CN115122339A - Control system for loading and unloading robot - Google Patents
Control system for loading and unloading robot Download PDFInfo
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- CN115122339A CN115122339A CN202211003586.8A CN202211003586A CN115122339A CN 115122339 A CN115122339 A CN 115122339A CN 202211003586 A CN202211003586 A CN 202211003586A CN 115122339 A CN115122339 A CN 115122339A
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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
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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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
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
A loading and unloading robot-oriented control system comprising: the main controller comprises an information processing module for processing information; the mechanical arm comprises a mechanical arm controller; the mobile chassis comprises a mobile chassis controller; the auxiliary equipment is connected with a programmable logic controller; a vision processor including a vision detection module; the interactive device comprises a user interactive interface for directly interacting with a user; and the communication system is used for realizing information communication between the information processing module and each logic control module. The invention can connect hardware devices of different types in series, so that the hardware devices can run coordinately to complete target tasks cooperatively. The invention avoids the problem of difficult cooperative operation of hardware devices of different types in the prior art, improves the operation efficiency of the loading and unloading robot, and reduces the difficulty of learning and using the system by a user.
Description
Technical Field
The invention relates to the technical field of warehouse logistics, in particular to logistics-related equipment, and particularly relates to a control system for a loading and unloading robot.
Background
Cargo unloading is an indispensable part in the logistics transportation process and directly influences the cargo transportation efficiency. At present, the goods are loaded and unloaded by manual operation or manually controlled carrying equipment, and the mode of loading and unloading the goods by manual operation has the disadvantages of large loading and unloading labor amount and low loading and unloading efficiency.
In order to improve the efficiency of cargo handling, handling robots have been proposed in the prior art. For example, chinese patent No. 202110475888.4 entitled automatic loading and unloading robot, transfer system, and control method thereof proposes an automatic loading and unloading robot. In the technical scheme, the control device analyzes the optimal transfer strategy information and sends the optimal transfer strategy information to the operation trolley and the loading and unloading robot, and the operation trolley and the loading and unloading robot operate according to the strategies respectively.
The loading and unloading robot is put into the field of logistics transportation, the cargo unloading efficiency can be directly improved, and for the loading and unloading robot, a control system (control device) of the loading and unloading robot is mainly used for controlling hardware of each part of the loading and unloading robot to complete set actions according to task targets.
Disclosure of Invention
Problem (A)
In summary, how to provide a control system for a loading and unloading robot to solve the problem of difficult cooperation of multiple hardware devices is a problem that needs to be solved urgently by those skilled in the art.
(II) technical scheme
In order to achieve the above purpose, the invention provides the following technical scheme:
a control system for a loading/unloading robot according to the present invention includes:
the main controller with logic control function comprises an information processing module for processing information;
the mechanical arm comprises a mechanical arm controller, and the mechanical arm controller comprises a mechanical arm logic control module;
the mobile chassis comprises a mobile chassis controller, and the mobile chassis controller comprises a mobile chassis logic control module;
the auxiliary equipment is connected with a programmable logic controller;
a visual processor comprising a visual detection module for detecting cargo information in an image;
the communication system comprises an information processing module and each logic control module, and an information transmission module, wherein the information processing module and each logic control module can be integrated into the information processing module and each logic control module, and the information communication between the information processing module and each logic control module is realized.
Preferably, the control system for the loading and unloading robot provided by the invention further comprises an alarm system; the alarm system comprises an alarm module which can be assembled on the mechanical arm, the movable chassis and the auxiliary equipment and is used for giving an alarm when an assembly object operates abnormally, and the alarm module is in signal connection with a logic control module of the assembly object.
Preferably, in the control system for a loading and unloading robot provided by the invention, the auxiliary equipment comprises a conveying belt, a gripping device and a jacking mechanism; the gripping device is used for being arranged on the mechanical arm; the conveyer belt and the jacking mechanism are arranged on the movable chassis.
Preferably, in the control system for the loading and unloading robot provided by the invention, the control system further comprises an interaction device, wherein the interaction device comprises a user interaction interface for directly interacting with a user; the interactive equipment comprises an interactive equipment information transmission module which is in communication connection with the main controller and is used for acquiring and transmitting information.
Preferably, in the control system for the loading and unloading robot provided by the present invention, the robot arm controller includes a robot arm controller communication module for communicating with the main controller, a robot arm controller logic control module for controlling the robot arm to execute a task, and a robot arm controller alarm module for sending an alarm message when the robot arm is abnormally operated.
Preferably, in the control system for the loading and unloading robot provided by the present invention, the mobile chassis controller includes a mobile chassis controller communication module for communicating with the main controller, a mobile chassis controller logic control module for controlling the mobile chassis to execute tasks, and a mobile chassis controller alarm module for generating alarm information when the mobile chassis is abnormally operated.
Preferably, in the control system for a loading and unloading robot provided by the invention, the mobile chassis controller further comprises a mobile chassis controller remote control module for manually controlling the motion of the mobile chassis.
Preferably, in the control system for the loading and unloading robot provided by the invention, the programmable logic controller comprises a programmable logic controller communication module for communicating with the main controller, a programmable logic controller hardware control module for controlling each hardware to execute tasks, and a programmable logic controller alarm module for generating alarm information when the hardware runs abnormally.
Preferably, in the control system for a loading and unloading robot provided by the invention, the visual processor comprises a visual detection module for detecting information of goods in the image, a visual processor communication module in communication connection with the main controller, and a visual processor alarm module for generating alarm information.
Preferably, in the control system for the loading and unloading robot provided by the invention, the main controller further comprises a main controller communication module for realizing communication, and the main controller communication module is connected with the hardware equipment in a wired or wireless communication manner; each hardware has a unique IP address and a unique communication port number corresponding to the hardware, and the main controller determines the model of the hardware equipment connected with the main controller through the IP address and the communication port number of each hardware; the information processing module converts the information received by the main controller communication module into a general information format; the information transmission module is connected with the user interaction module in a wired or wireless mode and transmits or receives processing information.
(III) advantageous effects
Compared with the prior art, the beneficial effects of this application are as follows:
the invention provides a control system for a loading and unloading robot, which comprises: the main controller with logic control function comprises an information processing module for processing information; the mechanical arm comprises a mechanical arm controller, and the mechanical arm controller comprises a mechanical arm logic control module; the mobile chassis comprises a mobile chassis controller, and the mobile chassis controller comprises a mobile chassis logic control module; the auxiliary equipment is connected with a programmable logic controller; a visual processor comprising a visual detection module for detecting cargo information in an image; an interaction device comprising a user interaction interface for direct interaction with a user; the communication system comprises an information processing module and each logic control module which can be integrated into the information processing module and each logic control module and is used for realizing the information communication between the information processing module and each logic control module, and also comprises an information transmission module which can be integrated into the information processing module and the interaction equipment and is used for realizing the information transmission between the information processing module and the interaction equipment.
Through the structural design, the control system for the loading and unloading robot is provided with the main controller, the main controller comprises the information processing module, signals of different hardware devices can be converted through the information processing module, so that the main controller can recognize the signals, and meanwhile, control instructions issued by the main controller can be converted into signals which can be recognized by each hardware device through the information processing module so as to execute tasks. The invention can connect hardware devices of different types in series, so that the hardware devices can run coordinately to complete target tasks cooperatively. The main controller is used as a control core to send task instructions to the mechanical arm controller, the mobile chassis controller, the programmable controller and the visual processor and acquire information returned by the mechanical arm controller, the mobile chassis controller, the programmable controller and the visual processor, and simultaneously, the main controller and the user interaction module transmit information to acquire user input information and feedback system state information. The invention avoids the problem of difficult cooperative operation of hardware devices of different types in the prior art, improves the operation efficiency of the loading and unloading robot, and reduces the difficulty of learning and using the system by a user.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. Wherein:
fig. 1 is a block diagram schematically illustrating a structure of a control system for a loading and unloading robot according to an embodiment of the present invention.
In fig. 1, the correspondence between the component names and the reference numerals is:
a main controller 1, a mechanical arm 2, a mechanical arm controller 3, a movable chassis 4,
A mobile chassis controller 5, a visual processor 6, a visual detection module 7, an interactive device 8,
A conveyer belt 9, a gripping device 10, a jacking mechanism 11, a remote control module 12,
A programmable logic controller 13.
Detailed Description
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings. The various examples are provided by way of explanation of the invention, and not limitation of the invention. In fact, it will be apparent to those skilled in the art that modifications and variations can be made in the present invention without departing from the scope or spirit thereof. For instance, features illustrated or described as part of one embodiment, can be used with another embodiment to yield a still further embodiment. It is therefore intended that the present invention encompass such modifications and variations as fall within the scope of the appended claims and equivalents thereof.
In the description of the present invention, the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are for convenience of description of the present invention only and do not require that the present invention must be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. The terms "connected" and "connected" used herein should be interpreted broadly, and may include, for example, a fixed connection or a detachable connection; they may be directly connected or indirectly connected through intermediate members, and specific meanings of the above terms will be understood by those skilled in the art as appropriate.
Referring to fig. 1, fig. 1 is a block diagram illustrating a control system for a loading and unloading robot according to an embodiment of the present invention.
The invention provides a control system for a loading and unloading robot, which comprises the following main components: a main controller 1 having a logic control function, the main controller 1 including an information processing module for processing information; the mechanical arm 2, the mechanical arm 2 includes the mechanical arm controller 3, the mechanical arm controller 3 includes the logical control module of mechanical arm 2; the mobile chassis 4, the mobile chassis 4 includes moving the chassis controller 5, move the chassis controller 5 including moving the chassis 4 logical control module; auxiliary equipment which is connected with a programmable logic controller 13; a vision processor 6, the vision processor 6 comprising a vision detection module 7 for detecting cargo information in the image; an interaction device 8, the interaction device 8 comprising a user interaction interface for direct interaction with a user; the communication system comprises an information processing module, each logic control module, an information transmission module and a communication module, wherein the information processing module and each logic control module can be integrated into the information processing module, and the information transmission module is used for realizing information transmission between the information processing module and each logic control module; the alarm system comprises an alarm module which can be assembled on the mechanical arm 2, the movable chassis 4 and the auxiliary equipment and is used for giving an alarm when an assembly object runs abnormally, and the alarm module is in signal connection with a logic control module of the assembly object.
The auxiliary equipment comprises a conveying belt 9, a gripping device 10 and a jacking mechanism 11; the gripping device 10 is intended to be arranged on the robot arm 2; the conveyer belt 9 and the jacking mechanism 11 are both arranged on the movable chassis 4.
Specifically, the interactive device 8 includes an information transmission module of the interactive device 8, which is in communication connection with the main controller 1 and is used for acquiring and transmitting information.
Specifically, the mechanical arm controller 3 comprises a mechanical arm controller 3 communication module used for being in communication connection with the main controller 1, a mechanical arm controller logic control module used for controlling the mechanical arm 2 to execute tasks, and a mechanical arm controller alarm module used for sending alarm information when the mechanical arm 2 runs abnormally.
Specifically, the mobile chassis controller 5 includes a mobile chassis controller communication module for communicating with the main controller 1, a mobile chassis controller logic control module for controlling the mobile chassis 4 to execute tasks, and a mobile chassis controller alarm module for generating alarm information when the mobile chassis 4 is abnormally operated. The mobile chassis controller 5 further comprises a mobile chassis controller remote control module for manually controlling the movement of the mobile chassis 4.
Specifically, the programmable logic controller 13 comprises a programmable logic controller 13 communication module for communicating with the main controller 1, a programmable logic controller 13 hardware control module for controlling each hardware to execute tasks, and a programmable logic controller 13 alarm module for generating alarm information when the hardware runs abnormally.
Specifically, the vision processor 6 comprises a vision detection module 7 for detecting information of goods in the image, a vision processor 6 communication module in communication connection with the main controller 1, and a vision processor 6 alarm module for generating alarm information.
The main controller 1 is connected to a plurality of hardware devices (e.g., the robot arm 2, the mobile chassis 4, and the vision processing device), and not only receives the operation information fed back by each hardware device, but also performs logic analysis according to the operation information and issues a control command. In order to avoid control errors (namely control instruction issuing object errors), the invention adopts the following scheme: the main controller 1 also comprises a main controller 1 communication module for realizing communication, and the main controller 1 communication module is connected with hardware equipment in a wired or wireless communication mode; each hardware has a unique IP address and a unique communication port number corresponding to the hardware, and the main controller 1 determines the model of the hardware equipment connected with the hardware through the IP address and the communication port number of each hardware; the information processing module converts the information received by the communication module of the main controller 1 into a general information format; the information transmission module is connected with the user interaction module in a wired or wireless mode and transmits or receives processing information.
In the present invention, the arm controller 3 is connected to the main controller 1 in a wired or wireless manner; the communication module sends information to the main controller and receives the information sent by the main controller 1; the logic control module controls the mechanical arm 2 to complete corresponding tasks according to information sent by the main control module; the alarm module gives an alarm when the mechanical arm 2 fails and transmits alarm information to the main controller 1. The mobile chassis controller 5 is connected with the main controller 1 in a wired or wireless mode; the communication module sends information to the main controller and receives the information sent by the main controller 1; the logic control module controls the mechanical arm 2 to complete corresponding tasks according to information sent by the main control module; the alarm module gives an alarm when the mechanical arm 2 fails and transmits alarm information to the main controller 1; the remote control module is connected with the chassis body in a wired or wireless mode to control the mobile chassis 4 body to complete movement. The programmable controller is connected with the main controller 1 in a wired or wireless mode; the communication module sends information to the main controller and receives information sent by the main controller 1; the hardware control module is connected with the conveying belt, the pneumatic sucker and the jacking mechanism 11 in a wired mode and controls the conveying belt, the pneumatic sucker and the jacking mechanism to complete specified tasks; the alarm module gives an alarm when the mechanical arm 2 fails and transmits alarm information to the main controller 1. The vision processor 6 is connected with the main control in a wired or wireless mode; the visual detection module 7 identifies and detects goods in the acquired image through an image processing algorithm; the communication module sends detection information to the main controller and receives information sent by the main controller 1; the alarm module gives an alarm when the mechanical arm 2 fails and transmits alarm information to the main controller 1.
As shown in fig. 1, the control system for a loading and unloading robot in this embodiment includes a master controller, a user interaction module, a robot controller 3, a mobile chassis controller 5, a programmable controller, and a visual processor 6.
The main controller 1 is responsible for coordinating the cooperative operation of each hardware device as the core of the whole control system. After receiving the task instruction issued by the user interaction module, the main controller 1 sends a corresponding instruction to the lower layer hardware device through the communication module, and the lower layer hardware device returns the task completion related information to the main controller 1 after completing the specified task.
Because each hardware device needs to work cooperatively, the hardware devices need to know the running states of each other, and the information processing module converts information fed back by different devices into general information and sends the general information to the specified device so as to achieve the purpose of mutual communication between the devices.
Specifically, the main controller 1 obtains information such as current working states and task completion conditions of different devices by using independent communication protocols of the devices (lower layer hardware devices), and stores the information in a corresponding device abstraction class data structure of the main controller 1, where the corresponding device abstraction class data structure is general information. When other devices need to acquire the information (general information) during the task, the main controller 1 can extract the information in the data structure of the extraction line and convert the information into a data format corresponding to the communication protocol of the other devices, and the converted information is sent to the other devices to complete the information transmission among the devices.
In addition, because the physical communication mode and the communication protocol of each lower layer hardware device are different, perfect data interaction cannot be achieved between the hardware devices, and therefore the main controller 1 needs to respectively acquire device data information and then forward the information to the hardware device needing the information. The main controller 1 uses the corresponding communication protocol to obtain various information data of the specific device, and then stores the information data in the abstract data structure corresponding to the device, when other devices need the device information, the main control module extracts the corresponding information in the abstract data structure, converts the corresponding information into a corresponding data format according to the communication protocol of the other devices, and sends the corresponding data format to the other devices, and the other devices can obtain the data information of the device after receiving the data information, so that data communication between hardware devices is completed.
The user interaction module receives an instruction issued by a user and transmits the instruction to the main controller 1, and meanwhile, receives related information fed back by the main controller and displays the related information to the user.
The mechanical arm controller 3 is responsible for controlling the mechanical arm 2 to move to complete a specified task. The communication module transmits the task information sent by the main controller 1 to the logic control module after acquiring the task information, the logic control module controls the mechanical arm 2 to reach a target position according to the task information to complete a specified task, corresponding information is returned after the task is completed, and the information is fed back to the main controller 1 by the communication module. If faults or errors occur in the operation process, the alarm module gives an alarm and sends alarm information to the main controller 1.
The mobile chassis controller 5 is responsible for controlling the movement of the mobile chassis 4 to complete the designated task. The communication module transmits the task information sent by the main controller 1 to the logic control module after acquiring the task information, the logic control module controls the mobile chassis 4 to move to a target position according to the task information, corresponding information is returned after the task is completed, and the information is fed back to the main controller 1 by the communication module. If faults or errors occur in the operation process, the alarm module can send out an alarm and send alarm information to the main controller 1. The user may also manually control the movement of the mobile chassis 4 using a remote control module.
The programmable controller is responsible for controlling the movement of the conveyor belt, the pneumatic suction cup and the jacking mechanism 11. The communication module transmits task information sent by the main controller 1 to the logic control module after acquiring the task information, the logic control module controls the conveyer belt to move, the pneumatic valve to be opened or closed and the jacking mechanism 11 to ascend or descend according to the task information, corresponding information is returned after the task is completed, and the information is fed back to the main controller 1 by the communication module. If faults or errors occur in the operation process, the alarm module can send out an alarm and send alarm information to the main controller 1.
The vision inspection machine is responsible for inspecting the target item location by using a vision algorithm. After acquiring a detection instruction sent by the main controller 1, the communication module forwards the instruction to the visual detection module 7, and after detecting the target cargo level, the module feeds the result back to the main controller 1 through the communication module, and the main controller 1 controls other hardware equipment to complete subsequent tasks according to the result. If faults or errors occur in the operation process, the alarm module can send out an alarm and send alarm information to the main controller 1.
The invention avoids the defect that the control system in the prior art needs control systems with different architectures for different types of hardware equipment, and can realize the cooperative work of a plurality of hardware equipment by only accessing each hardware equipment into the control system.
The invention provides a control system for a loading and unloading robot, which is a loading and unloading robot control system capable of realizing cooperative work among various hardware devices (the cooperative work means that various hardware can be independently controlled and the hardware can be connected in operation, so that a set work flow, such as identification and transportation of goods and stacking of goods, can be smoothly completed).
The invention is a set of control system for implementing the loading and unloading operation of the loading and unloading robot, and the controlled hardware devices all adopt the existing structure (for example, the control system has an execution structure and a control part, and the control part can control the action of the execution structure, thereby implementing the specific operation of the single hardware).
The control system for the loading and unloading robot mainly comprises a main controller 1 (the main controller 1 is a control core of the control system and is different from control structures of various hardware devices, the control structures of the main controller 1 and the various hardware devices are in a top-bottom level relationship, the main controller 1 sends a control instruction to the control structure of the various hardware devices, the control structure of the various hardware devices controls the hardware device to execute operation only after receiving the control instruction), a user interaction module (for realizing interaction between the main controller 1 and a controller, for example, the controller can input the control instruction through the user interaction module, the main controller 1 can show the current running state of the loading and unloading robot to the controller through the user interaction module) and a mechanical arm controller 3, a mobile chassis controller 5, a programmable controller and a visual processor 6. The mechanical arm controller 3 can control the mechanical arm 2 to perform actions (such as grabbing and stacking goods), the mobile chassis controller 5 can control the mobile chassis 4 to perform actions (such as advancing, reversing and steering), and the programmable controller can control the conveyor belt, the pneumatic suction cup and the jacking mechanism 11 to perform actions.
The main controller 1 is the core of the control system, the main controller 1 is connected with other modules (other modules can be regarded as the composition structure of the main controller 1, the main controller 1 mainly performs data analysis and logic control, other modules can provide other functional services, for example, the communication module can enable the main controller 1 to perform data interaction with the control structures of other hardware devices), wherein the communication module is responsible for communicating with the mechanical arm controller 3, the mobile chassis controller 5, the programmable logic controller and the visual processor 6 to achieve the purpose of information communication; the information conversion module converts the information acquired by the communication module from the hardware equipment into a general information format; the information transmission module is responsible for exchanging information with the user interaction module so as to transmit equipment information and acquire user operation information.
Further, the user interaction module is connected with the main controller 1, wherein the user interaction interface is displayed to a graphical interface which can be directly operated by a user, so that the user can detect data information of each hardware device and control the loading and unloading robot; the information transmission module is responsible for acquiring the equipment information transmitted by the main controller 1 and transmitting the operation information of the user.
Further, the mechanical arm controller 3 is connected with the main controller 1, wherein a communication module part of the mechanical arm controller 3 is responsible for acquiring task information sent by the main controller and returning task completion information and equipment related information to the main controller; the logic control module part of the mechanical arm controller 3 directly controls the mechanical arm 2, and can control the mechanical arm 2 to complete corresponding tasks according to the acquired task information sent by the main controller 1; the alarm module portion of the arm controller 3 is capable of detecting the operating state of the robot arm 2, issuing an alarm if an error occurs while the robot arm 2 performs an action, and transmitting an error message to the main controller 1.
Further, the mobile chassis controller 5 is connected with the main controller 1, wherein the communication module part of the mobile chassis controller 5 is responsible for acquiring task information sent by the main controller and returning task completion information and equipment related information to the main controller; the logic control module part of the mobile chassis controller 5 directly controls the mobile chassis 4, and can control the mobile chassis 4 to complete corresponding tasks according to the acquired task information sent by the main controller 1; the alarm module part of the mobile chassis controller 5 can detect the running state of the mobile chassis 4, send out an alarm when the mobile chassis 4 moves and has errors, and send error information to the main controller 1; the remote control module part of the mobile chassis controller 5 is delivered to the user in the physical form of the remote control module 12, and the user can directly control the movement of the mobile chassis 4 by moving the remote control module part of the chassis controller 5.
Further, the programmable controller is connected with the main controller 1, wherein a communication module part of the programmable controller is responsible for acquiring task information sent by the main controller and returning task completion information and equipment related information to the main controller; the hardware control module part of the programmable controller is directly connected with the transmission belt, the pneumatic mechanism and the jacking mechanism 11, and can control corresponding hardware to complete corresponding tasks according to the acquired task information sent by the main controller 1; the alarm module portion of the programmable controller can detect the hardware device operating state, issue an alarm when an error occurs, and send an error message to the main controller 1.
Further, the vision processor 6 is connected with the main controller 1, wherein the vision detection module 7 is directly connected with the camera, and analyzes and detects the goods information contained in the image by the image acquired by the camera through a vision algorithm; the communication module is responsible for acquiring task information sent by the main controller and returning task completion information, image detection information and equipment related information to the main controller; the alarm module detects the running state of the hardware device, gives an alarm when an error occurs, and sends error information to the main controller 1.
Compared with the prior art, the invention has the advantages and positive effects that:
the invention connects hardware devices of different types in series, so that the hardware devices can run coordinately to complete target tasks cooperatively. The main controller is used as a control core to send task instructions to the mechanical arm controller 3, the mobile chassis controller 5, the programmable controller and the visual processor 6 and acquire information returned by the mechanical arm controller, the mobile chassis controller, the programmable controller and the visual processor, and simultaneously, the main controller and the user interaction module transmit information to acquire user input information and feedback system state information. The invention avoids the problem of difficult cooperative operation of hardware devices of different types in the prior art, improves the operation efficiency of the loading and unloading robot, and reduces the difficulty of learning and using the system by a user.
The above is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made to the present invention by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A control system for a loading and unloading robot, comprising:
a main controller (1) having a logic control function, the main controller including an information processing module for processing information;
the mechanical arm (2) comprises a mechanical arm controller (3), and the mechanical arm controller comprises a mechanical arm logic control module;
the mobile chassis (4) comprises a mobile chassis controller (5) which comprises a mobile chassis logic control module;
auxiliary equipment connected with a programmable logic controller (13);
a visual processor (6) comprising a visual detection module (7) for detecting cargo information in an image;
the communication system comprises an information processing module and each logic control module which can be integrated into the information processing module and each logic control module and is used for realizing the information communication between the information processing module and each logic control module, and also comprises an information transmission module which can be integrated into the information processing module and the interaction equipment and is used for realizing the information transmission between the information processing module and the interaction equipment.
2. Handling robot-oriented control system according to claim 1,
the device also comprises an alarm system;
the alarm system comprises an alarm module which can be assembled on the mechanical arm, the movable chassis and the auxiliary equipment and is used for giving an alarm when an assembly object operates abnormally, and the alarm module is in signal connection with a logic control module of the assembly object.
3. The handling robot-oriented control system of claim 1,
the auxiliary equipment comprises a conveying belt (9), a gripping device (10) and a jacking mechanism (11);
the gripping device is used for being arranged on the mechanical arm;
the conveyer belt and the jacking mechanism are arranged on the movable chassis.
4. The handling robot-oriented control system of claim 1,
further comprising an interaction device (8) comprising a user interaction interface for direct interaction with a user;
the interactive equipment comprises an interactive equipment information transmission module which is in communication connection with the main controller and is used for acquiring and transmitting information.
5. The handling robot-oriented control system of claim 1,
the mechanical arm controller comprises a mechanical arm controller communication module, a mechanical arm controller logic control module and a mechanical arm controller alarm module, wherein the mechanical arm controller communication module is used for being in communication connection with the main controller, the mechanical arm controller logic control module is used for controlling the mechanical arm to execute tasks, and the mechanical arm controller alarm module is used for sending alarm information when the mechanical arm runs abnormally.
6. The handling robot-oriented control system of claim 1,
the mobile chassis controller comprises a mobile chassis controller communication module used for being in communication connection with the main controller, a mobile chassis controller logic control module used for controlling the mobile chassis to execute tasks, and a mobile chassis controller alarm module used for generating alarm information when the mobile chassis runs abnormally.
7. The handling robot-oriented control system of claim 1,
the programmable logic controller comprises a programmable logic controller communication module which is used for being in communication connection with the main controller, a programmable logic controller hardware control module which controls each hardware to execute tasks, and a programmable logic controller alarm module which generates alarm information when the hardware runs abnormally.
8. The handling robot-oriented control system of claim 1,
the vision processor comprises a vision detection module for detecting cargo information in an image, a vision processor communication module in communication connection with the main controller and a vision processor alarm module for generating alarm information.
9. The handling robot-oriented control system of claim 1,
the main controller also comprises a main controller communication module for realizing communication, and the main controller communication module is connected with hardware equipment in a wired or wireless communication mode;
each hardware has a unique IP address and a unique communication port number corresponding to the hardware, and the main controller determines the model of the hardware equipment connected with the main controller through the IP address and the communication port number of each hardware;
the information processing module converts the information received by the main controller communication module into a general information format;
the information transmission module is connected with the user interaction module in a wired or wireless mode and transmits or receives processing information.
10. The handling robot-oriented control system of claim 6,
the mobile chassis controller also comprises a mobile chassis controller remote control module for manually controlling the movement of the mobile chassis.
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