Liquid material carrying method and device, mobile robot and storage medium

Abstract

The embodiment of the application provides a kind of liquid material carrying method, device, mobile robot and storage medium, the method comprises: applied to the processor of mobile robot, mobile robot further includes water tank, water tank is used to collect the liquid leakage of liquid material, processor can be in the case where receiving carrying material instruction, determine whether the remaining volume of water tank is greater than preset volume, in the case where remaining volume is greater than preset volume, control mobile robot to execute the carrying task of liquid material indicated by carrying instruction, in the case where remaining volume is not greater than preset volume, control mobile robot to move to preset drainage position and drain, and control mobile robot to execute the carrying task of liquid material indicated by carrying instruction.The embodiment of the application can not only collect the liquid leakage of liquid material, but also can immediately discharge the liquid in water tank, prevent the liquid in water tank from overflowing due to too much, effectively handle the liquid leakage problem of liquid material.

Description

Technical Field

[0001] This application relates to the field of material handling technology, and in particular to a method, apparatus, mobile robot, and storage medium for handling liquid materials. Background Technology

[0002] With the development of factory automation technology and the gradual increase in automation levels, material handling can now be accomplished by mobile robots. For example, AGVs (Automated Guided Vehicles) capable of carrying materials can be dispatched to achieve material handling. Since the materials may be non-dry materials with liquid on their surface, i.e., liquid materials, leakage may occur during the handling of liquid materials by mobile robots.

[0003] Currently, when mobile robots handle liquid materials, controlling the robot's handling speed prevents leakage and ensures the stability of the liquid materials during transportation. However, even with this method, leakage still occurs, necessitating a solution to address this leakage problem. Summary of the Invention

[0004] The purpose of this application is to provide a method, apparatus, mobile robot, and storage medium for handling liquid materials, so as to address the leakage problem of liquid materials in the event of leakage. The specific technical solution is as follows:

[0005] In a first aspect, embodiments of this application provide a method for handling liquid materials, applied to a processor of a mobile robot, wherein the mobile robot further includes a water tank for collecting leakage of the liquid material, and the method includes:

[0006] Upon receiving a material handling instruction, determine whether the remaining volume of the water tank is greater than the preset volume;

[0007] If the remaining volume is greater than the preset volume, the mobile robot is controlled to perform the task of transporting liquid material as indicated by the transport command;

[0008] If the remaining volume is not greater than the preset volume, control the mobile robot to move to the preset drainage position to drain the liquid, and control the mobile robot to perform the task of transporting liquid materials as indicated by the transport command.

[0009] Optionally, the step of controlling the mobile robot to move to the preset drainage position to drain the liquid includes:

[0010] Obtain the density of the liquid in the water tank;

[0011] Based on the density and the predetermined correspondence between liquid density and viscosity, the target viscosity of the liquid is determined;

[0012] The mobile robot is controlled to move to a preset drainage position and drain the liquid at a drainage speed corresponding to the target viscosity.

[0013] Optionally, the mobile robot further includes a pressure regulating pump, which is located at the outlet of the water tank;

[0014] The step of controlling the mobile robot to move to the preset drainage position and draining the liquid according to the drainage speed corresponding to the target viscosity includes:

[0015] Based on the target viscosity and the predetermined correspondence between the liquid viscosity and the speed of the pressure regulating pump, the target speed of the pressure regulating pump is determined. The correspondence between the liquid viscosity and the speed of the pressure regulating pump is determined based on the speed of the pressure regulating pump required to drain the liquid of that viscosity from the water tank within a first preset time period from the outlet.

[0016] The mobile robot is controlled to move to the preset drainage position, and the pressure regulating pump is controlled to rotate based on the target rotation speed, so that the outlet drains the liquid at the drainage speed corresponding to the target viscosity.

[0017] Optionally, the step of controlling the rotation of the pressure regulating pump based on the target rotation speed includes:

[0018] Control the pressure regulating pump to rotate at the target speed; or,

[0019] Based on the relationship between the second preset time for emptying the liquid in the water tank and the first preset time, the target speed of the pressure regulating pump is adjusted to obtain the adjusted speed.

[0020] The pressure regulating pump is controlled to rotate at the adjusted speed.

[0021] Optionally, the mobile robot also includes a gyroscope;

[0022] Before the step of draining the liquid at a draining rate corresponding to the target viscosity, the method further includes:

[0023] Determine whether the target viscosity is greater than the preset viscosity;

[0024] When the target viscosity is greater than the preset viscosity, the operating state of the mobile robot is determined based on the attitude information of the mobile robot detected by the gyroscope.

[0025] Based on the operating state, the mobile robot is controlled to perform rotational and / or acceleration actions to cause the liquid in the water tank to slosh.

[0026] Optionally, the water tank includes a liquid level sensor and a weight sensor, with the liquid level sensor located at the top of the water tank and the weight sensor located at the bottom of the water tank;

[0027] The step of obtaining the density of the liquid in the water tank includes:

[0028] The distance between the liquid level sensor and the liquid level sensor is obtained, as well as the weight of the liquid is obtained, as detected by the weight sensor.

[0029] The height of the liquid is calculated based on the distance and the distance between the liquid level sensor and the bottom of the water tank;

[0030] The volume of the liquid is calculated based on the height and the area of ​​the bottom surface of the water tank;

[0031] The density of the liquid is calculated based on the weight and volume.

[0032] Optionally, there are multiple weight sensors, and the step of obtaining the weight of the liquid detected by the weight sensors includes:

[0033] Obtain the weight of the water tank and liquid detected by each weight sensor;

[0034] For each weight sensor, the weight of the liquid is calculated based on the weight of the water tank and the liquid, as well as the predetermined initial weight of the water tank corresponding to that weight sensor.

[0035] The average weight of multiple liquids is calculated as the weight of the liquid detected by the weight sensor.

[0036] Optionally, before the step of calculating the weight of the liquid based on the weight of the water tank and the liquid, and the predetermined initial weight of the water tank corresponding to the weight sensor, the method further includes:

[0037] For each weight sensor, the weight of the water tank detected by that weight sensor is acquired multiple times when there is no liquid in the water tank;

[0038] The average weight of the water tank obtained from multiple measurements is calculated as the predetermined initial weight of the water tank corresponding to the weight sensor.

[0039] Optionally, a manual drain valve is provided at the bottom of the water tank; the method further includes:

[0040] Determine if the pressure regulating pump is malfunctioning;

[0041] In the event of a malfunction of the pressure regulating pump, a fault signal is issued, allowing personnel to drain the liquid from the water tank via the manual drain valve.

[0042] Optionally, before the step of determining whether the remaining volume of the water tank is greater than the preset volume, the method further includes:

[0043] Obtain the remaining battery power of the mobile robot and determine whether the remaining battery power is greater than a preset battery power.

[0044] If the remaining power is greater than the preset power, then the step of determining whether the remaining volume of the water tank is greater than the preset volume is executed.

[0045] If the remaining power is not greater than the preset power, the mobile robot is controlled to move to the preset drainage position to drain the liquid and issue a warning signal so that the staff can confirm whether the remaining power can support the mobile robot to complete the task of transporting liquid materials as indicated by the transport command, and the warning signal is lifted after confirmation.

[0046] When the warning signal is lifted, control the mobile robot to perform the task of transporting liquid materials as instructed by the transport command.

[0047] Optionally, the mobile robot further includes a roller for placing the liquid material, a water receiving tray is provided above the water tank, the upper part of the water receiving tray is provided with a groove that fits into the roller, and the lower part of the water receiving tray is shaped like a sloping funnel.

[0048] A visible transparent water column is installed on the outside of the water tank so that staff can observe the height of the liquid inside the tank through the visible transparent water column.

[0049] Secondly, embodiments of this application provide a liquid material handling device applied to a processor of a mobile robot. The mobile robot further includes a water tank for collecting leaked liquid from the liquid material. The device includes:

[0050] The volume determination module is used to determine whether the remaining volume of the water tank is greater than the preset volume when a material handling instruction is received.

[0051] The first control module is used to control the mobile robot to perform the handling task of liquid material indicated by the handling instruction when the remaining volume is greater than the preset volume.

[0052] The second control module is used to control the mobile robot to move to the preset drainage position to drain the liquid when the remaining volume is not greater than the preset volume, and to control the mobile robot to perform the task of transporting liquid materials as indicated by the transport command.

[0053] Thirdly, embodiments of this application provide a mobile robot, which includes a processor and a water tank, wherein:

[0054] The water tank is used to collect leaked liquid from materials containing liquid.

[0055] The processor is configured to, upon receiving a material handling instruction, determine whether the remaining volume of the water tank is greater than a preset volume; if the remaining volume is greater than the preset volume, control the mobile robot to perform the material handling task indicated by the handling instruction; if the remaining volume is not greater than the preset volume, control the mobile robot to move to a preset drain position to drain the liquid, and control the mobile robot to perform the material handling task indicated by the handling instruction.

[0056] Optionally, the processor is specifically configured to: obtain the density of the liquid in the water tank; determine the target viscosity of the liquid based on the density and a predetermined correspondence between liquid density and viscosity; control the mobile robot to move to a preset drainage position and drain the liquid at a drainage speed corresponding to the target viscosity.

[0057] Optionally, the mobile robot further includes a pressure regulating pump; the pressure regulating pump is located at the outlet of the water tank; wherein:

[0058] The processor is specifically configured to determine the target rotation speed of the pressure regulating pump based on the target viscosity and a predetermined correspondence between liquid viscosity and the rotation speed of the pressure regulating pump; control the mobile robot to move to the preset drainage position; and control the rotation of the pressure regulating pump based on the target rotation speed so that the outlet drains the liquid at a drainage speed corresponding to the target viscosity. The correspondence between the liquid viscosity and the rotation speed of the pressure regulating pump is determined based on the rotation speed of the pressure regulating pump required to drain liquid of that viscosity from the water tank within a first preset time period.

[0059] The pressure regulating pump is used to control the discharge rate of the liquid;

[0060] The outlet is used to drain the liquid at a rate corresponding to the target viscosity.

[0061] Optionally, the mobile robot further includes a gyroscope; wherein:

[0062] The processor is further configured to, before the step of draining the liquid at the draining speed corresponding to the target viscosity, determine whether the target viscosity is greater than a preset viscosity; if the target viscosity is greater than the preset viscosity, determine the operating state of the mobile robot based on the attitude information of the mobile robot detected by the gyroscope; and based on the operating state, control the mobile robot to perform rotation and / or acceleration actions to cause the liquid in the water tank to slosh.

[0063] The gyroscope is used to detect the attitude information of the mobile robot.

[0064] Optionally, the water tank includes a liquid level sensor and a weight sensor, wherein the liquid level sensor is disposed at the top of the water tank and the weight sensor is disposed at the bottom of the water tank; wherein:

[0065] The processor is specifically configured to acquire the distance between the liquid level sensor and the liquid level sensor, and the weight of the liquid detected by the weight sensor; calculate the height of the liquid based on the distance and the distance between the liquid level sensor and the bottom of the tank; calculate the volume of the liquid based on the height and the area of ​​the bottom of the tank; and calculate the density of the liquid based on the weight and the volume.

[0066] The liquid level sensor is used to detect the distance between the liquid surface and the liquid level sensor.

[0067] The weight sensor is used to detect the weight of the liquid.

[0068] Optionally, a manual drain valve is provided at the bottom of the water tank; wherein:

[0069] The processor is specifically used to determine whether the pressure regulating pump is malfunctioning; in the event of a malfunction of the pressure regulating pump, a fault signal is issued so that the operator can drain the liquid in the water tank through the manual drain valve.

[0070] The manual drain valve is used to allow the worker to drain the liquid in the water tank.

[0071] Optionally, the mobile robot further includes a roller for placing the liquid material, a water receiving tray is provided above the water tank, the upper part of the water receiving tray is provided with a groove that fits into the roller, and the lower part of the water receiving tray is shaped like a sloping funnel.

[0072] A visible transparent water column is installed on the outside of the water tank so that staff can observe the height of the liquid inside the tank through the visible transparent water column.

[0073] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements any of the methods described in the first aspect above.

[0074] Beneficial effects of the embodiments in this application:

[0075] In the solution provided in this application embodiment, a processor is applied to a mobile robot. The mobile robot also includes a water tank for collecting leaked liquid from materials containing liquid. Upon receiving a material handling instruction, the processor can determine whether the remaining volume of the water tank is greater than a preset volume. If the remaining volume is greater than the preset volume, the processor controls the mobile robot to perform the material handling task indicated by the handling instruction. If the remaining volume is not greater than the preset volume, the processor controls the mobile robot to move to a preset drain position to drain the liquid and also controls the mobile robot to perform the material handling task indicated by the handling instruction. Since the water tank is used to collect leaks from liquid materials, upon receiving a material handling instruction, the remaining volume of the water tank can be compared with a preset volume. If the remaining volume is greater than the preset volume, the mobile robot continues to handle the liquid materials. If the remaining volume is less than the preset volume, the mobile robot drains the liquid from the tank and then continues handling the liquid materials. This not only collects leaks from liquid materials but also allows for immediate drainage of the tank when the remaining volume is insufficient, effectively preventing overflow during the handling of liquid materials. Therefore, it effectively addresses the problem of liquid material leakage. Of course, implementing any product or method of this application does not necessarily require achieving all of the advantages described above simultaneously. Attached Figure Description

[0076] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other embodiments can be obtained based on these drawings.

[0077] Figure 1 This is a schematic diagram of the structure of a mobile robot provided in an embodiment of this application;

[0078] Figure 2 A flowchart illustrating a method for handling liquid materials provided in an embodiment of this application;

[0079] Figure 3 This is a first schematic diagram of a mobile robot provided in an embodiment of this application;

[0080] Figure 4 for Figure 2 A specific flowchart of step S203 in the illustrated embodiment;

[0081] Figure 5 This is a second schematic diagram of the mobile robot provided in the embodiments of this application;

[0082] Figure 6 for Figure 4 A specific flowchart of step S403 in the illustrated embodiment;

[0083] Figure 7 Based on Figure 4 The illustrated embodiment is a specific flowchart of agitating the liquid in a water tank.

[0084] Figure 8 for Figure 4 A specific flowchart of step S401 in the illustrated embodiment;

[0085] Figure 9 This is a third schematic diagram of the mobile robot provided in the embodiments of this application;

[0086] Figure 10 This is a specific flowchart for determining the initial weight of a water tank according to an embodiment of this application;

[0087] Figure 11 This is a specific flowchart for determining the remaining battery power provided in an embodiment of this application;

[0088] Figure 12 This is a specific flowchart of a liquid material handling method provided in an embodiment of this application;

[0089] Figure 13 This is a schematic diagram of the structure of a liquid material handling device provided in an embodiment of this application. Detailed Implementation

[0090] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of this application.

[0091] To address the leakage of liquid materials, this application provides a method, apparatus, mobile robot, computer-readable storage medium, and computer program product for handling liquid materials. The following section first describes a method for handling liquid materials provided by this application.

[0092] The liquid material handling method provided in this application embodiment can be applied to, for example... Figure 1 The mobile robot shown has a processor 110, and the mobile robot may also include a water tank 120 for collecting leaks of liquid materials.

[0093] like Figure 2 As shown, a method for handling liquid materials, applied to the processor of a mobile robot, the method includes:

[0094] S201, Upon receiving a material handling instruction, determine whether the remaining volume of the water tank is greater than the preset volume; if the remaining volume is greater than the preset volume, proceed to step S202; if the remaining volume is not greater than the preset volume, proceed to step S203.

[0095] S202, control the mobile robot to perform the task of transporting liquid materials as indicated by the transport command;

[0096] S203, control the mobile robot to move to the preset drainage position to drain the liquid, and control the mobile robot to perform the task of transporting liquid materials as indicated by the transport command.

[0097] As can be seen, in the solution provided in this application embodiment, the processor is applied to the mobile robot, and the mobile robot also includes a water tank. The water tank is used to collect the leakage of liquid materials. When the processor receives a material handling instruction, it can determine whether the remaining volume of the water tank is greater than the preset volume. If the remaining volume is greater than the preset volume, the processor controls the mobile robot to perform the material handling task indicated by the handling instruction. If the remaining volume is not greater than the preset volume, the processor controls the mobile robot to move to the preset drain position to drain the liquid and controls the mobile robot to perform the material handling task indicated by the handling instruction. Since the water tank is used to collect leaks of liquid materials, upon receiving a material handling instruction, the remaining volume of the water tank is compared with a preset volume. If the remaining volume is greater than the preset volume, the mobile robot continues to handle the liquid materials. If the remaining volume is less than the preset volume, the mobile robot drains the liquid from the tank and then continues handling the liquid materials. This not only collects leaks of liquid materials but also allows for immediate drainage of the liquid from the tank when the remaining volume is insufficient, effectively preventing excessive liquid from overflowing during the handling of liquid materials. Therefore, it effectively handles the leakage problem of liquid materials.

[0098] In scenarios where mobile robots handle materials, some of the materials being transported may contain liquids. If these liquids leak, they can contaminate the handling environment. Therefore, when mobile robots handle liquid materials, it is necessary to collect any leaks and drain the liquid as soon as possible if a significant amount is collected.

[0099] In one embodiment, the mobile robot may be equipped with a water tank to collect leaked liquid containing liquid materials. The water tank can be a cuboid, cylinder, cube designed according to actual needs, etc., and is not specifically limited thereto. In another embodiment, the mobile robot has a mobile chassis, and the water tank can be mounted on the mobile chassis. For example, as... Figure 3 As shown, a water tank 301 is provided on the mobile chassis of the AGV. When liquid material 302 is placed on multiple rollers 303 arranged in parallel, and there is leakage of liquid material 302, the liquid can flow from the gap between two adjacent rollers into the water tank 301 below. The water tank 301 is located on the lower side of the rollers 303.

[0100] In high-precision component and high-cleanliness handling scenarios, the parts to be moved by mobile robots need to be placed in water tanks. For example, when moving silicon wafers, the wafers need to be placed in a water tank before the mobile robot can move them; that is, the liquid material is a water tank containing silicon wafers and water. So, if... Figure 3 As shown, during the process of the mobile robot placing liquid material 302 on multiple rollers 303 arranged in parallel for transportation, if the water tank leaks or water splashes out due to the shaking of the mobile robot, the water can flow from the gap between the rollers to the water tank 301 on the lower side of the rollers.

[0101] Since the water tank has a limited capacity, if the mobile robot has already performed multiple tasks involving the handling of liquid materials, the remaining capacity of the water tank may not be sufficient to collect any leaks in the next handling task, leading to liquid overflow during the next handling task. To ensure that the mobile robot does not overflow the water tank when performing tasks involving the handling of liquid materials, the processor can pre-judge the remaining capacity of the water tank upon receiving the material handling instruction. This involves comparing the remaining capacity of the water tank with a preset capacity to determine if the remaining capacity is greater than the preset capacity, i.e., executing step S201. The preset capacity can be set according to actual conditions, such as one-fifth of the maximum capacity of the water tank, etc., and is not specifically limited here.

[0102] To determine the remaining volume in the water tank, in one implementation, the processor can acquire the current liquid volume of the water tank in real time. Upon receiving a material handling instruction, it calculates the remaining volume of the water tank based on the acquired current liquid volume and the maximum volume of the water tank, and then compares the remaining volume with a preset volume. Alternatively, the processor could also acquire the current liquid volume, calculate the remaining volume based on the acquired current liquid volume and the maximum volume of the water tank, and then compare the remaining volume with the preset volume upon receiving a material handling instruction; both methods are reasonable.

[0103] In another implementation, the processor can acquire and record the current liquid volume of the water tank at preset intervals. When the processor receives a material handling instruction, it calculates the remaining volume of the water tank based on the recorded current liquid volume and the maximum volume of the water tank, and then compares the remaining volume with the preset volume. The preset interval can be manually set according to the actual scenario. For example, the user can fix the main control parameters through the mobile robot's display screen or the electronic device controlling the mobile robot, setting the preset interval to a fixed parameter, such as 30 seconds or 1 minute.

[0104] If the processor determines that the remaining volume is greater than the preset volume, it means that the remaining volume of the water tank is large. During the next liquid material handling task, the liquid in the water tank will not overflow. Then, the processor can control the mobile robot to execute the liquid material handling task indicated by the handling command, that is, execute step S202.

[0105] If the processor determines that the remaining volume is not greater than the preset volume, it means that the remaining volume of the water tank is small. During the process of the mobile robot continuing to perform the next liquid material handling task, the liquid in the water tank is likely to overflow. In this case, the processor can control the mobile robot to move to the preset drain position to drain the liquid, and after draining the liquid, continue to control the mobile robot to perform the liquid material handling task indicated by the handling command.

[0106] For example, the processor obtains the current liquid volume of the water tank at intervals h. Assuming the obtained current liquid volume is L, and this current liquid volume L is recorded, when the processor receives a material handling instruction, it calculates the remaining volume L0-L of the water tank based on the recorded current liquid volume L and the maximum volume L0 of the water tank. Then, it compares the remaining volume L0-L of the water tank with the preset volume L. 预设 Comparison, where L0-L is greater than L 预设In this case, the processor can control the AGV to execute the handling task of liquid materials as indicated by the handling instruction; when L0-L is not greater than L 预设 In this case, the processor can control the AGV to move to the preset drainage position to drain the liquid, so as to prevent the liquid in the tank from overflowing during the AGV's handling of liquid materials. After the AGV completes the drainage, it continues to control the AGV to execute the handling task of liquid materials indicated by the handling command.

[0107] In this embodiment, since the water tank is used to collect leaked liquid from materials containing liquid, upon receiving a material handling instruction, the remaining volume of the water tank is compared with a preset volume. If the remaining volume of the water tank is greater than the preset volume, the mobile robot is controlled to continue carrying out the material handling task. If the remaining volume of the water tank is not greater than the preset volume, the mobile robot is controlled to drain the liquid in the water tank. After draining, the material handling task continues. This not only collects leaked liquid from materials containing liquid but also allows for immediate drainage of the liquid in the water tank when the remaining volume is insufficient, effectively preventing excessive liquid from overflowing during the handling of materials containing liquid. Therefore, it effectively addresses the leakage problem of materials containing liquid.

[0108] As one implementation method of this application, such as Figure 4 As shown, the steps described above for controlling the mobile robot to move to the preset drainage position to drain the liquid may include:

[0109] S401, Obtain the density of the liquid in the water tank;

[0110] S402, determine the target viscosity of the liquid based on the density and the predetermined correspondence between liquid density and viscosity;

[0111] Since the mobile robot performs the task of transporting liquid materials as instructed by the transport command, the viscosity of the liquid material collected in the water tank will vary depending on the type of liquid being transported. In other words, the viscosity of the liquid in the water tank will vary. For liquids of different viscosities, the processor needs to control the mobile robot to drain the liquid from the water tank at different drainage rates.

[0112] To determine the drainage rate of the liquid in the tank using a mobile robot, the viscosity of the liquid can be determined first. As one implementation method, before deploying the mobile robot, the user can pre-calibrate the viscosity of different liquids and determine the correspondence between liquid density and viscosity, then store this correspondence in the mobile robot. The user can perform calibration at intervals based on the viscosity of liquids ranging from water (approximately 1 cP) to glycerol (approximately 1200 cP). The calibration data can be 20, 50, or 100 sets, etc., without specific limitations. Alternatively, the user can first calibrate a certain number of data points, and then on-site personnel can further add or modify the calibrated data in real time according to the needs of the scenario.

[0113] After determining the relationship between liquid density and viscosity, users can set this relationship into the mobile robot via its display screen or the electronic devices controlling it. Alternatively, on-site personnel can set the liquid density-viscosity relationship based on the robot's intended use and the properties of the liquid being transported. Both methods are reasonable. The viscosity calibration and the setting of the liquid density-viscosity relationship can be performed not only via factory calibration (before the mobile robot is put into use) but also by on-site personnel. This allows for multi-scenario usage and the simultaneous calibration of multiple sets of data, resulting in more precise control over the drainage rate.

[0114] In this way, when the mobile robot needs to move to the preset drainage position to drain the liquid, the processor can obtain the density of the liquid in the tank, and then determine the target viscosity of the liquid in the tank based on the density and the pre-determined correspondence between liquid density and viscosity.

[0115] In one implementation, the user can pre-determine the density of the liquid in the liquid-laden material being transported and set this information in the mobile robot before it performs the transport task. In another implementation, the processor can calculate the density of the liquid by acquiring the volume and weight of the liquid in the tank.

[0116] For example, if the processor obtains the volume of the liquid in the tank as V and the weight as G, then the density of the liquid can be determined as G / V. Based on this density G / V and the pre-determined correspondence between liquid density and viscosity, the target viscosity P of the liquid in the tank can be determined.

[0117] S403, control the mobile robot to move to the preset drainage position, and drain the liquid according to the drainage speed corresponding to the target viscosity.

[0118] After the processor determines the target viscosity, it can drain the liquid at the rate corresponding to the target viscosity when controlling the mobile robot to move to the preset drainage position. Specifically, if the drainage time is the same, the liquid with the higher target viscosity will drain faster. For example, glycerol will drain faster than water.

[0119] As can be seen, in this embodiment, since the viscosity of the liquid carried by different liquid materials is different, when the processor obtains the density of the liquid in the water tank, it can indirectly determine the target viscosity of the liquid in the water tank according to the predetermined correspondence between liquid density and viscosity. Then, the mobile robot drains the liquid according to the draining speed corresponding to the target viscosity. This allows the mobile robot to empty the liquid in the water tank within a certain period of time so as to continue to perform the task of transporting liquid materials.

[0120] As one embodiment of this application, in order to control the liquid discharge rate, the mobile robot may further include a pressure regulating pump. The pressure regulating pump can adjust the liquid pressure flowing through the pump via analog signals, thereby achieving the purpose of flow rate control. Exemplarily, the pressure regulating pump is an electric pressure regulating pump with a built-in 0V to 10V speed controller. By adjusting the voltage from 0V to 10V, the speed controller can be adjusted, thereby regulating the liquid discharge rate. The pressure regulating pump is located at the outlet of the water tank.

[0121] For example, such as Figure 5 As shown, a water outlet 502 is provided at the bottom of the water tank 501, and an electric pressure regulating pump 503 is provided at the water outlet 502 to control the discharge speed of the liquid.

[0122] like Figure 6 As shown, the steps described above, including controlling the mobile robot to move to the preset drainage position and draining the liquid at a drainage speed corresponding to the target viscosity, may include:

[0123] S601, Based on the target viscosity and the predetermined correspondence between the liquid viscosity and the speed of the pressure regulating pump, determine the target speed of the pressure regulating pump;

[0124] The relationship between the liquid viscosity and the speed of the pressure regulating pump is determined based on the speed of the pressure regulating pump required to empty the water tank of the liquid with that viscosity within a first preset time period from the outlet.

[0125] When the mobile robot also includes a pressure regulating pump, the processor can control the discharge flow rate of the liquid within a certain time period by controlling the rotation speed of the pressure regulating pump, that is, control the liquid discharge speed. Therefore, when the processor determines the target viscosity, it can determine the rotation speed of the pressure regulating pump corresponding to that target viscosity, and then control the discharge speed by controlling the rotation of the pressure regulating pump.

[0126] In one implementation, before the mobile robot is put into use, the user can pre-calibrate the correspondence between different liquid viscosities and the rotational speed of the pressure regulating pump, and store this correspondence in the mobile robot. In this way, the processor can determine the target rotational speed of the pressure regulating pump based on the target viscosity and the pre-determined correspondence between liquid viscosity and the pump's rotational speed.

[0127] The relationship between liquid viscosity and the speed of the pressure regulating pump can be determined by the speed of the pressure regulating pump required to empty the water tank of liquid of that viscosity within a first preset time period from the outlet. The first preset time period can be 3 minutes, 5 minutes, etc., and the user can set it according to actual needs to enable the mobile robot to discharge liquid more efficiently. For example, the user can calibrate the liquid between water (approximately 1 cP) and glycerol (approximately 1200 cP) at intervals. With the water tank full of liquid of the current viscosity, the liquid in the water tank is emptied within 5 minutes, and the speed of the pressure regulating pump is recorded as the speed corresponding to the liquid of the current viscosity.

[0128] Generally, the more viscous the liquid, the higher the speed of the pressure regulating pump determined by the processor. This ensures that the volume of liquid discharged per unit time remains relatively constant. If the speed of the pressure regulating pump is the same for all viscosities, then at a higher speed setting, low-viscosity liquids may be sprayed out, resulting in the liquid receiving device not collecting enough liquid. At a lower speed setting, high-viscosity liquids may not be discharged at all, or the discharge speed may be too slow, thus consuming the cycle time of the mobile robot and affecting the efficiency of subsequent work.

[0129] S602, control the mobile robot to move to the preset drainage position, and control the pressure regulating pump to rotate based on the target rotation speed, so that the outlet drains the liquid at the drainage speed corresponding to the target viscosity.

[0130] After the processor determines the target speed corresponding to the target pressure regulating pump, it can control the mobile robot to move to the preset drainage position and control the rotation of the pressure regulating pump based on the target speed, that is, adjust the speed of the pressure regulating pump to the target speed, so that the outlet can drain the liquid according to the drainage speed corresponding to the target viscosity.

[0131] For example, after determining the target surface viscosity P, the processor can determine the target rotational speed n of the pressure regulating pump based on the correspondence between liquid viscosity and the rotational speed of the pressure regulating pump. If the current rotational speed of the electric pressure regulating pump is n0, the processor can control the mobile robot to move to the preset drainage position. By adjusting the voltage of the electric pressure regulating pump, the processor controls its rotational speed until the pump's speed is adjusted from n0 to n. In this way, the outlet can drain the liquid at the drainage rate corresponding to the target viscosity.

[0132] As can be seen, in this embodiment, the processor determines the target rotation speed of the pressure regulating pump based on the target viscosity and the predetermined correspondence between liquid viscosity and the rotation speed of the pressure regulating pump. It then controls the mobile robot to move to the preset drainage position and controls the pump to rotate based on the target rotation speed, so that the outlet drains the liquid at the drainage speed corresponding to the target viscosity. This allows the liquid in the tank to be emptied within a first preset time period, meeting the user's set requirement for emptying the liquid.

[0133] As one embodiment of this application, the above-described step of controlling the rotation of the pressure regulating pump based on the target rotation speed may include:

[0134] Control the pressure regulating pump to rotate at the target speed; or,

[0135] Based on the relationship between the second preset time for emptying the liquid in the water tank and the first preset time, the target speed of the pressure regulating pump is adjusted to obtain the adjusted speed; the pressure regulating pump is then controlled to rotate according to the adjusted speed.

[0136] Because mobile robots are used in different scenarios, the correspondence between liquid viscosity and pressure regulating pump speed pre-calibrated by the user before the mobile robot is put into use may not meet the actual situation. Therefore, after the processor determines the target speed of the pressure regulating pump based on the target viscosity and the pre-determined correspondence between liquid viscosity and pressure regulating pump speed, the target speed can be further adjusted according to the actual situation.

[0137] In mobile robot applications, if the user has a specific time requirement for emptying the water tank, the processor can adjust the target rotation speed of the pressure regulating pump based on this preset time. Alternatively, if the user has no specific time requirement for emptying the water tank (i.e., no second preset time is set), the processor can control the pressure regulating pump to rotate at the target speed, causing the outlet to discharge the liquid at a rate corresponding to the target viscosity.

[0138] In another scenario, if the user pre-sets a second preset time for emptying the liquid in the water tank, the processor can adjust the target speed of the pressure regulating pump based on the relationship between the second preset time and the first preset time, thus obtaining the adjusted speed.

[0139] Specifically, if the second preset duration is longer than the first preset duration, the target speed is appropriately reduced; if the second preset duration is the same as the first preset duration, the target speed is maintained; if the second preset duration is shorter than the first preset duration, the target speed is appropriately increased. Thus, after the processor receives the adjusted speed, it can control the pressure regulating pump to rotate according to the adjusted speed.

[0140] For example, if the user presets the second preset time for emptying the liquid in the water tank to be 3 minutes and the first preset time to be 5 minutes, then the second preset time is less than the first preset time. The processor can adjust the target speed, that is, appropriately increase the target speed to obtain the adjusted speed, and then control the pressure regulating pump to rotate according to the adjusted speed so that the outlet empties the liquid in the water tank in a shorter time.

[0141] As can be seen, in this embodiment, the processor can control the pressure regulating pump to rotate at a target speed; or, based on the relationship between the second preset time and the first preset time for emptying the liquid in the water tank, the processor can adjust the target speed of the pressure regulating pump to obtain the adjusted speed, and then control the pressure regulating pump to rotate at the adjusted speed. This can meet the user's requirements for the time required to empty the liquid in the water tank and adapt to different drainage scenarios.

[0142] As one embodiment of this application, for liquids with high viscosity or liquids that may deposit, when the mobile robot drains the liquid in the tank, it is easy for the liquid in the tank to not be completely drained. In order to drain the liquid in the tank as completely as possible, before the processor controls the mobile robot to move to the preset drain position, it can control the mobile robot to accelerate, etc., based on the current running state of the mobile robot, so as to make the liquid in the tank shake.

[0143] In one implementation, the mobile robot may further include a gyroscope, which can be used to detect the mobile robot's posture information, such as direction of travel, speed, and rotation angle. For example, Figure 3 As shown, the AGV is equipped with an electronic gyroscope 304, which is installed close to the wheel 305. The electronic gyroscope 304 can obtain the running direction of the AGV in real time, and calculate the running speed of the AGV by combining the speed feedback of the servo encoder.

[0144] like Figure 7 As shown, prior to the step of draining the liquid at a rate corresponding to the target viscosity, the above method may further include:

[0145] S701, determine whether the target viscosity is greater than the preset viscosity;

[0146] S702, when the target viscosity is greater than the preset viscosity, the operating state of the mobile robot is determined based on the attitude information of the mobile robot detected by the gyroscope;

[0147] S703, based on the operating state, control the mobile robot to perform rotation and / or acceleration actions to cause the liquid in the water tank to slosh.

[0148] After determining the target viscosity, the processor can determine whether the target viscosity is greater than the preset viscosity, i.e., whether the liquid is a high-viscosity liquid. If the target viscosity is greater than the preset viscosity, it indicates that the liquid has a high viscosity and is prone to sedimentation during the drainage process; conversely, sedimentation is less likely to occur. The preset viscosity can be set according to actual conditions.

[0149] When the target viscosity is greater than the preset viscosity, the processor can determine the robot's operating state based on the robot's posture information detected by the gyroscope. Specifically, it can determine the robot's current operating state based on parameters such as the robot's direction of movement and rotation speed detected by the gyroscope. Then, based on this operating state, the processor can control the robot to perform rotational movements, acceleration movements, or a combination of acceleration and rotation, to agitate the liquid in the tank.

[0150] For example, if the viscosity of glycerin is greater than the preset viscosity, the processor can control the mobile robot to accelerate based on the current movement direction and speed detected by the electronic gyroscope. In this way, the liquid in the water tank can be shaken during the acceleration process.

[0151] In one implementation, the processor can determine the relationship between the target viscosity and the preset viscosity in real time. When it is determined that the mobile robot needs to move to the preset drainage position to drain the liquid, the processor can shake the liquid with higher viscosity immediately.

[0152] As can be seen, in this embodiment, the processor can determine whether the target viscosity is greater than the preset viscosity. If the target viscosity is greater than the preset viscosity, the processor determines the operating state of the mobile robot based on the attitude information of the mobile robot detected by the gyroscope. Based on the operating state, the processor controls the mobile robot to perform rotational and / or acceleration actions to agitate the liquid in the tank. In this way, when the viscosity of the liquid is high, agitation of the liquid in the tank can prevent sedimentation or stratification and ensure the smooth progress of the drainage process, so as to drain the liquid in the tank as cleanly as possible.

[0153] As one embodiment of this application, the water tank includes a liquid level sensor and a weight sensor. The liquid level sensor is disposed at the top of the water tank, and the weight sensor is disposed at the bottom of the water tank. There can be multiple weight sensors.

[0154] A liquid level sensor can detect the distance between the measured object (such as the surface of a liquid) and its installation location. Specifically, a liquid level sensor can output a continuous analog signal to detect the measured object. A weight sensor can acquire the weight information of an object placed on the sensor and convert the weight information into an electrical signal. The installation method of a liquid level sensor is not specifically limited; it can be installed on the top of any side of the water tank, or on the top surface of the water tank, etc., all of which are reasonable.

[0155] like Figure 8 As shown, the step of obtaining the density of the liquid in the water tank described above may include:

[0156] S801, obtain the distance between the liquid level sensor and the liquid level sensor, as detected by the liquid level sensor, and obtain the weight of the liquid, as detected by the weight sensor;

[0157] S802, the height of the liquid is calculated based on the distance and the distance between the liquid level sensor and the bottom of the water tank;

[0158] Density represents the ratio of the mass to the volume of a substance. In one implementation, the processor can calculate the density of the liquid in the tank in real time, given the weight and volume of the liquid.

[0159] When a liquid level sensor is installed at the top of the water tank, the processor can obtain the distance between the liquid level sensor and the liquid level surface, as detected by the sensor. For example, the liquid level sensor is an ultrasonic sensor that can send ultrasonic signals and determine the distance between the liquid level sensor and the liquid level sensor upon receiving the returned ultrasonic signals. The effective detection distance of the liquid level sensor can be 30mm-350mm.

[0160] After the processor obtains the distance between the liquid surface and the level sensor, it can calculate the liquid height based on this distance and the distance between the level sensor and the bottom of the tank. For example, Figure 9 As shown, a liquid level sensor 902 is installed on the top side of the water tank 901. It can be fixed by bolts on the side. The processor obtains that the distance between the liquid level sensor 902 and the liquid level sensor is 50mm. The distance between the liquid level sensor 902 and the bottom of the water tank is 350mm. Therefore, the liquid height can be calculated to be 300mm.

[0161] When a weight sensor is installed at the bottom of the water tank, the weight of the liquid detected by the weight sensor can be obtained. In one embodiment, a weight sensor is installed at the bottom of the water tank, and the processor can obtain the weight of the water tank and the liquid detected by the weight sensor, and calculate the weight of the liquid based on the weight of the water tank and the liquid and the predetermined initial weight of the water tank corresponding to the weight sensor.

[0162] In another embodiment, multiple weight sensors are installed at the bottom of the water tank. The processor can acquire the weight of the water tank and liquid detected by each weight sensor. For each weight sensor, based on the weight of the water tank and liquid and the predetermined initial weight of the water tank corresponding to that weight sensor, the weight of the liquid is calculated, and the average of the weights of multiple liquids is calculated as the weight of the liquid detected by the weight sensor. This makes the obtained liquid weight more accurate.

[0163] For example, such as Figure 5 As shown, multiple weight sensors are installed at the bottom of the water tank 501, namely a first weight sensor 504, a second weight sensor 505, and a third weight sensor 506. The processor can acquire the weight of the water tank and the liquid detected by the first weight sensor 504, the second weight sensor 505, and the third weight sensor 506. For the first weight sensor 504, the weight of the liquid G1 is calculated based on the weight of the water tank and the liquid, as well as the predetermined initial weight of the water tank corresponding to the weight sensor. Similarly, for the second weight sensor 505 and the third weight sensor 506, the weights of the liquid G2 and G3 are calculated respectively. Then, the processor calculates the average value of the multiple liquid weights, and the result is (G1+G2+G3) / 3, which is taken as the weight of the liquid detected by the weight sensor.

[0164] S803, the volume of the liquid is calculated based on the height and the area of ​​the bottom surface of the water tank;

[0165] S804, the density of the liquid is calculated based on the weight and the volume.

[0166] After calculating the liquid height, the processor can calculate the liquid volume based on the height and the area of ​​the tank's bottom surface. Specifically, the processor can use the formula V=S 底面 *H calculates the volume of the liquid, where S is the area of ​​the tank's bottom surface and H is the height of the liquid. The area of ​​the tank's bottom surface can be calculated in advance; if the tank is a cuboid, the bottom surface is rectangular; if the tank is a cylinder, the bottom surface is circular.

[0167] The processor can then calculate the density of the liquid based on the obtained weight and volume. Specifically, the processor can calculate the density of the liquid using the formula ρ = m / V, that is, density = weight / volume (capacity).

[0168] As can be seen, in this embodiment, the liquid height is obtained through a liquid level sensor, the liquid weight is obtained through a weight sensor, and the liquid density is calculated from the results of both. Then, based on the liquid density and user-calibrated and / or set data, the target viscosity of the liquid is determined, so that the processor controls the mobile robot to drain the liquid at the draining speed corresponding to the target viscosity. This realizes the dynamic autonomous draining of the mobile robot, which can effectively control the draining time of different liquids and prevent excessive draining from occupying the mobile robot's running time, thus enabling more flexible control of the mobile robot.

[0169] As one implementation method of this application, such as Figure 10 As shown, before the step of calculating the weight of the liquid based on the weight of the water tank and the liquid, and the predetermined initial weight of the water tank corresponding to the weight sensor, the above method may further include:

[0170] S1001, for each weight sensor, when there is no liquid in the water tank, the weight of the water tank detected by the weight sensor is acquired multiple times;

[0171] S1002, calculate the average value of the weight of the water tank obtained multiple times, and use it as the predetermined initial weight of the water tank corresponding to the weight sensor.

[0172] To ensure that the weight of the liquid detected by the weight sensor is more accurate, an initial zero-point calibration of the weight is required before each weight sensor is put into use. This involves determining the weight detected by the weight sensor when there is no liquid in the water tank.

[0173] In one implementation, for each weight sensor, the processor can acquire the weight of the water tank detected by the weight sensor multiple times when there is no liquid in the water tank, and then calculate the average value of the weight of the water tank acquired multiple times as the predetermined initial weight of the water tank corresponding to the weight sensor. The initial weight can be stored in the mobile robot, such as in Flash.

[0174] For example, such as Figure 5As shown, for the first weight sensor 504, before the weight sensor is put into use, the processor can obtain the weight of the water tank 501 detected by the weight sensor 501 5 times when there is no liquid in the water tank 501, namely G1, G2, G3, G4 and G5, and then calculate the average weight of the water tank 501, that is, (G1+G2+G3+G4+G5) / 5, and store it in the main control Flash, so as to use it as the initial weight of the water tank 501 corresponding to the weight sensor when the weight is detected later.

[0175] As can be seen, in this embodiment, for each weight sensor, the processor can acquire the weight of the water tank detected by the weight sensor multiple times when there is no liquid in the water tank, and calculate the average value of the weight of the water tank acquired multiple times as the predetermined initial weight of the water tank corresponding to the weight sensor. In this way, when the weight sensor detects the weight of the liquid in subsequent tests, the weight of the liquid can be accurately obtained, and the density of the liquid can be calculated more accurately.

[0176] As one embodiment of this application, a manual drain valve is provided at the bottom of the water tank; the above method may further include:

[0177] Determine if the pressure regulating pump is faulty; if the pressure regulating pump is faulty, issue a fault signal so that the operator can drain the liquid in the water tank through the manual drain valve.

[0178] When the pressure regulating pump malfunctions or becomes unusable, it cannot drain the liquid in the water tank, which will affect the mobile robot's ability to carry out the task of transporting liquid materials as instructed by the transport command. Therefore, a manual drain valve can be installed at the bottom of the water tank so that when the pressure regulating pump cannot drain the liquid normally, the staff can drain the liquid in the water tank through the manual drain valve.

[0179] In one implementation, the processor can determine whether the pressure regulating pump is malfunctioning before controlling the mobile robot to move to the preset drainage position to drain the liquid. If the pressure regulating pump is malfunctioning, a fault signal is issued. If the operator confirms the fault, the liquid in the water tank is drained through the manual drain valve. The fault signal can be an audible warning signal or a flashing indicator light; no specific limitation is made here.

[0180] For example, such as Figure 5 As shown, an electric pressure regulating pump 503 and a manual drain valve 507 are installed at the bottom of the water tank. If the processor determines that the electric pressure regulating pump 503 is malfunctioning, it can emit an audible "drainage failure" signal and flash an indicator light. When the staff notices the warning signal and confirms that the electric pressure regulating pump 503 is malfunctioning, they can drain the liquid in the water tank through the manual drain valve 507.

[0181] As can be seen, in this embodiment, the processor can determine whether the pressure regulating pump is malfunctioning. If the pressure regulating pump malfunctions, a fault signal is issued, allowing the operator to drain the liquid in the water tank via a manual drain valve. This allows for immediate drainage of the liquid in the water tank, preventing the pressure regulating pump malfunction from affecting the mobile robot's execution of the handling tasks involving liquid materials as instructed by the handling commands.

[0182] As one implementation method of this application, such as Figure 11 As shown, before the step of determining whether the remaining volume of the water tank is greater than the preset volume, the above method may further include:

[0183] S1101, Obtain the remaining battery power of the mobile robot and determine whether the remaining battery power is greater than a preset battery power;

[0184] S1102, if the remaining power is greater than the preset power, perform the step of determining whether the remaining volume of the water tank is greater than the preset volume;

[0185] When a mobile robot performs a task involving the handling of liquid materials as instructed by a handling command, it consumes power. If the power is insufficient, the robot may stop working during the handling process, preventing the task from being completed. Therefore, before the mobile robot begins handling the liquid material task, the processor can determine the robot's remaining power and whether it is sufficient to complete the task.

[0186] The processor can obtain the remaining battery power of the mobile robot and determine whether the remaining battery power is greater than the preset battery power. The preset battery power can be set according to the actual situation, such as 10% of the total battery power, etc., and is not specifically limited here.

[0187] If the remaining battery power is greater than the preset battery power, it means that the mobile robot can complete the task of transporting the liquid material as instructed by the transport command. Then, it can be further determined whether the remaining volume of the water tank is greater than the preset volume, i.e., whether the remaining volume in the water tank meets the volume requirement. If the remaining volume of the water tank meets the volume requirement, the processor can control the mobile robot to execute the task of transporting the liquid material as instructed by the transport command.

[0188] S1103, when the remaining power is not greater than the preset power, control the mobile robot to move to the preset drain position to drain the liquid and issue a warning signal so that the staff can confirm whether the remaining power can support the mobile robot to complete the liquid material handling task indicated by the handling command, and release the warning signal after confirmation.

[0189] S1104, when the warning signal is lifted, control the mobile robot to perform the handling task of the liquid material indicated by the handling command.

[0190] To prevent the mobile robot from having a large amount of liquid in the water tank when the battery is low, which would cause inconvenience for the mobile robot in handling materials, and to prevent the liquid from settling in the water tank for a long time, the liquid in the water tank can be drained first when the processor determines that the mobile robot's battery is low.

[0191] If the remaining battery power is not greater than the preset battery power, the processor can control the mobile robot to move to the preset drainage position to drain the liquid and issue a warning signal. This allows the staff to confirm whether the remaining battery power is sufficient to support the mobile robot in completing the liquid material handling task specified in the handling instruction. After confirmation, the warning signal is cleared. Then, with the warning signal cleared, the processor controls the mobile robot to execute the liquid material handling task specified in the handling instruction. The warning signal can be an audible warning or a flashing indicator light; no specific limitation is made here.

[0192] In one implementation, if the operator confirms that the remaining power is sufficient to support the mobile robot in completing the task of transporting liquid materials as instructed by the transport command, then, after the warning signal is cleared, an instruction to confirm the execution of the transport task can be issued, so that the processor controls the mobile robot to continue to execute the task of transporting liquid materials as instructed by the transport command.

[0193] If staff confirm that the remaining battery power is insufficient to support the mobile robot in completing the task of handling liquid materials as instructed in the handling command, they can issue a charging confirmation command after the warning signal is cleared, so that the processor can control the mobile robot to the charging location for charging.

[0194] For example, if the AGV uses RS485 communication, when the processor receives a handling instruction, it can obtain the AGV's remaining power. If the remaining power is not greater than a preset power level, the processor can control the AGV to move to the preset drainage position to drain the liquid, while simultaneously issuing an audible "low power" warning signal. The operator can then move to the AGV to determine if the remaining power is sufficient to support the AGV in completing the handling task of transporting the liquid material as instructed in the handling instruction. If the operator confirms that the remaining power is sufficient to support the mobile robot in completing the handling task, the warning signal can be cleared, allowing the processor to continue controlling the mobile robot to execute the handling task.

[0195] As can be seen, in this embodiment, the processor can confirm the remaining power of the mobile robot. If the remaining power is insufficient, it first controls the mobile robot to move to the preset drainage position to drain the liquid. This can prevent the mobile robot from having a large amount of liquid in the water tank when the power is insufficient, which would cause inconvenience to the mobile robot in handling materials. It can also prevent the liquid from settling in the water tank for a long time. At the same time, when the remaining power is insufficient, a warning signal is issued so that the staff can confirm whether the remaining power can support the mobile robot to complete the task of handling liquid materials as indicated by the handling command. Only after the confirmation is cleared can the task of handling liquid materials as indicated by the handling command continue to be executed.

[0196] In one embodiment of this application, the mobile robot further includes a roller for holding liquid materials. The roller can dock with a worktable containing the materials. When the mobile robot moves to the worktable, the materials can be transferred into the mobile robot via the roller, or the materials can be conveyed to the worktable via the roller.

[0197] For example, such as Figure 3 As shown, the AGV includes multiple rollers 303. Liquid material 302 can be transferred into the AGV through the multiple rollers 303, or it can be transferred to the worktable through the multiple rollers 303.

[0198] A water receiving tray is installed above the water tank, with an opening in the middle. The lower part of the tray is shaped like a sloping funnel, allowing liquid material to leak into the water tank. A groove is provided at the top of the tray, which fits snugly against the roller. For example, as... Figure 9 As shown, a water receiving tray 903 is provided above the water tank 901, with a rectangular opening 904 in the middle. The lower part of the water receiving tray is shaped like a sloping funnel, so that the leakage of liquid material can flow into the water tank 901 along the inner wall of the water receiving tray 903. A groove 905 is provided on the upper part of the water receiving tray, which can fit against the roller.

[0199] A transparent water column is installed on the outside of the water tank so that staff can observe the liquid level inside the tank through this column. Figure 9 As shown, a visible transparent water column 906 is installed on the outside of the water tank 901. This allows the staff to determine the volume of liquid accumulated in the water tank 901 in real time and drain the liquid as needed on site. The staff can also determine the liquid discharge status in real time when draining the liquid in the water tank 901 through the manual drain valve.

[0200] As can be seen, in this embodiment, the leakage of liquid materials is collected by a water tray and a water tank, and the materials are conveyed by rollers, eliminating the need for manual handling of the liquid materials and achieving automated handling. Meanwhile, a visible transparent water column is provided on the side of the water tank, allowing staff to more easily observe the liquid level within the tank.

[0201] Figure 12 This is a specific flowchart of a liquid material handling method provided in an embodiment of this application. The following is in conjunction with... Figure 12 The method for handling liquid materials provided in the embodiments of this application will be described with examples. For instance... Figure 12 As shown, the liquid material handling method provided in this application embodiment may include the following steps:

[0202] S1201, Determine whether the remaining battery power of the mobile robot is greater than 10%; if yes, proceed to step S1202; if no, proceed to step S1203.

[0203] S1202, Determine whether the remaining volume of the water tank is greater than the preset volume; if yes, proceed to step S1204; if no, proceed to step S1203.

[0204] S1203, performs the drainage task;

[0205] S1204 is used for handling liquid materials.

[0206] When the processor receives a handling instruction, it can obtain the remaining power of the mobile robot and determine whether the remaining power is greater than 10%. If the remaining power is greater than 10%, it means that the remaining power is sufficient to support the mobile robot to perform the handling task of liquid materials indicated by the handling instruction. Then, it can further determine whether the remaining volume of the water tank is greater than the preset volume, that is, whether the remaining volume in the water tank can meet the volume requirements.

[0207] If the remaining volume of the water tank is greater than the preset volume, the processor can control the mobile robot to perform the task of transporting liquid materials as indicated by the transport command. If the remaining volume of the water tank is not greater than the preset volume, the processor can control the mobile robot to move to the preset drain position to drain the liquid, and then perform the task of transporting liquid materials as indicated by the transport command.

[0208] If the remaining power is not greater than the preset power, the processor can control the mobile robot to move to the preset drainage position to drain the liquid and issue a warning signal so that the staff can confirm whether the remaining power can support the mobile robot to complete the task of transporting liquid materials as indicated by the transport instruction. After confirming that the remaining power can support the mobile robot to complete the task of transporting liquid materials as indicated by the transport instruction, the warning signal is lifted. Then, when the warning signal is lifted, the processor controls the mobile robot to execute the task of transporting liquid materials as indicated by the transport instruction.

[0209] As can be seen, in the solution provided in this application embodiment, since the water tank is used to collect leaked liquid from materials containing liquid, upon receiving a material handling instruction, the remaining volume of the water tank can be compared with a preset volume. If the remaining volume of the water tank is greater than the preset volume, the mobile robot is controlled to continue performing the material handling task. If the remaining volume of the water tank is not greater than the preset volume, the mobile robot is controlled to drain the liquid in the water tank. After draining, the material handling task continues. This not only collects leaked liquid from materials containing liquid, but also allows for immediate drainage of the liquid in the water tank when the remaining volume is insufficient, effectively preventing excessive liquid from overflowing during the handling of materials containing liquid. Therefore, it can effectively handle the leakage problem of materials containing liquid.

[0210] Furthermore, the processor can check the remaining power of the mobile robot. If the remaining power is insufficient, it will first control the mobile robot to move to the preset drainage position to drain the liquid. This can prevent the mobile robot from having a large amount of liquid in the water tank when the power is insufficient, which would cause inconvenience to the mobile robot in handling materials. It can also prevent the liquid from sedimenting if it is stored in the water tank for a long time. At the same time, when the remaining power is insufficient, a warning signal will be issued so that the staff can confirm whether the remaining power can support the mobile robot to complete the task of handling liquid materials as indicated by the handling command. Only after the confirmation is cleared can the task of handling liquid materials as indicated by the handling command be continued.

[0211] Corresponding to the above-described method for handling liquid materials, this application also provides a liquid material handling device. The following describes the liquid material handling device provided in this application.

[0212] like Figure 13 As shown, a liquid material handling device is used in the processor of a mobile robot. The mobile robot also includes a water tank for collecting leaked liquid from the liquid material. The device includes:

[0213] The volume determination module 1310 is used to determine whether the remaining volume of the water tank is greater than the preset volume when a material handling instruction is received;

[0214] The first control module 1320 is used to control the mobile robot to perform the handling task of liquid material indicated by the handling instruction when the remaining volume is greater than the preset volume.

[0215] The second control module 1330 is used to control the mobile robot to move to a preset drain position to drain the liquid when the remaining volume is not greater than the preset volume, and to control the mobile robot to perform the task of transporting liquid materials indicated by the transport command.

[0216] As can be seen, in the solution provided in this application embodiment, the processor is applied to the mobile robot, and the mobile robot also includes a water tank. The water tank is used to collect the leakage of liquid materials. When the processor receives a material handling instruction, it can determine whether the remaining volume of the water tank is greater than the preset volume. If the remaining volume is greater than the preset volume, the processor controls the mobile robot to perform the material handling task indicated by the handling instruction. If the remaining volume is not greater than the preset volume, the processor controls the mobile robot to move to the preset drain position to drain the liquid and controls the mobile robot to perform the material handling task indicated by the handling instruction. Since the water tank is used to collect leaks of liquid materials, upon receiving a material handling instruction, the remaining volume of the water tank is compared with a preset volume. If the remaining volume is greater than the preset volume, the mobile robot continues to handle the liquid materials. If the remaining volume is less than the preset volume, the mobile robot drains the liquid from the tank and then continues handling the liquid materials. This not only collects leaks of liquid materials but also allows for immediate drainage of the liquid from the tank when the remaining volume is insufficient, effectively preventing excessive liquid from overflowing during the handling of liquid materials. Therefore, it effectively handles the leakage problem of liquid materials.

[0217] This application also provides a mobile robot, such as... Figure 1 As shown, the mobile robot includes a processor 110 and a water tank 120, wherein:

[0218] The water tank 120 is used to collect leaked liquid from materials containing liquid.

[0219] The processor 110 is configured to, upon receiving a material handling instruction, determine whether the remaining volume of the water tank is greater than a preset volume; if the remaining volume is greater than the preset volume, control the mobile robot to perform the material handling task indicated by the handling instruction; if the remaining volume is not greater than the preset volume, control the mobile robot to move to a preset drain position to drain the liquid, and control the mobile robot to perform the material handling task indicated by the handling instruction.

[0220] As can be seen, in the solution provided in this application embodiment, the processor is applied to the mobile robot, and the mobile robot also includes a water tank. The water tank is used to collect the leakage of liquid materials. When the processor receives a material handling instruction, it can determine whether the remaining volume of the water tank is greater than the preset volume. If the remaining volume is greater than the preset volume, the processor controls the mobile robot to perform the material handling task indicated by the handling instruction. If the remaining volume is not greater than the preset volume, the processor controls the mobile robot to move to the preset drain position to drain the liquid and controls the mobile robot to perform the material handling task indicated by the handling instruction. Since the water tank is used to collect leaks of liquid materials, upon receiving a material handling instruction, the remaining volume of the water tank is compared with a preset volume. If the remaining volume is greater than the preset volume, the mobile robot continues to handle the liquid materials. If the remaining volume is less than the preset volume, the mobile robot drains the liquid from the tank and then continues handling the liquid materials. This not only collects leaks of liquid materials but also allows for immediate drainage of the liquid from the tank when the remaining volume is insufficient, effectively preventing excessive liquid from overflowing during the handling of liquid materials. Therefore, it effectively handles the leakage problem of liquid materials.

[0221] As one embodiment of this application, wherein:

[0222] The processor is specifically used to obtain the density of the liquid in the water tank; determine the target viscosity of the liquid based on the density and a predetermined correspondence between liquid density and viscosity; control the mobile robot to move to a preset drainage position and drain the liquid at the drainage speed corresponding to the target viscosity.

[0223] In one embodiment of this application, the mobile robot further includes a pressure regulating pump; the pressure regulating pump is disposed at the outlet of the water tank; wherein:

[0224] The processor is specifically configured to determine the target rotation speed of the pressure regulating pump based on the target viscosity and a predetermined correspondence between liquid viscosity and the rotation speed of the pressure regulating pump; control the mobile robot to move to the preset drainage position; and control the rotation of the pressure regulating pump based on the target rotation speed so that the outlet drains the liquid at a drainage speed corresponding to the target viscosity. The correspondence between the liquid viscosity and the rotation speed of the pressure regulating pump is determined based on the rotation speed of the pressure regulating pump required to drain liquid of that viscosity from the water tank within a first preset time period.

[0225] The pressure regulating pump is used to control the discharge rate of the liquid;

[0226] The outlet is used to drain the liquid at a rate corresponding to the target viscosity.

[0227] As one embodiment of this application, the mobile robot further includes a gyroscope; wherein:

[0228] The processor is further configured to, before the step of draining the liquid at the draining speed corresponding to the target viscosity, determine whether the target viscosity is greater than a preset viscosity; if the target viscosity is greater than the preset viscosity, determine the operating state of the mobile robot based on the attitude information of the mobile robot detected by the gyroscope; and based on the operating state, control the mobile robot to perform rotation and / or acceleration actions to cause the liquid in the water tank to slosh.

[0229] The gyroscope is used to detect the attitude information of the mobile robot.

[0230] In one embodiment of this application, the water tank includes a liquid level sensor and a weight sensor. The liquid level sensor is disposed at the top of the water tank, and the weight sensor is disposed at the bottom of the water tank; wherein:

[0231] The processor is specifically configured to acquire the distance between the liquid level sensor and the liquid level sensor, and the weight of the liquid detected by the weight sensor; calculate the height of the liquid based on the distance and the distance between the liquid level sensor and the bottom of the tank; calculate the volume of the liquid based on the height and the area of ​​the bottom of the tank; and calculate the density of the liquid based on the weight and the volume.

[0232] The liquid level sensor is used to detect the distance between the liquid surface and the liquid level sensor.

[0233] The weight sensor is used to detect the weight of the liquid.

[0234] As one embodiment of this application, a manual drain valve is provided at the bottom of the water tank; wherein:

[0235] The processor is specifically used to determine whether the pressure regulating pump is malfunctioning; in the event of a malfunction of the pressure regulating pump, a fault signal is issued so that the operator can drain the liquid in the water tank through the manual drain valve.

[0236] The manual drain valve is used to allow the worker to drain the liquid in the water tank.

[0237] As one embodiment of this application, the mobile robot further includes a roller for placing the liquid material. A water receiving tray is provided above the water tank, and a groove is provided on the upper part of the water receiving tray. The groove fits against the roller, and the lower part of the water receiving tray is shaped like a sloping funnel.

[0238] A visible transparent water column is installed on the outside of the water tank so that staff can observe the height of the liquid inside the tank through the visible transparent water column.

[0239] In another embodiment provided in this application, a computer-readable storage medium is also provided, which stores a computer program that, when executed by a processor, implements the steps of any of the above-described liquid material handling methods.

[0240] In another embodiment provided in this application, a computer program product containing instructions is also provided, which, when run on a computer, causes the computer to perform any of the liquid material handling methods described above.

[0241] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a solid-state drive (SSD), etc.

[0242] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0243] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the embodiments of devices, mobile robots, computer-readable storage media, and computer program products are basically similar to the method embodiments, so the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0244] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A method for handling liquid materials, characterized in that, A processor for use in a mobile robot, the mobile robot also including a water tank for collecting leaked liquid containing liquid materials, the method comprising: Upon receiving a material handling instruction, determine whether the remaining volume of the water tank is greater than the preset volume; If the remaining volume is greater than the preset volume, the mobile robot is controlled to perform the task of transporting liquid material as indicated by the material transport instruction; If the remaining volume is not greater than the preset volume, control the mobile robot to move to the preset drain position to drain the liquid, and control the mobile robot to perform the liquid material handling task indicated by the material handling instruction; The step of controlling the mobile robot to move to the preset drainage position to drain the liquid includes: Obtain the density of the liquid in the water tank; Based on the density and the predetermined correspondence between liquid density and viscosity, the target viscosity of the liquid is determined; The mobile robot is controlled to move to a preset drainage position and drain the liquid at a drainage speed corresponding to the target viscosity.

2. The method according to claim 1, characterized in that, The mobile robot also includes a pressure regulating pump, which is located at the outlet of the water tank; The step of controlling the mobile robot to move to the preset drainage position and draining the liquid according to the drainage speed corresponding to the target viscosity includes: Based on the target viscosity and the predetermined correspondence between the liquid viscosity and the speed of the pressure regulating pump, the target speed of the pressure regulating pump is determined. The correspondence between the liquid viscosity and the speed of the pressure regulating pump is determined based on the speed of the pressure regulating pump required to drain the liquid of that viscosity from the water tank within a first preset time period from the outlet. The mobile robot is controlled to move to the preset drainage position, and the pressure regulating pump is controlled to rotate based on the target rotation speed, so that the outlet drains the liquid at the drainage speed corresponding to the target viscosity.

3. The method according to claim 2, characterized in that, The step of controlling the rotation of the pressure regulating pump based on the target rotation speed includes: Control the pressure regulating pump to rotate at the target speed; or, Based on the relationship between the second preset time for emptying the liquid in the water tank and the first preset time, the target speed of the pressure regulating pump is adjusted to obtain the adjusted speed. The pressure regulating pump is controlled to rotate at the adjusted speed.

4. The method according to claim 1, characterized in that, The mobile robot also includes a gyroscope; Before the step of draining the liquid at a draining rate corresponding to the target viscosity, the method further includes: Determine whether the target viscosity is greater than the preset viscosity; When the target viscosity is greater than the preset viscosity, the operating state of the mobile robot is determined based on the attitude information of the mobile robot detected by the gyroscope. Based on the operating state, the mobile robot is controlled to perform rotational and / or acceleration actions to cause the liquid in the water tank to slosh.

5. The method according to claim 1, characterized in that, The water tank includes a liquid level sensor and a weight sensor. The liquid level sensor is located at the top of the water tank, and the weight sensor is located at the bottom of the water tank. The step of obtaining the density of the liquid in the water tank includes: The distance between the liquid level sensor and the liquid level sensor is obtained, as well as the weight of the liquid is obtained, as detected by the weight sensor. The height of the liquid is calculated based on the distance and the distance between the liquid level sensor and the bottom of the water tank; The volume of the liquid is calculated based on the height and the area of ​​the bottom surface of the water tank; The density of the liquid is calculated based on the weight and volume.

6. The method according to claim 5, characterized in that, The weight sensors are multiple, and the step of obtaining the weight of the liquid detected by the weight sensors includes: Obtain the weight of the water tank and liquid detected by each weight sensor; For each weight sensor, the weight of the liquid is calculated based on the weight of the water tank and the liquid, as well as the predetermined initial weight of the water tank corresponding to that weight sensor. The average weight of multiple liquids is calculated as the weight of the liquid detected by the weight sensor.

7. The method according to claim 6, characterized in that, Before the step of calculating the weight of the liquid based on the weight of the water tank and the liquid, and the predetermined initial weight of the water tank corresponding to the weight sensor, the method further includes: For each weight sensor, the weight of the water tank detected by that weight sensor is acquired multiple times when there is no liquid in the water tank; The average weight of the water tank obtained from multiple measurements is calculated as the predetermined initial weight of the water tank corresponding to the weight sensor.

8. The method according to claim 2 or 3, characterized in that, The water tank is equipped with a manual drain valve at the bottom; the method further includes: Determine if the pressure regulating pump is malfunctioning; In the event of a malfunction of the pressure regulating pump, a fault signal is issued, allowing personnel to drain the liquid from the water tank via the manual drain valve.

9. The method according to any one of claims 1-7, characterized in that, Before the step of determining whether the remaining volume of the water tank is greater than the preset volume, the method further includes: Obtain the remaining battery power of the mobile robot and determine whether the remaining battery power is greater than a preset battery power. If the remaining power is greater than the preset power, then the step of determining whether the remaining volume of the water tank is greater than the preset volume is performed. If the remaining power is not greater than the preset power, the mobile robot is controlled to move to the preset drainage position to drain the liquid and issue a warning signal so that the staff can confirm whether the remaining power can support the mobile robot to complete the task of transporting liquid materials as indicated by the material handling instruction, and the warning signal is lifted after confirmation. When the warning signal is lifted, the mobile robot is controlled to perform the task of transporting liquid materials as indicated by the material handling instruction.

10. The method according to any one of claims 1-7, characterized in that, The mobile robot also includes a roller for placing the liquid material. A water receiving tray is provided above the water tank. A groove is provided on the upper part of the water receiving tray, which fits into the roller. The lower part of the water receiving tray is shaped like a sloping funnel. A visible transparent water column is installed on the outside of the water tank so that staff can observe the height of the liquid inside the tank through the visible transparent water column.

11. A device for handling liquid materials, characterized in that, A processor for use in a mobile robot, the mobile robot also including a water tank for collecting leaked liquid containing liquid materials, the device comprising: The volume determination module is used to determine whether the remaining volume of the water tank is greater than the preset volume when a material handling instruction is received. The first control module is used to control the mobile robot to perform the material handling task indicated by the material handling instruction when the remaining volume is greater than the preset volume. The second control module is used to control the mobile robot to move to the preset drain position to drain the liquid when the remaining volume is not greater than the preset volume, and to control the mobile robot to perform the task of transporting liquid materials as indicated by the material transport instruction. Specifically, the second control module is used to obtain the density of the liquid in the water tank; determine the target viscosity of the liquid based on the density and a predetermined correspondence between liquid density and viscosity; control the mobile robot to move to a preset drainage position and drain the liquid at the drainage speed corresponding to the target viscosity.

12. A mobile robot, characterized in that, The mobile robot includes a processor and a water tank, wherein: The water tank is used to collect leaked liquid from materials containing liquid. The processor is configured to, upon receiving a material handling instruction, determine whether the remaining volume of the water tank is greater than a preset volume; if the remaining volume is greater than the preset volume, control the mobile robot to perform the material handling task indicated by the material handling instruction; if the remaining volume is not greater than the preset volume, control the mobile robot to move to a preset drain position to drain the liquid, and control the mobile robot to perform the material handling task indicated by the material handling instruction. Specifically, the processor is used to obtain the density of the liquid in the water tank; determine the target viscosity of the liquid based on the density and a predetermined correspondence between liquid density and viscosity; control the mobile robot to move to a preset drainage position and drain the liquid according to the drainage speed corresponding to the target viscosity.

13. The mobile robot according to claim 12, characterized in that, The mobile robot also includes a pressure regulating pump; the pressure regulating pump is located at the outlet of the water tank; wherein: The processor is specifically configured to determine the target rotation speed of the pressure regulating pump based on the target viscosity and a predetermined correspondence between liquid viscosity and the rotation speed of the pressure regulating pump; control the mobile robot to move to the preset drainage position; and control the rotation of the pressure regulating pump based on the target rotation speed so that the outlet drains the liquid at a drainage speed corresponding to the target viscosity. The correspondence between the liquid viscosity and the rotation speed of the pressure regulating pump is determined based on the rotation speed of the pressure regulating pump required to drain liquid of that viscosity from the water tank within a first preset time period. The pressure regulating pump is used to control the discharge rate of the liquid; The outlet is used to drain the liquid at a rate corresponding to the target viscosity.

14. The mobile robot according to claim 12, characterized in that, The mobile robot also includes a gyroscope; wherein: The processor is further configured to, before the step of draining the liquid at the draining speed corresponding to the target viscosity, determine whether the target viscosity is greater than a preset viscosity; if the target viscosity is greater than the preset viscosity, determine the operating state of the mobile robot based on the attitude information of the mobile robot detected by the gyroscope; and based on the operating state, control the mobile robot to perform rotation and / or acceleration actions to cause the liquid in the water tank to slosh. The gyroscope is used to detect the attitude information of the mobile robot.

15. The mobile robot according to claim 12, characterized in that, The water tank includes a level sensor and a weight sensor. The level sensor is located at the top of the water tank, and the weight sensor is located at the bottom of the water tank. The processor is specifically configured to acquire the distance between the liquid level sensor and the liquid level sensor, and the weight of the liquid detected by the weight sensor; calculate the height of the liquid based on the distance and the distance between the liquid level sensor and the bottom of the tank; calculate the volume of the liquid based on the height and the area of ​​the bottom of the tank; and calculate the density of the liquid based on the weight and the volume. The liquid level sensor is used to detect the distance between the liquid surface and the liquid level sensor. The weight sensor is used to detect the weight of the liquid.

16. The mobile robot according to claim 13, characterized in that, A manual drain valve is installed at the bottom of the water tank; wherein: The processor is specifically used to determine whether the pressure regulating pump is malfunctioning; in the event of a malfunction of the pressure regulating pump, a fault signal is issued so that the operator can drain the liquid in the water tank through the manual drain valve. The manual drain valve is used to allow the worker to drain the liquid in the water tank.

17. The mobile robot according to any one of claims 12-16, characterized in that, The mobile robot also includes a roller for placing the liquid material. A water receiving tray is provided above the water tank. A groove is provided on the upper part of the water receiving tray, which fits into the roller. The lower part of the water receiving tray is shaped like a sloping funnel. A visible transparent water column is installed on the outside of the water tank so that staff can observe the height of the liquid inside the tank through the visible transparent water column.

18. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method described in any one of claims 1-10.

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