Digital mirror shadow control-based automatic cruise transport robot

Abstract

The application discloses an automatic cruise transport robot based on digital mirror shadow control, which comprises a multi-task automatic unloading mechanism and a digital mirror shadow system. The multi-task automatic unloading mechanism comprises a carrier table, the bottom of which is provided with a plurality of movable support plates for supporting and fixing a plurality of containing boxes, one movable support plate corresponding to one containing box; the containing box is used for containing articles; the movable support plate lock is used for locking the movable support plate; and the unloading channel is used for the passing of the containing box during unloading. The digital mirror shadow system comprises a robot virtual model and a UI interface. The application combines the digital mirror shadow technology with the transport robot, innovates the structure of the transport robot, can simultaneously transport a plurality of containing boxes containing different information articles, automatically cruises to the corresponding place according to the next destination of each containing box, and automatically completes the unloading of the articles, so that the value of the automatic cruise function is better reflected, the transportation cost is reduced, and the transportation is more flexible.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of robots, and particularly relates to an automatic cruise transport robot based on digital mirror shadow control. BACKGROUND

[0002] The existing transport robots mostly adopt the mode of moving according to a preset path, so that the movement of the robot is not flexible enough and can only move between a few determined locations. In addition, the transport robot can only transport one kind of goods at a time and cannot simultaneously perform transport tasks of multiple different destinations.

[0003] At present, the automatic cruise transport robot mostly adopts digital twin technology, and the digital twin system is not connected in real time with the real robot, and the entire simulation system is developed, which has a high development cost.

[0004] With the development of science and technology, especially computer technology, modern manufacturing is developing towards digitization and intelligentization, and the digital mirror shadow technology developed in this process has important application in digital factories. The feature of the digital mirror shadow technology is that the virtual system and the real physical system are connected in real time, and the synchronous movement of the virtual model is driven by the sensor signals obtained from the real physical device. However, there is no public report about applying the digital mirror shadow technology to the automatic cruise transport robot. Therefore, it is necessary to develop an automatic cruise transport robot based on digital mirror shadow technology control. SUMMARY

[0005] (I) Technical problems solved

[0006] The purpose of the present application is to provide an automatic cruise transport robot based on digital mirror shadow control, which can not only realize real-time connection of the transport robot and the system and reduce the system development cost, but also realize simultaneous execution of multiple transport tasks of different destinations.

[0007] (II) Technical solutions

[0008] In order to achieve the above purpose, the present application specifically adopts the following technical solutions:

[0009] An automatic cruise transport robot based on digital mirror shadow control, comprising a multi-task automatic unloading mechanism and a digital mirror shadow system for controlling the same, wherein the multi-task automatic unloading mechanism comprises:

[0010] A carrier platform connected to a robot mobile chassis through a support, the bottom of the carrier platform being provided with a plurality of movable support plates for supporting and fixing a plurality of containing boxes, one movable support plate corresponding to one containing box;

[0011] The accommodating boxes are arranged for accommodating articles, and a two-dimensional code recording article information is attached to the accommodating boxes and can be recognized by an identification camera, and the identification camera sends picture information to a control system for processing; the article information includes location information to be transported to;

[0012] The movable support plate lock is used for locking the movable support plate.

[0013] The unloading channel is used for the passage of the accommodating boxes during unloading, and an ultrasonic sensor is installed at the outlet of the unloading channel to detect whether the accommodating boxes are successfully unloaded, and the ultrasonic sensor is in communication connection with the control system.

[0014] The digital mirror system comprises a robot virtual model and a UI interface.

[0015] Further, the object table comprises an object table fixed frame, a movable support plate, a torsion spring hinge and an accommodating box lock buckle, the movable support plate is connected with the object table fixed frame through the torsion spring hinge, and the accommodating box is connected on the movable support plate through the accommodating box lock buckle to prevent the accommodating box from moving due to the movement of the robot.

[0016] Further, the accommodating box lock buckle comprises a buckle and a spring, one end of the buckle is provided with a hook structure and penetrates the movable support plate upward for hooking the accommodating box, and the other end is sleeved with the spring and penetrates the movable support plate downward along the mounting groove.

[0017] Further, the movable support plate lock comprises a lock shell, a permanent magnet stepping motor, a connecting rod and a lock bar, the lock shell is connected on the object table fixed frame through a screw, the lock bar is connected with the permanent magnet stepping motor through the connecting rod, and the permanent magnet stepping motor is in communication connection with the control system.

[0018] Further, the unloading channel is connected on the object table fixed frame through a screw.

[0019] Further, the robot virtual model is modeled and assembled by SOLIDWORKS, repaired and reduced in area by PiXYZ and converted into a file in FBX format; wherein the digital virtual model is drawn and assembled according to the real robot in equal proportion, and has the same geometric size, material property and physical property as the real physical entity.

[0020] Further, the movement of the robot virtual model is driven by the sensor signal of the real robot and is consistent with the real device.

[0021] Further, the three-dimensional engine of the robot virtual model is constructed based on the Unity3D engine.

[0022] Further, signal interpolation is adopted when the real sensor signal of the robot drives the virtual model to move.

[0023] (Three) beneficial effects

[0024] The beneficial effects of the present application are as follows:

[0025] The automatic cruise transportation robot based on digital mirror shadow control of the present application combines digital mirror shadow technology with transportation robots, innovates the structure of the transportation robot, can transport multiple containing boxes containing different information articles at the same time, automatically cruises to the corresponding place according to the next destination of each containing box, and automatically completes the unloading of the articles, so that the value of the automatic cruise function is better reflected, the transportation cost is reduced, and the transportation is more flexible. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 The structure schematic diagram of the automatic cruise transportation robot based on digital mirror shadow control provided for the embodiment of the present application is provided;

[0027] Figure 2 The structure schematic diagram of the object table provided for the embodiment of the present application is provided;

[0028] Figure 3 The structure schematic diagram of the movable support plate lock provided for the embodiment of the present application is provided;

[0029] Figure 4 The principle schematic diagram of the unloading process provided for the embodiment of the present application is provided;

[0030] Figure 5 The process flow chart of the digital mirror shadow system building process provided for the embodiment of the present application is provided.

[0031] REFERENCE NUMERALS:

[0032] 1: object table; 11: object table fixed frame; 12: support plate; 13: torsion spring hinge; 14: containing box lock catch; 141: buckle; 142: spring;

[0033] 2: containing box;

[0034] 3: movable support plate lock; 31: lock shell; 32: permanent magnet stepping motor; 33: connecting rod; 34: lock bar;

[0035] 4: unloading channel; 41: channel; 42: ultrasonic sensor;

[0036] 5: support; 6: depth camera; 7: laser radar; 8: identification camera. DETAILED DESCRIPTION

[0037] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] Please see Figures 1-5 ;

[0039] This invention provides an automated cruising transport robot based on digital mirror control, such as... Figure 1 As shown, it includes a multi-task automatic unloading mechanism and a digital mirroring system for controlling it, wherein,

[0040] The multi-task automatic unloading mechanism includes a loading platform 1, a receiving box 2, a movable support plate lock 3, and an unloading channel 4.

[0041] The platform 1, connected to the robot's mobile chassis via a bracket 5, includes a platform fixing frame 11, a movable support plate 12, a torsion spring hinge 13, and a container lock 14. The movable support plate 12 is connected to the platform fixing frame 11 via the torsion spring hinge 13. The container 2 is connected to the movable support plate 12 via the container lock 14 to prevent the container from moving due to the robot's movement. The container lock 14 includes a latch 141 and a spring 142. One end of the latch 141 has a hook-like structure that passes upward through the movable support plate 12 to hook the container 2, and the other end is fitted with the spring 142 and passes downward along the mounting groove through the movable support plate 12. Multiple movable support plates 12 are provided at the bottom of the platform 1 to support and fix multiple containers 2, with one movable support plate 12 corresponding to one container 2. Figure 1 As shown, the stage frame 11 is divided into four compartments, which can accommodate four storage boxes.

[0042] Multiple container boxes 2 are provided to hold items. Each container box 2 has a QR code that records the item information and can be recognized by a recognition camera 8. The recognition camera 8 sends the image information to the control system for processing. The item information includes the destination information.

[0043] The movable support plate lock 3 is used to lock the movable support plate 12. The movable support plate lock 3 includes a lock housing 31, a permanent magnet stepper motor 32, a connecting rod 33, and a lock bar 34. The lock housing 31 is connected to the platform fixing frame 11 by screws. The lock bar 34 is connected to the permanent magnet stepper motor 32 through the connecting rod 33. The permanent magnet stepper motor 32 is connected to the control system.

[0044] The unloading channel 4 is connected to the fixed frame 11 of the loading platform by screws, is used for accommodating the passing of the box 2 during unloading, and is provided with an ultrasonic sensor 42 at the outlet thereof, which is used for detecting whether the box is smoothly unloaded, and is in communication connection with the control system.

[0045] In the empty state, the movable support plate 12 is turned up under the torque of the torsion spring hinge 13, and the buckle at the front end of the support plate is inserted into the movable support plate lock 3, so that the support plate cannot be turned even if a load is applied.

[0046] In the loading state, that is, the case where the box 2 containing the articles is placed on the loading platform 1, the specific operation mode is as follows: first, the box 2 is placed on the support plate 12 along the outer side of the loading platform outer frame 11, and then the box 2 is pushed inward until a click sound is heard, indicating that the box has been locked by the box buckle 14 on the movable support plate.

[0047] In the unloading case, referring to Figure 4 , first, the robot determines the target position where the articles need to be delivered according to the two-dimensional code on the box 2, and then moves to the position, and the step motor 32 in the corresponding movable support plate lock 3 receives the signal of the control system, starts to rotate clockwise, drives the connecting rod 33 and the lock bar 34 to rotate, and thus releases the originally locked support plate 12. Under the gravity of the box 2 and the articles therein, the support plate 12 rotates around the axis of the torsion spring hinge 13. At this time, due to the action of the box lock buckle 14, the box 2 will not immediately slide downward, thereby avoiding the case that the box 2 is stuck on the loading platform outer frame 1. With the further rotation of the support plate 12, the buckle 141 mounted on the support plate 12 will contact the unloading channel 4, thereby compressing the spring 142, and the buckle 141 moves upward along the mounting groove, thereby releasing the box 2. At this time, the box 2 has enough space to slide into the unloading channel 4. When the box 2 completely separates from the support plate 12, the support plate 12 will rebound and rotate under the action of the torsion spring hinge 13, so that the buckle at the front end of the support plate 12 is reinserted into the movable support plate lock 3, thereby forming a lock. When the ultrasonic sensor 42 at the end of the unloading channel 4 detects that the box is smoothly unloaded, it will feed back the information to the control system.

[0048] The unloading of the box is realized by gravity in the present application, the box slides along the channel, and the consumption of manpower and material resources during unloading is reduced, and the present application is suitable for the transportation of articles which are not easy to break.

[0049] The digital mirror system comprises a robot virtual model and a UI interface.

[0050] The robot virtual model is modeled and assembled by SOLIDWORKS, repaired and reduced by PiXYZ, and converted into a file in FBX format; wherein the digital virtual model is drawn and assembled according to a real robot in equal proportion, and has the same geometric size, material property and physical property as the real physical entity. The motion of the robot virtual model is driven by the sensor signal of the real robot, and is consistent with the real device. The three-dimensional engine of the robot virtual model is constructed based on the Unity3D engine. Signal interpolation is used when the real sensor signal of the robot drives the motion of the virtual model.

[0051] Referring to Figure 5 , the digital mirror system building process includes the following steps:

[0052] 1) A model of the transport robot is established in SOLIDWORKS, reduced and repaired by PiXYZ, and converted into an FBX format and imported into Unity;

[0053] 2) Motion constraints and physical properties are set in Unity, and a UI interface is developed for displaying the motion state and working state of the real robot;

[0054] 3) Sensor data of the real-world transport robot is transmitted to the virtual model through a sensor interface to drive the motion of the virtual model, and through debugging, the virtual model can be synchronized with the real model.

[0055] 4) In order to solve the lag phenomenon when the real sensor signal drives the motion of the virtual model, signal interpolation is used to make the robot motion displayed by the user interface smoother.

[0056] In summary, the present application combines digital mirror technology with a transport robot, innovates the structure of the transport robot, can transport multiple containment boxes at the same time, automatically cruises to the corresponding location according to the next destination of each containment box, and automatically completes the unloading of the goods, which can better reflect the value of the automatic cruise function and make the transportation more flexible.

[0057] The above is only a preferred embodiment of the present application, and is not intended to limit the present application, the patent protection scope of the present application is subject to the claims, any equivalent structural changes made by applying the contents of the specification and drawings of the present application should also be included in the protection scope of the present application.

Claims

1. A digital-mirror-image-control-based automatic cruise transport robot, characterized by, The application relates to a multi-task automatic unloading mechanism and a digital mirror system, wherein the multi-task automatic unloading mechanism comprises: A carrier table (1) is connected to a robot mobile chassis through a support (5), and the bottom of the carrier table (1) is provided with a plurality of movable support plates (12) for supporting and fixing a plurality of containing boxes (2), one movable support plate (12) corresponding to one containing box (2); The containing boxes (2) are provided in a plurality of forms and are used for containing articles, the containing boxes (2) are provided with two-dimensional codes recording article information and can be recognized by an identification camera (8), the identification camera (8) sends picture information to a control system for processing, and the article information comprises destination information to be transported; A movable support plate lock (3) is used for locking the movable support plate (12); An unloading channel (4) is used for the passing of the containing boxes (2) during unloading, an ultrasonic sensor (42) is arranged at the outlet of the unloading channel (4) and is used for detecting whether the containing boxes are successfully unloaded, and the ultrasonic sensor (42) is in communication connection with the control system; The digital mirror system comprises a robot virtual model and a UI interface. The carrier table (1) comprises a carrier table fixed frame (11), movable support plates (12), torsion spring hinges (13) and containing box locks (14), the movable support plates (12) are connected with the carrier table fixed frame (11) through the torsion spring hinges (13), and the containing boxes (2) are connected to the movable support plates (12) through the containing box locks (14) and are prevented from moving due to the movement of the robot; The containing box lock (14) comprises a buckle (141) and a spring (142), one end of the buckle (141) is provided with a hook-shaped structure and penetrates through the movable support plate (12) upwards for hooking the containing box (2), the other end of the buckle (141) is sleeved with the spring (142) and penetrates through the movable support plate (12) downwards along a mounting groove.

2. The digital-mirror-based automatic cruise transport robot according to claim 1, wherein The movable support plate lock (3) comprises a lock shell (31), a permanent magnet stepping motor (32), a connecting rod (33) and a lock strip (34), the lock shell (31) is connected to the carrier table fixed frame (11) through screws, the lock strip (34) is connected with the permanent magnet stepping motor (32) through the connecting rod (33), and the permanent magnet stepping motor (32) is in communication connection with the control system.

3. The digital-mirror-based automatic cruise transport robot according to claim 1, wherein The unloading channel (4) is connected to the carrier table fixed frame (11) through screws.

4. The digital-mirror-based automatic cruise transport robot according to claim 1, wherein The robot virtual model is modeled and assembled by SOLIDWORKS, is repaired and reduced in area by PiXYZ and is converted into a file in an FBX format; The digital virtual model is drawn and assembled according to a real robot in a same proportion, has the same geometric size, material property and physical property as a real physical entity.

5. The digital-mirror-based automatic cruise transport robot according to claim 1, wherein The movement of the robot virtual model is driven by sensor signals of the real robot and is consistent with the real device.

6. The digital-mirror-based automatic cruise transport robot according to claim 1, wherein The three-dimensional engine of the robot virtual model is constructed based on a Unity3D engine.

7. The digital-mirror-based automatic cruise transport robot according to claim 1, wherein, Signal interpolation is adopted when the real sensor signals of the robot drive the movement of the virtual model.

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