coordinate value realizes commodity；The crawl of the realization commodity of commodity grabbing device 7；
The mechanical arm device 4 includes rotating mechanism 41, first mechanical arm 42 and second mechanical arm 43；Rotating mechanism 41
It is mounted on mobile platform ontology 1, first mechanical arm 42 is mounted on rotating mechanism 41, and second mechanical arm 43 is mounted on the first machine
On tool arm 42；
The rotating mechanism 41 includes pedestal 411, mounting base 412, the first output flange 413 and the first stepper motor 414；
Pedestal 411 is mounted on mobile platform ontology 1, and the first stepper motor 414 is mounted on pedestal 411, the first stepper motor 414
First output flange 413 is installed, mounting base 412 is mounted on the first output flange 413, the first stepper motor on output shaft
414 drive the rotation of the first output flange 413；The output shaft of first stepper motor 414 is pierced by the upper Plane Installation first of pedestal 411
Output flange 413, the first output flange 413 are not contacted with pedestal 411；
The first mechanical arm 42 includes second stepper motor 421, the second output flange 422 and first mechanical arm ontology；
Second stepper motor 421 is mounted in mounting base 412, and the second output flange is equipped on the output shaft of second stepper motor 421
422, the first stepper motor 414 is vertical with the output shaft of second stepper motor 421, and the second output flange 422 and mounting base 412 are not
Contact；First mechanical arm ontology, the end of first mechanical arm ontology and second mechanical arm 43 are installed on second output flange 422
It is connected, first mechanical arm 42 can do the rotation fortune around 414 output shaft of the first stepper motor under the action of the first stepper motor 414
It is dynamic, the rotary motion around 421 output shaft of second stepper motor can be done again under the action of second stepper motor 421；
The first mechanical arm ontology includes 1 trumpeter's arm board mount 423, the first arm board 424, No. 2 U-shaped arm boards
Bracket 425 and the second arm board 426；The side of 1 trumpeter's arm board mount 423 and the second output flange 422 and the second arm board 426
One end be fixedly linked；The other side of 1 trumpeter's arm board mount 423 and one end of the first arm board 424 are fixedly linked, the first arm
The end of plate 424 and the second arm board 426 is fixedly linked with 2 trumpeter's arm board mounts 425, and two arm boards are located at 2 trumpeter's arms
The two sides of board mount 425；
The second mechanical arm 43 includes third stepper motor 431, third output flange 432 and second mechanical arm ontology；
Third stepper motor 431 is mounted on the inside of 2 trumpeter's arm board mounts 425, and the output end of third stepper motor 431 runs through second-hand
The side of arm board mount 425 and the second arm board 426 are equipped with third output flange on the output end of third stepper motor 431
432；Second mechanical arm ontology is installed, third output flange 432 does not connect with the second arm board 426 on third output flange 432
Touching, the output shaft of third stepper motor 431 are parallel with the output shaft of second stepper motor 421；The end of second mechanical arm ontology
Article identification device 6 and commodity grabbing device 7 are installed, drive 432 turns of third output flange by third stepper motor 431
It is dynamic, and then second mechanical arm ontology is made to do the rotary motion around 431 output shaft of third stepper motor；
The second mechanical arm ontology includes 3 trumpeter's arm board mounts 433,4 U-shaped trumpeter's arm board mounts 434, third hand
Arm plate 435 and the 4th arm board 436；The side of 3 trumpeter's arm board mounts 433 and the second output flange 432 and the 4th arm board 436
One end be connected, one end of the other sides of 3 trumpeter's arm board mounts 433 and third arm board 435 is connected, 435 He of third arm board
The end of 4th arm board 436 is connected with 4 trumpeter's arm board mounts 434, and two arm boards are located at 4 trumpeter's arm board mounts 434
Two sides；
Preferably, first arm board 424, the second arm board 426, third arm board 435 and the 4th arm board 436
Structure is identical, all has multiple hollow holes, reduces the load-carrying of mobile platform itself；
The commodity grabbing device 7 pushes away finger bar including connection frame 71, leading screw bearing 72, lead screw 73, feed screw nut 74, two
76, two fingers 77 and the 4th stepper motor 78；The connection frame 71 is L-shaped, the end of one side and 4 trumpeter's arm board mounts 434
Portion is connected, and leading screw bearing 72 is equipped on the other side；There are two ear is held, the both ends of lead screw 73 are each passed through tool in leading screw bearing 72
Corresponding end ear is mounted in leading screw bearing 72, and lead screw 73 can be rotated relative to leading screw bearing 72；Lead screw is set on lead screw 73
Nut 74, feed screw nut 74 can slide on lead screw 73；One end of lead screw 73 is defeated by shaft coupling and the 4th stepper motor 78
Shaft is connected, and the 4th stepper motor 78 is mounted on the inside of 4 trumpeter's arm board mounts 434；Two fingers 77 lean on the position of close end
It is hinged on connection frame 71 by pin shaft respectively, two fingers 77 are dehisced far from what one end of connection frame 71 was formed for grabbing quotient
Product；Two one end for pushing away finger bar 76 are separately fixed at respective finger 77 close to the position at middle part, and two push away the other end for referring to bar 76
It is hinged on feed screw nut 74；4th stepper motor 78 drives lead screw 73 to rotate, and lead screw 73 drives feed screw nut 74 in lead screw
It is slided on 73, and then drives and push away finger bar back-and-forth motion, drive two fingers 77 to open or firmly grasp and then referring to bar by pushing away；
Each finger 77 is the irregular obform body in class diamond shape, is distinguished using the middle part of 77 two sides of finger as initial position
Extend to two concave ends and terminate at both ends, and then forms four sides of finger 77；There is non-slip groove, increase is grabbed on finger 77
The stability taken；Finger 77 can also coat one layer of non-skid film, prevent commodity from sliding；The quotient of two fingers 77 and crawl when use
Face contact or line contact are formed between product, and it is sizable to be suitable for crawl volume and pop can, bottle shampoo or potato chips etc.
Display the commodity being placed on shelf；Spaced semicircle groove is opened on the opposite clamping face of two fingers, the front end of finger is
Arc surface transition avoids tip from scratching article to be pressed from both sides, and semi-circular recesses, which exist, is easier to make clamping to stablize.
The commodity grabbing device 7 further includes spring 75, and the both ends of spring 75 are respectively with two fingers 77 close to connection frame
71 one end is connected, and spring 75 plays the role of power-assisted to finger 77, spring 75 when dehiscing to be closed between two fingers 77
In compressive state；
The control system 2 includes motion control board 21 and host computer 22, and motion control board 21 and host computer 22 are respectively mounted
On mobile platform ontology 1；Motion control board 21 and 22 communication connection of host computer send out motion control board 21 by host computer 22
Cloth instruction；Motion control board 21 respectively with the first stepper motor 414, second stepper motor 421, third stepper motor the 431, the 4th
51 communication connection of stepper motor 78 and the 5th stepper motor realizes that the rotation of first mechanical arm and second mechanical arm, commodity are grabbed
It takes and commodity is toppled over；Host computer 22 respectively with laser radar scanning rangefinder 32, multiple ultrasonic sensors 33 and camera
61 communication connections realize path planning, urgent avoidance and the commodity identification of mobile platform；Motion control board 21 uses
STM32F429 chip；Host computer 22 is using association thinkpadx260；Path planning algorithm and commodity are loaded in host computer 22
The prior art can be used in recognizer, above-mentioned algorithm.
The article identification device 6 includes camera 61 and camera mounting bracket 62；The lower part of camera mounting bracket 62 and connection frame
71 upper end is connected with the end of 4 trumpeter's arm board mounts 434, and camera 61 is fixed in camera mounting bracket 62；Camera 61 passes through
It acquires the feature of commodity in vision area and characteristic information is sent in host computer 22, the feature that host computer 22 acquires camera 61 is believed
Cease and the merchandising database that pre-establishes in product features match, choose matching degree it is highest as this identification most
Eventually as a result, and by command information translatory movement control panel, the movement of the 4th stepper motor is controlled by motion control board, and then control
Commodity grabbing device 7 acts, and then completes the crawl of commodity；Camera 61 uses RGB-D camera；
The commodity apparatus for placing 5 includes the 5th stepper motor 51,53, two electric machine support 52, rockover plectrum rockover branch
Frame 54 and rockover 55；Two rockover brackets 54 and electric machine support 52 are each attached on mobile platform ontology 1, and one end of rockover 55 is set
Be equipped with the groove 552 of arc, the two sides of 55 other end of rockover all have connecting column 551, two connecting columns 551 respectively with accordingly turn over
The notch 541 of platform bracket 54 cooperates, and rockover 55 can be rotated relative to rockover bracket 54；5th stepper motor 51 is fixed on motor branch
On frame 52, rockover plectrum 53 is installed on the output shaft of the 5th stepper motor 51, rockover plectrum 53 is stuck in the recessed of rockover 55 always
In slot 552, the 5th stepper motor 51 drives rockover plectrum 53 to rotate, and rockover plectrum 53 heads on the rotation of rockover 55, and then realizes and incline
Commodity；
The obstacle avoidance apparatus 3 includes radar supports 31, laser radar scanning rangefinder 32 and multiple ultrasonic sensors 33；
Radar supports 31 are mounted on the front end at 1 top of mobile platform ontology, and laser radar scanning rangefinder 32 is mounted on radar supports 31
On；Laser radar scanning rangefinder 32 is scanned working environment, completes the building of two-dimensional map, marks barrier；It is multiple
Ultrasonic sensor 13 is mounted on the surrounding of mobile platform ontology 1, and ultrasonic sensor 13 can issue high frequency machinery wave, is encountering
Echo can be generated when barrier, for marking emergent barrier, when mobile platform being made to encounter emergent barrier
Emergency stop occurs, carries out urgent avoidance；
The mobile platform ontology 1 belongs to the prior art, including battery, driving wheel, driven wheel, movable motor and bottom
Disk, movable motor are connected with driving wheel, drive driving wheel rotation, and then realize the walking of mobile platform ontology 1；Movable motor with
21 communication connection of motion control board, realizes the rotation of movable motor；Battery is electrically connected with each electrical component, is each electrical component
Power supply；
The model RPLIDAR-A1 of the laser radar scanning rangefinder 32.
The size of the mobile platform is 800*600mm.
The working principle of the invention and workflow are:
After work order issues, mobile platform ontology 1 is advanced to according to scheduled path wait grab the position where commodity
Point；Motion control board 21 controls the first stepper motor 414, second stepper motor 421 and third stepper motor 431 respectively, makes
One mechanical arm 42 and second mechanical arm 43 rotate, and then make commodity grabbing device 7 close to commodity to be grabbed；The publication of host computer 22 refers to
Order makes article identification device 6 identify commodity to be grabbed, and commodity grabbing device 7 is made to grab the commodity identified；It transports at the same time
Dynamic control panel 21 controls first mechanical arm 42 and second mechanical arm 43 rotates, and the commodity of crawl are placed on rockover 55；It is mobile
Platform body 1, which is again started up, moves towards next location point, repeats the process that aforementioned commodity pick and place, completes taking for next commodity
It puts；After completing the pick-and-place of all commodity in instruction, mobile platform advances to the position of transferring box according to set path, movement
Control panel 21 controls the 5th stepper motor 51, rotates rockover 55, commodity are poured onto transferring box.
Invention also provides the paths planning method (abbreviation method) that a kind of storage commodity pick and place mobile platform, the party
The step of method, is:
1) global map is constructed: before work, mobile platform walking, by laser radar scanning rangefinder 32 to working environment
It is scanned the building for completing global map, and global map is stored in host computer；
Wherein, working environment includes commodity classification location information and obstacle information；
2) global path planning: host computer issues pick-up instruction to mobile platform, and retrieves commodity classification position, using A*
Algorithm carries out global path planning to the travel path between commodity classification position to mobile platform starting point；If going out in global map
Now new barrier, host computer judge the positional relationship between new barrier and global path；If new barrier
Then mobile platform does not continue in global path；It is thened follow the steps 3) if new barrier is located in global path, makes to move
Moving platform is around new barrier and returns in global path；
3) local path optimizes: to mobile platform current location and being bypassed newly using improved dynamic window method (DWA)
Barrier returns to the path between global path and carries out local path optimization, is evaluated by adjusting improved dynamic window method in real time
Three weights of function improve mobile platform to the adaptability of working environment, realize mobile platform to three of evaluation function
The autonomous optimizing of weight；
Wherein, the evaluation function of improved dynamic window method are as follows:
G (v, w)=σ (α * heading (v, w)+β * dist (v, w)+γ * velocity (v, w))
Wherein, heading (v, w) is the course angle evaluation function of mobile platform, indicates the end of mobile platform analog track
Angle between the direction and target point at end；Dist (v, w) is mobile platform and new the distance between barrier；velocity
(v, w) is the speed evaluation function of mobile platform；α, β, γ are the weight of three；σ is smooth function；V and w is respectively mobile flat
The linear velocity and angular speed of platform；
Wherein, the step of improved dynamic window method is:
S1, the working environment that the barrier with different number is built by matlab, obtain it is multiple it is of different sizes can
The row velocity space；
S2, multiple path planning is carried out to each working environment with dynamic window method, obtained under each working environment
Best initial weights combination；The set of the best initial weights combination of all working environment is successively obtained by this step, and constructs fuzzy logic
Controller；
S3, by the size in the real-time feasible speed space of mobile platform and mobile platform current location and commodity classification position
Input of the size as fuzzy logic controller the distance between is set, obtains tri- weights of α, β, γ in real time, realizes mobile platform
The autonomous function of finding optimal weights combination and then the path for adjusting mobile platform in real time, reach target point.
In order to verify the validity of the improved dynamic window method of the present invention, established based on matlab 2016 with 16
The grating map scene of round barrier carries out the simulation paths planning of mobile platform, carries out three groups of experiments altogether；In this experiment
The starting point of middle setting mobile robot is (0,0), and target point is (7,6)；Three weights of experiment 1 are always definite value, respectively α
=0.1, β=0.9, γ=0.5, simulation result are as shown in figure 11；Three weights of experiment 2 are always definite value, are α=0.5, β
=0.9, γ=0.5, the value of α is different unlike experiment 1, and simulation result is as shown in figure 12；Experiment 3 is using improved dynamic
State window technique, the initial value that three weights are arranged is α=0.5, β=0.9, γ=0.5, and simulation result is as shown in figure 13；
Above-mentioned simulation result shows experiment 1 and the case where two kinds of goal nonreachables, experiment 1 course angle power occurs in experiment 2
Weight α is 0.1, even if can not nearby inspire movement since the too low enlightenment to mobile platform of weight not enough reaches target point
Platform reaches target point；The course angle weight α of experiment 2 is 0.5, causes mobile platform to reach target point since weight setting is excessively high
Enlightenment it is stronger so that the obstacle avoidance ability of mobile platform weakens, and then appearance is blocked by barrier leads to goal nonreachable
Problem；Using after improved dynamic window method, mobile platform obtains optimal weights group according to fuzzy logic inference in real time for experiment 3
It closes, can accurately reach source location, hence it is evident that improve the adaptability to working environment, and then demonstrate of the invention change
Into dynamic window method validity.
The present invention does not address place and is suitable for the prior art.
Claims (10)
1. a kind of storage commodity pick and place mobile platform, including mobile platform ontology, obstacle avoidance apparatus, mechanical arm device, commodity are put
Set device, article identification device and commodity grabbing device；Obstacle avoidance apparatus, mechanical arm device and commodity apparatus for placing are mounted on shifting
On moving platform ontology, commodity grabbing device is mounted on the end of mechanical arm device, and article identification device is mounted on commodity crawl
On device；It is characterized in that,
The mechanical arm device includes rotating mechanism and multiple mechanical arms, and multiple mechanical arms are mutually rotatablely connected, multiple machinery
Arm forms a modular mechanical arm, and one end and the rotating mechanism of first mechanical arm are fixed, the end of the last one mechanical arm
It is fixed with commodity grabbing device；Rotating mechanism is mounted on mobile platform ontology, and modular mechanical arm is mounted on rotating mechanism；
The commodity grabbing device include connection frame, leading screw bearing, lead screw, feed screw nut, two push away and refer to bar, two fingers and the
Four motors；The side of the connection frame and the side of modular mechanical arm end are connected, and leading screw bearing is equipped on the other side；Silk
It is rotatably mounted with lead screw on thick stick support, feed screw nut is set on lead screw, feed screw nut can slide on lead screw, lead screw
One end is connected by shaft coupling with the output shaft for the 4th motor for being mounted on the modular mechanical arm end other side；Two fingers
One end is respectively hinged on connection frame, and what the other end was formed dehisces for grabbing commodity；Two one end for pushing away finger bar are fixed respectively
On corresponding finger, the other end is hinged on feed screw nut.
2. mobile platform according to claim 1, which is characterized in that the commodity apparatus for placing includes that the 5th electricity is mechanical, electrical
Machine support, rockover plectrum, two rockover brackets and rockover；Two rockover brackets and electric machine support are each attached to mobile platform ontology
On, one end of rockover is provided with the groove of arc, and the two sides of the rockover other end all have connecting column, two connecting columns respectively with phase
The notch of rockover bracket is answered to cooperate, rockover can be relative to rockover holder pivots；5th motor is fixed on electric machine support, the 5th electricity
Rockover plectrum is installed, rockover plectrum is stuck in always in the groove of rockover on the output shaft of machine.
3. mobile platform according to claim 1, which is characterized in that the rotating mechanism includes pedestal, mounting base, first
Output flange and first motor；Pedestal is mounted on mobile platform ontology, first motor install on the base, first motor it is defeated
First output flange is installed, mounting base is mounted on the first output flange on shaft.
4. mobile platform according to claim 3, which is characterized in that the mechanical arm includes the second motor, the second output
Flange and mechanical arm body；The mechanical arm body includes 1 trumpeter's arm board mount, the first arm board, No. 2 U-shaped arm boards
Bracket and the second arm board；The side of 1 trumpeter's arm board mount is connected with one end of the second output flange and the second arm board；No. 1
The other side of arm board mount is connected with one end of the first arm board, the end of the first arm board and the second arm board with No. 2
Arm board mount is connected.
5. mobile platform according to claim 1, which is characterized in that the obstacle avoidance apparatus includes radar supports, laser thunder
Up to scanning rangefinder and multiple ultrasonic sensors；Radar supports are mounted on the front end of mobile platform bodies top, laser radar
Scanning rangefinder is mounted on radar supports；Multiple ultrasonic sensors are mounted on the surrounding of mobile platform ontology.
6. mobile platform according to claim 5, which is characterized in that the mobile platform further includes control system, the control
System processed includes motion control board and host computer, and motion control board and host computer are installed on mobile platform ontology, host computer
Communicated to connect with motion control board, motion control board is electrically connected with motor, host computer respectively with laser radar scanning rangefinder and
Multiple ultrasonic sensor communication connections；Motion control board uses STM32F429 chip；Host computer is using association
thinkpadx260。
7. mobile platform according to claim 1, which is characterized in that the commodity grabbing device further includes spring, spring
Both ends respectively with two fingers close to one end of connection frame be connected.
8. mobile platform according to claim 1, which is characterized in that have multiple non-slip grooves on the finger.
9. the paths planning method that a kind of storage commodity as claimed in claim 6 pick and place mobile platform, which is characterized in that this method
The following steps are included:
1) it constructs global map: before work, completion being scanned globally to working environment by laser radar scanning rangefinder
The building of figure, and global map is stored in host computer；
Wherein, working environment includes commodity classification location information and obstacle information；
2) global path planning: host computer issues pick-up instruction, and retrieves commodity classification position, using A* algorithm to mobile platform
Starting point carries out global path planning to the travel path between commodity classification position；If occurring new barrier in global map,
Host computer judges the positional relationship between new barrier and global path；If new barrier is not in global path
Then mobile platform continues on；It is thened follow the steps 3) if new barrier is located in global path, bypasses mobile platform newly
Barrier simultaneously returns in global path；
3) local path optimizes: being returned to mobile platform current location with around new barrier using improved dynamic window method
Path between global path carries out local path optimization, adjusts three power of the evaluation function of improved dynamic window method in real time
Weight.
10. the paths planning method that storage commodity according to claim 9 pick and place mobile platform, which is characterized in that step
3) the step of improved dynamic window method, is in:
S1, the working environment that the barrier with different number is built by matlab, obtain it is multiple it is of different sizes can scanning frequency
Spend space；
S2, multiple path planning is carried out to each working environment with dynamic window method, obtained optimal under each working environment
Weighed combination；The set of the best initial weights combination of all working environment is successively obtained by this step, and constructs fuzzy logic control
Device；
S3, by the size in the real-time feasible speed space of mobile platform and mobile platform current location and commodity classification position it
Between the input apart from size as fuzzy logic controller, obtain α, β, γ of improved dynamic window method evaluation function in real time
Three weights realize that mobile platform independently finds the function of optimal weights combination and then real-time adjusts path, reach target point.
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