Moving platform for taking and placing stored goods and route planning method of moving platform

Abstract

The invention discloses a moving platform for taking and placing stored goods and a route planning method of the moving platform. The moving platform comprises a moving platform body, an obstacle avoiding device, a mechanical arm device, a goods placing device, a goods recognition device and a goods grabbing device. The obstacle avoiding device, the mechanical arm device and the goods placing device are installed on the moving platform body. The goods grabbing device is installed at the tail end of the mechanical arm device. The goods recognition device is installed on the goods grabbing device. The mechanical arm device comprises a rotating mechanism and multiple mechanical arms. The multiple mechanical arms are mutually connected in a rotating manner. The multiple mechanical arms form one modularized mechanical arm. One end of the first mechanical arm is fixed to the rotating mechanism. The tail end of the last mechanical arm is fixed to the goods grabbing device. According to the method, the improved dynamic window method is adopted for adjusting three weights for evaluating a function in real time, the adaptation ability of the moving platform to the environment is improved, and the success rate of the moving platform reaching the designated position point is ensured.

Description

technical field [0001] The invention relates to the field of mobile robots, in particular to a storage commodity pick-and-place mobile platform and a path planning method for the mobile platform. Background technique [0002] With the rapid development of the Internet, online shopping has become one of the shopping methods that people often use. Online shopping has promoted the rapid development of the logistics industry. Unmanned factories and unmanned sorting have gradually emerged, and mobile robots can bring great convenience to warehousing, transportation and distribution. [0003] At present, there are many mobile robots for picking and placing stored goods, but most mobile robots are easy to pick and place larger volume goods, but not easy to pick and place smaller volume goods. [0004] The Chinese patent with application number 201520955138.7 discloses a handling robot for small objects. The handling robot uses a worm gear mechanism to realize the clamping and sepa...

AI Technical Summary

Problems solved by technology

[0003] At present, there are many mobile robots for picking and placing stored goods, but most mobile robots are easy to pick and place larger-sized goods, but it is not easy to pick and place smaller-sized goods

[0004] The Chinese patent with application number 201520955138.7 discloses a handling robot for small objects. The handling robot uses a worm gear mechanism to realize the clamping and separation of two grippers through two articulated arms. Since the grippers are arranged at the ends of the articulated arms, Make the distance between the worm wheel and the two grippers larger, resulting in a larger distance between the force point and the force point, which reduces the reliability of grabbing objects; in addition, because the worm drive has a large relative gap between the tooth surfaces Sliding, generating heat, making the worm transmission invalid due to gluing; and the worm gear is installed in the mounting seat, the mounting seat completely covers the worm gear, and the worm gear is glued due to the inability to dissipate heat in time, which affects the bearing capacity of the worm drive and further reduces the grip. Reliability of fetching objects

[0005] The Chinese patent with application number 201811183053.6 discloses a mobile robot for picking and placing goods on shelves. The mobile robot realizes the grabbing of goods through the grabbing plate of the cargo grabbing device; since the grabbing plate is C-like, it adopts the method of embracing Grabbing goods is suitable for grabbing larger volumes of goods, but it is difficult to grab smaller volumes of goods

[0006] In addition, at present, the combination of A* algorithm and dynamic window method is generally used to realize the path planning of mobile robots. The three weights are always fixed values ​​in the whole process of path planning and cannot be changed due to changes in the environment, resulting in poor adaptability of the mobile robot to the environment and poor obstacle avoidance ability

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