An unmanned patrol vehicle and method for rapid tool delivery in factories

Abstract

The present invention relates to an unmanned patrol car and method for rapid tool distribution in a factory. The unmanned patrol car of the present invention comprises a vehicle-side signal receiving device, a tool tray controller, and a tool tray, and is characterized in that: the tool tray adsorbs tools based on an electromagnet; based on the instructions received by the vehicle-mounted signal receiving device, the tool tray controller regulates the tool tray. The present invention equips a factory patrol car with a multifunctional tool tray through the principle of magnetic attraction, which can quickly distribute the tools required by each workstation with different needs in real time, and recycle the idle tools at the workstation according to actual needs, so that the patrol car can make the maximum use of the tool resources in the factory while patrolling safely, improve the efficiency of tool management and control, and reduce operating costs.

Description

Technical Field

[0001] The present invention relates to the technical field of autonomous driving, and in particular to an unmanned patrol vehicle and method for rapid tool distribution in a factory. Background Art

[0002] With the development of social economy and the progress of science and technology, unmanned patrol cars have been commercialized, which will certainly reduce the labor intensity and risks of workers and facilitate people's lives. In recent years, various manufacturers have been developing and manufacturing unmanned patrol cars, which have been used in patrols in living parks or regular patrols by police in a small part; unmanned patrol cars replace human patrols. Compared with human patrols, unmanned patrol cars are less likely to make mistakes and can work uninterruptedly and efficiently.

[0003] An unmanned patrol vehicle used in a factory in the prior art can only perform some simple security patrol work, cannot take into account other work, and has a single function. Summary of the invention

[0004] In view of the above deficiencies in the prior art, the present invention provides an unmanned patrol vehicle and method for rapid tool delivery in a factory, which can not only maximize the utilization of tool resources in the factory, but also improve tool management efficiency and reduce operating costs.

[0005] In order to achieve the above-mentioned purpose and other related purposes, the technical solution provided by the present invention is as follows:

[0006] A factory fast tool delivery unmanned patrol vehicle, comprising a mobile phone terminal located at a workstation, an unmanned patrol vehicle chassis, and a vehicle-end signal receiving device, characterized in that a rotating shaft driven by a servo motor is rotatably installed at the top center of the unmanned patrol vehicle chassis, a tool tray is provided at the top of the rotating shaft, and a plurality of electromagnets for adsorbing tools are circumferentially provided at the bottom edge of the tool tray, a material drop opening corresponding to the electromagnet is provided on one side of the top of the unmanned patrol vehicle chassis, a material receiving tray is provided on the side of the unmanned patrol vehicle chassis, the material drop opening and the material receiving tray are connected through a channel inside the unmanned patrol vehicle chassis, the servo motor and the electromagnet are regulated by a tool tray controller, the mobile phone terminal sends tool requirements and recovery instructions to the vehicle-mounted signal receiving device, and the vehicle-mounted signal receiving device sends the instructions to the tool tray controller to recover or release the corresponding tools after receiving the instructions.

[0007] Furthermore, the output port of the tool tray controller is electrically connected to the electromagnet and the servo motor respectively. When the output port is powered on or off, the tool tray is rotated to a corresponding position and the corresponding tool is recovered or released.

[0008] In order to achieve the above-mentioned and other related purposes, the present invention also provides a method for a factory to quickly distribute tools to an unmanned patrol vehicle, comprising the following steps:

[0009] Step S1: The unmanned patrol vehicle receives a delivery instruction from the target workstation node g at the initial workstation node c;

[0010] Step S2: according to the designated tool instruction, confirm whether the tool tray has the tool, if yes, proceed to step S4, otherwise proceed to step S3;

[0011] Step S3: Determine whether the tool is idle at other workstation nodes. If it is idle, based on the optimal path planning algorithm of DijksSra, the unmanned patrol vehicle arrives at the workstation node h where the idle tool is located, obtains the tool at the workstation node h, and then proceeds to step S5. If it is not idle, send a message of "temporarily no such tool" to the target workstation node g;

[0012] Step S4: Use the A* algorithm to find the optimal path to the target workstation node g. In the OPEN table, take the initial workstation node c as the starting point and instruct the unmanned patrol vehicle to reach the target workstation node g;

[0013] Step S5: Use the A* algorithm to find the optimal path to the target workstation node g. In the OPEN table, take the workstation node h as the starting point, delete the initial workstation node c, and instruct the unmanned patrol vehicle to reach the target workstation node g.

[0014] Furthermore, it also includes a step S6: the tool tray controller controls the corresponding electromagnet of the tool tray to rotate to the outside and release the tool, the tool falls into the drop port, and then falls into the receiving tray through the channel, and the work station obtains the corresponding tool.

[0015] Further, in step S3, the optimal path planning algorithm of DijksSra includes the following steps:

[0016] Step S31: Obtain node information of each workstation in the factory;

[0017] Step S32: setting the unmanned patrol vehicle initial node c and the target workstation node h;

[0018] Step S33: Mark the initial node c of the unmanned patrol vehicle, set the workstation road network information sets M and N, where M represents the weights and path values ​​of the points adjacent to node c, and N represents the weight of the target workstation node g; then traverse the minimum weight node k in the set M, and the weight is d k , the path is p k , remove node k to set N, and update the weight d of node k’s neighboring node j j and path p j , until the set M is an empty set, then the path corresponding to the node c to the target workstation node h is output.

[0019] In order to achieve the above-mentioned purpose and other related purposes, the present invention also provides a computer-readable storage medium storing one or more programs, wherein the computer-readable storage medium stores one or more computer programs, and when the computer program is executed by a processor, it completes a method described in any one of claims 4 to 6.

[0020] The present invention has the following positive effects:

[0021] The present invention equips a factory patrol car with a multifunctional tool tray through the principle of magnetic attraction. The corresponding optimal path can be selected according to the actual situation, and the tools required by the workstations with different needs can be quickly delivered to the workstations, and the idle tools at the workstations can be recovered according to actual needs. The patrol car can make the maximum use of the tool resources in the factory while patrolling safely, thereby improving the efficiency of tool management and control and reducing operating costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a flow chart (I) of the present invention;

[0023] Figure 2 This is the flow chart of the present invention (II);

[0024] Figure 3 It is a structural schematic diagram of the tool tray of the present invention;

[0025] Figure 4 It is a flow chart of the optimal path planning algorithm of DijksSra of the present invention;

[0026] Figure 5 It is a structural schematic diagram of the unmanned patrol vehicle of the present invention.

[0027] Explanation of the numbers in the figure: 1-unmanned patrol vehicle chassis, 2-tool tray, 3-dropping port, 5-receiving tray, 6-channel, 7-tool, 8-tool tray controller, 10-rotating axis, 11-servo motor, 12-electromagnet. DETAILED DESCRIPTION

[0028] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0029] Example 1: Figure 5As shown, a factory fast tool delivery unmanned patrol vehicle includes a mobile phone terminal located at a workstation, an unmanned patrol vehicle chassis 1, and a vehicle-end signal receiving device, characterized in that: a rotating shaft 10 driven by a servo motor 11 is rotatably installed at the top center of the unmanned patrol vehicle chassis 1, a tool tray 2 is provided at the top of the rotating shaft 10, and a plurality of electromagnets 12 for adsorbing tools 7 are circumferentially provided at the bottom edge of the tool tray 2, a drop opening 3 corresponding to the electromagnet 12 is provided on one side of the top of the unmanned patrol vehicle chassis 1, and a receiving tray 5 is provided on the side of the unmanned patrol vehicle chassis, the drop opening 3 and the receiving tray 5 are connected through a channel 6 inside the unmanned patrol vehicle chassis, the servo motor 11 and the electromagnet 12 are regulated by the tool tray controller 8, the mobile phone terminal sends tool requirements and recovery instructions to the vehicle-mounted signal receiving device, and the vehicle-mounted signal receiving device sends the instructions to the tool tray controller 8 to recover or release the corresponding tool 7 after receiving the instructions.

[0030] In a specific embodiment of the present invention, the output port of the tool tray controller 8 is electrically connected to the electromagnet 12 and the servo motor 11 respectively. When the output port is powered on or off, the tool tray 2 is rotated to a corresponding position and the corresponding tool is recovered or released.

[0031] Among them, the tool tray controller can be an MCU or PLC programmable logic controller, which is connected to a host computer. The storage medium of the host computer stores one or more programs, and the program includes information of all workstations and tool distribution information, which is used to judge the tools according to the tool information required by the workers, and transport the required tools to specific workstations through instructions, and then automatically drop the tools into the corresponding tool tray.

[0032] Different electromagnets 12 at different positions on the tool tray correspond to different tool numbers, and the tool numbers correspond to the pins of the tool tray controller ports. 1-N foot, the pin 1-N The foot is powered on or off, and the corresponding tool is recovered or released.

[0033] Specifically, Figure 3 As shown, first, the different tool positions on the tool tray are numbered Tool 1, Tool 2, Tool 3, ..., corresponding to pin1, pin2, pin3, ... of the tool tray controller. When a tool is stored on the tool tray, the corresponding pin is energized, and the electromagnet generates magnetic attraction to firmly adsorb the tool on the tool tray; when the controller receives the tool demand instruction, the corresponding pin is disconnected, and the tool falls to be taken by the worker at the workstation; when the controller receives the tool recovery instruction, the tool tray automatically switches to the vacant position of the tool, and when it senses that the worker places the tool in the corresponding control area, the pin is energized to adsorb the tool on the tool position.

[0034] In order to achieve the above-mentioned and other related purposes, the present invention also provides a method for fast tool distribution in a factory using an unmanned patrol vehicle.

[0035] Specifically, Figure 2 As shown, a method for a factory to quickly distribute tools to an unmanned patrol vehicle includes the following steps:

[0036] Step S1: The worker clicks on the required tool information through the mobile phone APP program, and the unmanned patrol vehicle receives the target workstation node g at the initial workstation node c according to the instruction and sends a delivery instruction for the specified tool;

[0037] Step S2: confirming that the tool tray has the tool required by the worker according to the designated tool instruction;

[0038] Step S4: Use the A* algorithm to find the optimal path to the target workstation node g. In the OPEN table, take the initial workstation node c as the starting point and instruct the unmanned patrol vehicle to reach the target workstation node g;

[0039] Step S6: The tool tray controller controls the corresponding electromagnet of the tool tray to rotate to the outside and release the tool, and the tool falls into the drop port and then falls into the receiving tray through the channel, and the work station obtains the corresponding tool.

[0040] Embodiment 2: An unmanned patrol vehicle for rapid tool delivery in a factory comprises an unmanned patrol vehicle chassis 1, a vehicle-side signal receiving device, and a mobile phone APP program terminal. The vehicle-side signal receiving device is a common circuit, including an antenna, an amplifier, an attenuator, a controller, and a signal processor, etc.

[0041] In a specific embodiment of the present invention, during the patrol process, the unmanned patrol vehicle Figure 1 The specific steps are as follows:

[0042] Step S1: The worker clicks on the required tool information through the mobile phone APP program, and the unmanned patrol vehicle receives the target workstation node g at the initial workstation node c according to the instruction and sends a delivery instruction for the specified tool;

[0043] Step S2: confirming that the tool tray does not have the tool required by the worker according to the designated tool instruction;

[0044] Step S3: Determine whether the tool is idle at other workstation nodes. If it is idle, based on the optimal path planning algorithm of DijksSra, the unmanned patrol vehicle arrives at the workstation node h where the idle tool is located, obtains the tool at the workstation node h, and then proceeds to step S5;

[0045] Step S5: Use the A* algorithm to find the optimal path to the target workstation node g. In the OPEN table, take the workstation node h as the starting point, delete the initial workstation node c, and instruct the unmanned patrol vehicle to reach the target workstation node g;

[0046] Step S6: The tool tray controller controls the corresponding electromagnet of the tool tray to rotate to the outside and release the tool, and the tool falls into the drop port and then falls into the receiving tray through the channel, and the work station obtains the corresponding tool.

[0047] In a specific embodiment of the present invention, Figure 4 As shown, in step S3, the optimal path planning algorithm of DijksSra includes the following steps:

[0048] Step S31: Obtain node information of each workstation in the factory;

[0049] Step S32: setting the unmanned patrol vehicle initial node c and the target workstation node h;

[0050] Step S33: Mark the initial node c of the unmanned patrol vehicle, set the workstation road network information sets M and N, where M represents the weights and path values ​​of the points adjacent to node c, and N represents the weight of the target workstation node g; then traverse the minimum weight node k in the set M, and the weight is d k , the path is p k , remove node k to set N, and update the weight d of node k’s neighboring node j j and path p j , until the set M is an empty set, then the path corresponding to the node c to the target workstation node h is output.

[0051] Embodiment 3: A factory fast tool delivery unmanned patrol vehicle, including a mobile phone APP program terminal, an unmanned patrol vehicle chassis 1, and a vehicle-side signal receiving device, such as Figure 1 The specific steps are as follows:

[0052] Step S1: The worker clicks on the required tool information through the mobile phone APP program, and the unmanned patrol vehicle receives the target workstation node g at the initial workstation node c according to the instruction and sends a delivery instruction for the specified tool;

[0053] Step S2: confirming that the tool tray does not have the tool required by the worker according to the designated tool instruction;

[0054] Step S3: Determine whether the tool is idle at other workstation nodes. If not, send a message of "temporarily no such tool" to the target workstation node g, so that it waits for an idle tool to be recovered and utilized in accordance with the method of Example 2.

[0055] To sum up, the main purpose of the present invention is to equip factory patrol cars with a multifunctional tool tray through the principle of magnetic attraction, which can quickly deliver the tools required by each workstation with different needs in real time, and recycle idle tools at the workstation according to actual needs, so that the patrol car can make the maximum use of tool resources in the factory while patrolling safely, thereby improving tool management efficiency and reducing operating costs.

[0056] The above embodiments are merely illustrative of the principles of the present invention and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. An unmanned patrol vehicle for rapid tool delivery in a factory, comprising a mobile phone terminal located at a workstation, an unmanned patrol vehicle chassis (1), and a vehicle-side signal receiving device, characterized in that: A rotating shaft (10) driven by a servo motor (11) is rotatably mounted at the top center of the unmanned patrol vehicle chassis (1), a tool tray (2) is provided at the top of the rotating shaft (10), and a plurality of electromagnets (12) for adsorbing tools (7) are circumferentially provided at the bottom edge of the tool tray (2), a material drop opening (3) corresponding to the electromagnet (12) is provided at one side of the top of the unmanned patrol vehicle chassis (1), a material receiving tray (5) is provided at the side of the unmanned patrol vehicle chassis, the material drop opening (3) and the material receiving tray (5) are connected via a channel (6) inside the unmanned patrol vehicle chassis, the servo motor (11) and the electromagnet (12) are controlled by a tool tray controller (8), a mobile phone terminal sends a tool demand and a recovery command to a vehicle-mounted signal receiving device, and the vehicle-mounted signal receiving device sends the command to the tool tray controller (8) after receiving the command to recover or release the corresponding tool (7); a delivery method for a factory fast tool delivery unmanned patrol vehicle comprises: Step S1. The unmanned patrol vehicle receives a delivery instruction from the target workstation node g at the initial workstation node c; Step S2. According to the specified tool instruction, confirm whether the tool tray has the tool, if yes, proceed to step S4, otherwise proceed to step S3; Step S3. Determine whether the tool is idle at other workstation nodes. If it is idle, based on the optimal path planning algorithm of DijksSra, the unmanned patrol vehicle arrives at the workstation node h where the idle tool is located, obtains the tool at the workstation node h, and then proceeds to step S6. If it is not idle, send a "temporarily no such tool" message to the target workstation node g; Step S4. Use the A* algorithm to find the optimal path to the target workstation node g. In the OPEN table, take the initial workstation node c as the starting point and instruct the unmanned patrol vehicle to reach the target workstation node g; Step S5. Use the A* algorithm to find the optimal path to the target workstation node g. In the OPEN table, take the workstation node h as the starting point, delete the initial workstation node c, and instruct the unmanned patrol vehicle to reach the target workstation node g; In step S3, the optimal path planning algorithm of DijksSra includes the following steps: Step S31. Obtain node information of each workstation in the factory; Step S32. Setting the unmanned patrol vehicle initial node c and the target station node h; Step S33. Mark the initial node c of the unmanned patrol vehicle, set the workstation road network information sets M and N, where M represents the weights and path values ​​of the points adjacent to node c, and N represents the weight of the target workstation node g. Then, traverse the minimum weight node k in the set M, with a weight of d k , the path is p k , remove node k to set N, and update the weight d of node k’s neighboring node j j and path p j , until the set M is an empty set, then the path corresponding to the node c to the target workstation node h is output; Step S6. The tool tray controller controls the corresponding electromagnet of the tool tray to rotate to the outside and release the tool, and the tool falls into the drop opening (3), and then falls into the receiving tray (5) through the channel, and the work station obtains the corresponding tool.

2. The factory rapid tool delivery unmanned patrol vehicle according to claim 1, characterized in that: The output port of the tool tray controller (8) is electrically connected to the electromagnet (12) and the servo motor (11) respectively. When the output port is powered on or off, the tool tray (2) is rotated to a corresponding position and the corresponding tool is recovered or released.

3. The factory rapid tool delivery unmanned patrol vehicle according to claim 1 is characterized by: Different electromagnets (12) at different positions on the tool tray correspond to different tool numbers, and the tool numbers correspond to the port pins of the tool tray controller. 1-N foot, the pin 1-N The foot is powered on or off, and the corresponding tool is recovered or released.

4. A computer-readable storage medium storing one or more programs, characterized in that: The computer-readable storage medium stores one or more computer programs, and when the computer programs are executed by the processor, the delivery method of the factory rapid tool delivery unmanned patrol vehicle described in claim 1 is completed.

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