CN217533056U - Control system for autonomous mobile industrial robot and robot thereof - Google Patents
Control system for autonomous mobile industrial robot and robot thereof Download PDFInfo
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- CN217533056U CN217533056U CN202221430013.9U CN202221430013U CN217533056U CN 217533056 U CN217533056 U CN 217533056U CN 202221430013 U CN202221430013 U CN 202221430013U CN 217533056 U CN217533056 U CN 217533056U
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- 229910052744 lithium Inorganic materials 0.000 claims description 9
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Abstract
The utility model discloses a control system for an autonomous mobile industrial robot and a robot thereof, wherein the control system comprises a control module, a battery management module, a safety module, a distance measuring module, a driving module, a light module, a navigation module and a man-machine interaction module; the control module comprises an industrial control host and a PLC (programmable logic controller) electrically connected with the industrial control host; the navigation module comprises a receiving unit and a planning unit; the receiving unit comprises a WIFI router and a WIFI antenna rod connected with the WIFI router; the laser radar in the robot can scan the surrounding environment in the advancing process, the scanning result is transmitted to the navigation device, the navigation device is a laser radar SLAM (synchronous positioning and map building) navigation device, the driving track of the robot can be planned through the synchronous positioning and map building device, and then obstacles can be avoided in the advancing process.
Description
Technical Field
The utility model belongs to the technical field of independently mobile robot, concretely relates to independently control system for mobile industrial robot and robot thereof.
Background
With the continuous development of productivity in China and the continuous upgrading and updating of factory workshop equipment, the productivity of enterprises is continuously increased, the production efficiency of products is continuously increased, the enterprises can stack the products in storage stations, storage material information is increasingly complicated, and the labor cost of a workshop material management system is rapidly increased.
In order to solve the above problems, an automatic navigation vehicle has been rapidly developed, and the automatic navigation vehicle is widely used in daily management of warehousing, and thus gradually replaces manual work, but the existing automatic navigation vehicle has some problems, and the existing automatic navigation vehicle travels according to a track or a predefined route set by an operator in advance, and even when an obstacle exists on the preset track, due to the preset reason, collision between the automatic navigation vehicle and the obstacle occurs, and thus damage of the automatic navigation vehicle may be caused.
Therefore, how to avoid the obstacle is a problem to be solved at present.
SUMMERY OF THE UTILITY MODEL
Utility model purpose: provided are a control system for an autonomous mobile industrial robot and a robot thereof, which solve the above problems in the prior art.
The technical scheme is as follows: a control system for an autonomous mobile industrial robot and a robot thereof, comprising:
the system comprises a control module, a battery management module, a safety module, a distance measuring module, a driving module, a lighting module, a navigation module and a human-computer interaction module;
the control module comprises an industrial control host and a PLC (programmable logic controller) electrically connected with the industrial control host;
the navigation module comprises a receiving unit and a planning unit;
the receiving unit comprises a WIFI router and a WIFI antenna rod connected with the WIFI router;
the planning unit comprises a laser radar and a navigation device connected with the laser radar;
the battery management module, the distance measurement module, the driving module and the light module are respectively connected with the PLC, the safety module is connected with the PLC, the human-computer interaction module is respectively connected with the industrial control host and the PLC, and the navigation module is connected with the industrial control host.
In a further embodiment, the WIFI router is connected with an industrial control host; and establishing a mobile WiFi network of the autonomous mobile robot, and controlling and managing the autonomous mobile industrial robot by a scheduling system or a data acquisition and analysis system through the WiFi network within the range of the mobile WiFi network.
In a further embodiment, the drive module comprises a hub motor driver, and a set of hub servo motors connected with the hub motor driver;
the hub motor driver and control module are connected with the driving module, and the driving module comprises a hub motor driver, a group of hub servo motors connected with the hub motor driver, and a driving wheel connected with the hub servo motors;
the hub motor driver is connected with the control module.
In a further embodiment, the ranging module comprises an ultrasonic ranging sensor.
In a further embodiment, the light module comprises a lampshade and a light strip arranged on the lampshade.
In a further embodiment, a robot includes a control system for an autonomous mobile industrial robot.
In a further embodiment, the vehicle comprises a vehicle body, a shell arranged on the vehicle body, four supporting universal wheels uniformly arranged on the vehicle body, and a lithium battery and an electric control device arranged on the vehicle body;
the hub motor driver and the hub servo motor are positioned on the vehicle body;
the lithium battery is respectively connected with the hub servo motor and the industrial control host.
In a further embodiment, the shell is further provided with a bent bumper strip.
Has the advantages that: the utility model relates to a control system and robot for autonomous mobile industrial robot, in order to play the function of dodging to the barrier, and then be equipped with the WIFI router in this device, and WIFI antenna stick and laser radar with WIFI router connects, and with the navigation head that laser radar connects, under automatic mode, laser radar in the robot can scan the surrounding environment in the process of advancing, and transmit the scanning result to the navigation head, the navigation head is laser radar SLAM (synchronous positioning and map construction) navigation head, and then can plan the driving track of robot through synchronous positioning and map construction device, and then in the process of advancing, can dodge the barrier, when the environment that the robot meets is comparatively complicated can't carry out automatic navigation work, when the robot switches into manual mode this moment, WIFI (wireless communication technology) signal and arbitrary one handheld device that send through external antenna stick, like the cell-phone, through installing a manual control robot that can nimble on handheld device, greatly improved the flexibility of robot, and then can improve the mobility of the robot and collision between the robot and the robot, avoided the robot emergence of the barrier; meanwhile, the robot can be controlled without an external local area network through the arrangement of the router of the robot, so that the environmental adaptability of the system is higher.
Drawings
Fig. 1 is a system network connection diagram of the present invention.
Fig. 2 is a schematic diagram of the present invention.
Fig. 3 is a bottom view of the present invention.
Fig. 4 is a top view of the present invention.
The figures are numbered: the intelligent control system comprises a servo controller 1, a switch 2, an emergency stop switch 3, a network cable interface 4, a lithium battery 5, a vehicle body 6, a PLC (programmable logic controller) 7, an air switch 8, an ultrasonic ranging sensor 9, a lampshade 10, an industrial control host 11, an anti-collision strip 12, a laser radar 13, a hub servo motor 14, a driving wheel 15 and a universal wheel 16.
Detailed Description
Through research and analysis of the applicant, the reason for the problem (collision between the automatic navigation vehicle and an obstacle and further damage of the automatic navigation vehicle) is that the automatic navigation vehicle is widely applied to daily management of storage, and manual operation is gradually replaced, but the existing automatic navigation vehicles have problems that the existing automatic navigation vehicles run according to a track or a predefined route set by an operator in advance, and even when the preset track has the obstacle, the collision between the automatic navigation vehicle and the obstacle and further damage of the automatic navigation vehicle can be caused due to the preset reason, and in order to achieve the function of avoiding the obstacle, the device is further provided with a WIFI router, and a WIFI antenna rod and a laser radar which are connected with the WIFI router, and a navigation device connected with the laser radar, wherein in the running process of the robot, the laser radar in the robot can scan the surrounding environment and transmit the scanning result to the navigation device, the navigation device is a laser radar SLAM (synchronous positioning and map building) navigation device, and further can plan the driving track of the robot through the synchronous positioning and map building device, and further can avoid obstacles in the running process, meanwhile, the WIFI (wireless communication technology) signal sent by an external antenna rod and any one handheld device, such as a mobile phone, can flexibly and manually control the robot by installing an APP on the handheld device, thereby greatly improving the flexibility of the manual control of the robot and further changing the action track of the robot in real time, thereby improving the flexibility of the robot movement; meanwhile, the robot can be controlled without an external local area network through the arrangement of the router of the robot, so that the environmental adaptability of the system is higher.
A control system for an autonomous mobile industrial robot and a robot thereof, comprising: the intelligent control system comprises a servo controller 1, a switch 2, an emergency stop switch 3, a network cable interface 4, a lithium battery 5, a vehicle body 6, a PLC (programmable logic controller) 7, an air switch 8, an ultrasonic ranging sensor 9, a lampshade 10, an industrial control host 11, an anti-collision strip 12, a laser radar 13, a hub servo motor 14, a driving wheel 15 and a universal wheel 16.
The system comprises a control module, a battery management module, a safety module, a distance measurement module, a driving module, a light module, a navigation module and a human-computer interaction module; the control module comprises an industrial control host 11 and a PLC (programmable logic controller) 7 electrically connected with the industrial control host 11; the navigation module comprises a receiving unit and a planning unit; the receiving unit comprises a WIFI router and a WIFI antenna rod connected with the WIFI router; the planning unit comprises a laser radar 13 and a navigation device connected with the laser radar 13; the battery management module, the distance measurement module, the driving module and the light module are respectively connected with the PLC logic controller 7, the safety module is connected with the PLC logic controller 7, the human-computer interaction module is respectively connected with the industrial control host 11 and the PLC logic controller 7, and the navigation module is connected with the industrial control host 11; in the operation of robot in-process, laser radar 13 in the robot can be in the in-process of marcing, can scan peripheral environment to give navigation head with the scanning result transmission, navigation head is laser radar 13SLAM (synchronous positioning and map are found) navigation head, and then through synchronous positioning and map construction device and then can plan the driving track of robot, and then in the process of marcing, can avoid the barrier, WIFI (wireless communication technology) signal and arbitrary one handheld device that send simultaneously through external antenna stick, like the cell-phone, through the manual control robot that an installation APP can be nimble on handheld device, the manual control's of robot flexibility has been improved greatly, and then can carry out real-time change to the movement track of robot, and then the flexibility of robot motion has been improved.
The WIFI router is connected with an industrial control host 11; the robot can be controlled without an external local area network through the arrangement of the router of the robot, so that the environmental adaptability of the system is higher.
The driving module comprises a hub motor driver and a group of hub servo motors 14 connected with the hub motor driver; the hub motor driver is connected with the control module; the distance measuring module comprises an ultrasonic distance measuring sensor 9; the battery management module comprises a battery coulometer; the lighting module comprises a lampshade 10, a lamp strip controller arranged on the lampshade 10 and a lamp strip connected with the lamp strip controller; the safety module comprises an anti-collision strip 12 arranged on the shell, and a key switch, an emergency stop switch 3 and an air switch 8 which are arranged on the shell; the key switch comprises a starting switch and a reset switch; the human-computer interaction module is in the prior art, and the robot can be ensured to normally move through the arranged driving module; when the distance between the robot and the obstacle is smaller than or equal to a set value through the arranged ultrasonic ranging sensor 9, the ultrasonic ranging sensor 9 feeds measured data back to the PLC logic controller 7 at the moment, and the PLC logic controller 7 can transmit the signal to the servo controller 1, so that the driving module can stop working, an emergency stop effect is achieved on the robot, and collision between the robot and the obstacle is avoided; before starting the robot, the battery coulombmeter in the battery management module needs to be started, and then the device can be started when the current flowing into the battery coulombmeter meets a set numerical value, otherwise, the device is in an emergency stop state; when the numerical value of the measurement position of the ultrasonic ranging sensor 9 is smaller than the safety numerical value, the lamp strip controller can control the lamp strip to be in a lighting state, and then the warning effect can be played for an operator, and collision between the robot and the barrier is avoided.
The device comprises a vehicle body 6, a shell arranged on the vehicle body 6, four supporting universal wheels 16 uniformly arranged on the vehicle body 6, a lithium battery 5 arranged on the vehicle body 6 and an electric control device; the hub motor driver and the hub servo motor 14 are positioned on the vehicle body 6, and the driving wheel 15 is connected with the hub servo motor 14; the lithium battery 5 is respectively connected with the hub servo motor 14 and the industrial control host 11; the shell is also provided with a bent anti-collision strip 12; the control module, the battery management module, the safety module, the distance measuring module, the driving module, the light module, the navigation module and the man-machine interaction module are positioned on the vehicle body 6, and a lithium battery 5 vehicle-mounted charging socket is arranged at the rear end of the shell; a network cable interface 4 is arranged on the left side of the rear end of the shell, the man-machine interaction module comprises an exchanger 2, and the network cable interface 4 is connected with the man-machine interaction module and can realize wired communication with a robot by connecting ports of the exchanger 2; the interaction machine 2 is connected with the servo controller 1, and the interaction machine 2 is respectively connected with the industrial control host 11 and the router.
Description of the working principle: in the running process of the robot, a laser radar 13 in the robot can scan the surrounding environment in the advancing process and transmit the scanning result to a navigation device, the navigation device is a laser radar 13SLAM (synchronous positioning and map building) navigation device, the travelling path of the robot can be planned through the synchronous positioning and map building device, and then in the advancing process, obstacles can be avoided, when the robot encounters a complex environment and cannot perform automatic navigation work, a WIFI (wireless communication technology) signal sent by an external antenna rod and any one handheld device, such as a mobile phone, can flexibly and manually control the robot by installing an APP on the handheld device, so that the flexibility of manual control of the robot is greatly improved, the action path of the robot can be changed in real time, and the flexibility of the robot motion is improved; meanwhile, the robot can be controlled without an external local area network through the arrangement of the router of the robot, so that the environmental adaptability of the system is higher; before starting the robot, the battery coulombmeter in the battery management module needs to be started, and then the device can be started when the current flowing into the battery coulombmeter meets a set numerical value, otherwise, the device is in an emergency stop state; in the action process of the robot, when the distance between the robot and the obstacle is smaller than or equal to a set value through the arranged ultrasonic ranging sensor 9, the ultrasonic ranging sensor 9 feeds measured data back to the PLC logic controller 7 at the moment, and the PLC logic controller 7 can transmit the signal to the servo controller 1, so that the driving module can stop working, the robot is subjected to an emergency stop effect, and collision between the robot and the obstacle is avoided; when the numerical value of the measurement position of the ultrasonic ranging sensor 9 is smaller than the safety numerical value, the lamp strip controller can control the lamp strip to be in a lighting state, and then the warning effect can be played for an operator, and collision between the robot and the barrier is avoided.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the details of the above embodiments, and the technical concept of the present invention can be modified to perform various equivalent transformations, which all belong to the protection scope of the present invention.
Claims (8)
1. A control system for an autonomous mobile industrial robot, comprising:
the system comprises a control module, a battery management module, a safety module, a distance measuring module, a driving module, a lighting module, a navigation module and a human-computer interaction module;
the control module comprises an industrial control host and a PLC (programmable logic controller) electrically connected with the industrial control host;
the navigation module comprises a receiving unit and a planning unit;
the receiving unit comprises a WIFI router and a WIFI antenna rod connected with the WIFI router;
the planning unit comprises a laser radar and a navigation device connected with the laser radar;
the battery management module, the distance measurement module, the driving module and the light module are respectively connected with the PLC, the safety module is connected with the PLC, the human-computer interaction module is respectively connected with the industrial control host and the PLC, and the navigation module is connected with the industrial control host.
2. The control system for an autonomous mobile industrial robot according to claim 1, characterized in that: and the WIFI router is connected with the industrial control host.
3. The control system for an autonomous mobile industrial robot according to claim 1, characterized in that: the driving module comprises a hub motor driver, a group of hub servo motors connected with the hub motor driver, and a driving wheel connected with the hub servo motors;
the hub motor driver is connected with the control module.
4. The control system for an autonomous mobile industrial robot according to claim 1, characterized in that: the ranging module comprises an ultrasonic ranging sensor.
5. The control system for an autonomous mobile industrial robot according to claim 1, characterized in that: the light module comprises a lampshade, a lamp strip controller arranged on the lampshade and a lamp strip connected with the lamp strip controller.
6. A robot using the control system for the autonomous mobile industrial robot according to any one of claims 1 to 5.
7. The robot of claim 6, which comprises a vehicle body, a shell arranged on the vehicle body, four supporting universal wheels uniformly arranged on the vehicle body, and a lithium battery and an electric control device arranged on the vehicle body;
the hub motor driver and the hub servo motor are positioned on the vehicle body;
the lithium battery is respectively connected with the hub servo motor and the industrial control host.
8. A robot as claimed in claim 7, characterized in that: the shell is also provided with a bending anti-collision strip.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202221430013.9U CN217533056U (en) | 2022-06-08 | 2022-06-08 | Control system for autonomous mobile industrial robot and robot thereof |
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| CN202221430013.9U CN217533056U (en) | 2022-06-08 | 2022-06-08 | Control system for autonomous mobile industrial robot and robot thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115958575A (en) * | 2023-03-16 | 2023-04-14 | 中国科学院自动化研究所 | Humanoid dexterous operation mobile robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115958575A (en) * | 2023-03-16 | 2023-04-14 | 中国科学院自动化研究所 | Humanoid dexterous operation mobile robot |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: NANJING HOLMES INTELLIGENT TECHNOLOGY Co.,Ltd. Assignor: NANJING INSTITUTE OF TECHNOLOGY Contract record no.: X2024980002732 Denomination of utility model: A Control System and Robot for Autonomous Mobile Industrial Robots Granted publication date: 20221004 License type: Common License Record date: 20240312 |
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| EE01 | Entry into force of recordation of patent licensing contract |