A transport device and control method and system thereof

Abstract

The present invention discloses a handling device and a control method and system thereof. The device includes: a supporting body; a mobile chassis, which is connected to the bottom of the supporting body and is used to move to a first workstation according to a first moving signal; a mechanical arm, which is connected to the top of the supporting body and is used to control the rotation process through a rotation signal to rotate the end of the mechanical arm to the position of the object to be handled in the first workstation; an end effector male end, which is connected to the end of the mechanical arm; an end effector female end, which is connected to the end of the end effector male end through a fixed interface; and a pallet, which is connected to the end effector female end and is used to carry the object to be handled. The present invention realizes a handling device and improves stability and safety. The present invention can be widely used in the field of industrial robot technology.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and in particular to a handling device and a control method and system thereof. Background Art

[0002] Composite mobile robots are a technical direction of industrial robots. They can autonomously navigate and operate across space and can be used to carry objects. When moving in unstructured space, the end effectors used on the arms of composite mobile robots have obvious constraints. Traditional end effectors are mainly driven by electric energy and use claws to clamp objects. However, in some special industries, such as mold manufacturing and aerospace manufacturing, the objects to be carried are heavy and easily unstable, causing the objects to fall, resulting in low stability and low safety.

[0003] In summary, the technical problems existing in the relevant technologies need to be improved. Summary of the invention

[0004] The embodiments of the present invention provide a transport device and a control method and system thereof, which effectively improve stability and safety.

[0005] In one aspect, an embodiment of the present invention provides a transport device, the device comprising:

[0006] Support the body;

[0007] A mobile chassis connected to the bottom of the supporting body and configured to move to a first working station according to a first moving signal;

[0008] A mechanical arm connected to the top of the supporting body, and used to control the rotation process through a rotation signal so as to rotate the end of the mechanical arm to the position where the object to be transported is located in the first working station;

[0009] An end effector male end, the end effector male end being connected to the end of the robotic arm;

[0010] An end effector female end, the end effector female end is connected to the end effector male end via a fixed interface;

[0011] A tray is connected to the female end of the end effector and is used to carry the object to be transported.

[0012] In some embodiments, the apparatus further comprises:

[0013] A magnetic sensor female end, the magnetic sensor female end is connected to the end effector female end;

[0014] A magnetic sensor male end, the magnetic sensor male end is connected to the end effector male end and is used to determine a load force change according to a first magnetic induction state between the magnetic sensor and the magnetic sensor female end.

[0015] In some embodiments, the male end of the end effector includes a trapezoidal protrusion.

[0016] In some embodiments, the female end of the end effector includes a trapezoidal recessed portion, and the trapezoidal protrusion is used to fix the male end of the end effector and the female end of the end effector when connected to the trapezoidal recessed portion.

[0017] In some embodiments, the tray is connected to the end effector female end via bolts.

[0018] On the other hand, an embodiment of the present invention provides a control method applied to the transport device, the method comprising the following steps:

[0019] Generate a first movement signal, wherein the first movement signal is used to control the mobile chassis to move to a first working station;

[0020] After determining that the transport device has arrived at the first workstation, generating the rotation signal, the rotation signal is used to rotate the end of the robot arm to the position of the object to be transported, and control the robot arm to execute a first motion trajectory, the first motion trajectory including the trajectory of inserting the male end of the end effector into the female end of the end effector from bottom to top;

[0021] According to the second magnetic sensing state, an object return signal is generated, and the object return signal is used to control the robot arm to place the object to be transported on the storage position;

[0022] Generate a pull-out signal, the pull-out signal is used to control the robot arm to execute a second motion trajectory, the second motion trajectory includes a trajectory of pulling the male end of the end effector downward from the female end of the end effector;

[0023] generating a second movement signal according to the third magnetic induction state and the first travel switch state of the storage bin, wherein the second movement signal is used to control the mobile chassis to move to the second working station;

[0024] Generate the rotation signal so that the robot arm lifts the object to be transported from the storage location;

[0025] generating an object placement signal according to the fourth magnetic sensing state, wherein the object placement signal is used to control the robot arm to place the object to be transported on the workbench of the second workstation;

[0026] According to the state of the second travel switch of the second workstation, the pull-out signal is generated to make the robot arm separate from the object to be transported;

[0027] According to the fifth magnetic induction state, determining whether the load force of the robot arm is 0;

[0028] If the load force of the robot arm is 0, a robot arm reset signal is generated, and the robot arm reset signal is used to control the robot arm to return to an initial position.

[0029] On the other hand, an embodiment of the present invention provides a control system applied to the transport device, the system comprising:

[0030] A control module, the control module is used to generate a first movement signal and a rotation signal according to a user input instruction;

[0031] A mobile chassis control module, the mobile chassis control module is used to control the mobile chassis to move according to the first movement signal;

[0032] A robot arm control module, the robot arm control module is used to control the robot arm to rotate according to the rotation signal;

[0033] An end effector control module, the end effector control module is used to control the opening and closing of the end effector;

[0034] A communication management module, the communication management module is used to control the communication connection between the mobile chassis, the mechanical arm and the end effector;

[0035] A power management module, wherein the power management module is used to control power output;

[0036] A human-machine interface module, which is used to set the parameters of the mobile chassis control module, the parameters of the robotic arm control module, the parameters of the end effector control module, the parameters of the communication management module and the parameters of the power management module through a user operation interface.

[0037] In some embodiments, the mobile chassis control module includes:

[0038] A chassis storage submodule, the chassis storage submodule is used to store chassis data, the chassis data includes map data, mission planning data, system configuration file data and sensor data;

[0039] A chassis sensing submodule, the chassis sensing submodule is used to obtain chassis surrounding environment information according to the first movement signal;

[0040] A chassis positioning submodule, the chassis positioning submodule is used to calculate chassis position information and chassis posture information according to the chassis surrounding environment information;

[0041] A chassis navigation submodule, the chassis navigation submodule is used to plan a travel path according to the chassis data, the chassis surrounding environment information, the chassis position information and the chassis posture information;

[0042] A chassis input submodule, the chassis input submodule is used to receive chassis instructions, the chassis instructions include remote control instructions, voice instructions and programming instructions;

[0043] A chassis calling submodule, the chassis calling submodule is used to execute the chassis instruction;

[0044] A chassis communication submodule, the chassis communication submodule is used to control the communication connection between chassis subcomponents, the chassis subcomponents including chassis sensors and chassis motors;

[0045] The chassis driving submodule is used to adjust chassis parameters according to the travel path and the chassis instructions after the chassis subcomponents are connected in communication, and the chassis parameters include movement, steering and speed.

[0046] In some embodiments, the robotic arm control module includes:

[0047] A robotic arm storage submodule, the robotic arm storage submodule is used to store robotic arm data, the robotic arm data including robotic arm configuration file data, motion planning algorithm, joint position data and speed data;

[0048] A robot arm sensing submodule, the robot arm sensing submodule is used to obtain the robot arm surrounding environment information and work object information according to the rotation signal;

[0049] A robot arm input submodule, wherein the robot arm input submodule is used to receive robot arm instructions;

[0050] A robot arm calling submodule, the robot arm calling submodule is used to execute the robot arm instruction to realize the inverse motion planning, kinematic solution or gripping action of the robot arm;

[0051] A robotic arm communication submodule, the robotic arm communication submodule is used to control the communication connection between the robotic arm subcomponents, the robotic arm subcomponents including robotic arm sensors and joint motors;

[0052] The robot arm driving submodule is used to adjust the robot arm parameters according to the robot arm data, the robot arm instructions, the robot arm surrounding environment information and the work object information after the communication connection of the robot arm subcomponents is completed, so as to achieve the adjustment of the robot arm joint movement and posture.

[0053] In some embodiments, the end effector control module includes:

[0054] An end effector storage submodule, the end effector storage submodule is used to store end effector data, the end effector data includes working parameters, preset action sequence information, execution strategy information, actuator configuration information and actuator action planning algorithm;

[0055] An end effector input submodule, wherein the end effector input submodule is used to receive end effector instructions;

[0056] An end effector communication submodule, the end effector communication submodule is used to control the communication connection between the end effector subcomponents;

[0057] The end effector judgment submodule is used to determine the execution strategy and action sequence according to the current environment, the state of the end effector, the end effector data and the end effector instruction after the communication connection of the end effector subcomponent is completed.

[0058] The beneficial effects of the present invention are as follows:

[0059] A handling device provided by the present invention includes a supporting body, a mobile chassis, a mechanical arm, a male end of an end effector, a female end of an end effector, and a pallet, wherein the mobile chassis is connected to the bottom of the supporting body, and is used to move to a first workstation according to a first moving signal; the mechanical arm is connected to the top of the supporting body, and is used to control the rotation process through a rotation signal, so as to rotate the end of the mechanical arm to the position of the object to be handled in the first workstation; the male end of the end effector is connected to the end of the mechanical arm; the female end of the end effector is connected to the male end of the end effector through a fixed interface; and the pallet is connected to the female end of the end effector, and is used to carry the object to be handled. The present invention realizes object handling through a stable connection between the male end of the end effector and the female end of the end effector, thereby improving stability and safety.

[0060] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0062] Figure 1 This is a schematic structural diagram of a transport device according to an embodiment of the present invention;

[0063] Figure 2 A schematic diagram of a male end and a female end structure of an end effector according to an embodiment of the present invention;

[0064] Figure 3 This is a flow chart of a control method for a transport device according to an embodiment of the present invention;

[0065] Figure 4 The figure is a schematic diagram of the structure of a control system of a transport device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0066] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is further described in detail below in conjunction with the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the embodiments of the present application. They are only examples of devices and methods consistent with some aspects of the embodiments of the present application as detailed in the attached claims.

[0067] It is understood that the terms "first", "second", etc. used in this application can be used to describe various concepts in this article, but unless otherwise specified, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another concept. For example, without departing from the scope of the embodiment of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the words "if" and "if" as used herein can be interpreted as "at the time of" or "when" or "in response to determination".

[0068] The terms "at least one", "multiple", "each", "any", etc. used in this application, at least one includes one, two or more, multiple includes two or more, each refers to each of the corresponding multiple, and any refers to any one of the multiple.

[0069] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0070] Before describing the embodiments of the present application in detail, some nouns and terms involved in the embodiments of the present application are first described. The nouns and terms involved in the embodiments of the present application are subject to the following explanations.

[0071] End effector: refers to any tool that is attached to the edge (joint) of a robot and has a certain function. This may include robot grippers, robot tool changers, robot collision sensors, robot rotary connectors, robot pressure tools, compliance devices, robot spray guns, robot deburring tools, robot arc welding guns, robot electric welding guns, etc. Robot end effectors are usually considered to be robot peripherals, robot accessories, robot tools, and end-of-arm tools.

[0072] Unstructured space: refers to non-preset environmental space that cannot be described by finite rules, such as uneven surface material properties, irregular and unstable changes in structure and size, and non-fixed, unknowable, and indescribable environmental information. For example, the first and second floors of a factory, and the different rooms on each floor, are unstructured spaces because the environments in these different spaces are uncertain.

[0073] Among the related technologies, the composite mobile robot is the latest technical direction of industrial robots. It is capable of autonomous navigation and cross-space operations. Due to its movement in unstructured space, the end effectors that can be used on the arms of the composite mobile robot are subject to obvious constraints. The end effectors can only be driven mainly by electric energy. Especially in the mold manufacturing industry and the aerospace manufacturing industry, the parts are heavy, and the conventional end effector of the robot accounts for nearly 10% to 20% of the robot's load, resulting in the need to use a heavier end effector when the workpiece to be clamped is heavy.

[0074] The present invention provides a transport device and a control method and system thereof, which are suitable for the composite mobile robot to transport heavy objects in a non-structural space. The end of the composite robot has an end effector based on gravity positioning technology, and a sensor is provided on the actuator for loop judgment. The present invention can solve the versatility problem of the end effector of the mobile collaborative robot when carrying heavy objects. It can be widely used in scenes such as mobile robots, and can greatly improve the load utilization capacity of the collaborative robot, and has strong application value.

[0075] The following is a detailed explanation of the embodiments of the present application in conjunction with the accompanying drawings:

[0076] like Figure 1 As shown, an embodiment of the present invention provides a handling device, including a supporting body 101, a mobile chassis 102, a mechanical arm 103, an end effector male end 104, an end effector female end 105, and a tray 106. In some embodiments, the mobile chassis 102 is connected to the bottom of the supporting body 101, and can control the mobile chassis to drive the entire handling device to move to the first workstation according to the first movement signal, so as to carry out object clamping at the first workstation. The mechanical arm 103 is connected to the top of the supporting body 101, and the rotation process can be controlled by a rotation signal to rotate the end of the mechanical arm to the position of the object to be transported in the first workstation, so that the subsequent end effector male end and the end effector female end can be connected. The end effector male end 104 is connected to the end of the mechanical arm, and the end effector male end can be fixed to the end of the mechanical arm through a concave-convex interface or bolts to achieve a stable connection with the mechanical arm. Among them, the end effector male end can include a trapezoidal protrusion. More, the protrusion can also include a triangular protrusion, or a protrusion of other irregular shapes. The end effector female end 105 is connected to the end effector male end through a fixed interface, wherein the end effector female end may include a trapezoidal recessed portion, and the cross section of the trapezoidal recessed portion may also be a trapezoidal shape, so that when the trapezoidal protrusion is inserted, the end effector male end and the end effector female end can be fixedly connected in both the horizontal and vertical directions. When the trapezoidal protrusion of the end effector male end is connected to the trapezoidal recessed portion of the end effector female end, the end effector male end and the end effector female end can be fixed, so that they can be stably connected by gravity. More preferably, the recessed portion may also include a triangular recessed portion, or a recessed portion of other irregular shapes, and the shape and size of the recessed portion and the protrusion are the same. The tray 106 is connected to the end effector female end, and the object to be transported 107 can be carried by the tray. The tray can be connected to the end effector female end by bolts, or by other means, so that the tray and the end effector female end are fixedly connected. When the end effector male end is connected to the end effector female end, the robot arm can lift the object to be transported through a fixed connection.

[0077] In some embodiments, Figure 2As shown, a handling device provided by an embodiment of the present invention further includes a magnetic sensor female end 108 and a magnetic sensor male end 109. The magnetic sensor female end is connected to the end effector female end, and the magnetic sensor male end is connected to the end effector male end, and can be fixedly connected by gluing, embedding or other methods. When the end effector male end is connected to the end effector female end, the magnetic sensor female end and the magnetic sensor male end are magnetically connected, and the connection state can be identified. The load force change can be determined based on the first magnetic induction state between the magnetic sensor female end and the magnetic sensor male end. The first magnetic induction state may include magnetic induction connection and magnetic induction disconnection. When the first magnetic induction state is magnetic induction connection, it can be determined that the load force change is the presence of load force; when the first magnetic induction state is magnetic induction disconnection, it can be determined that the load force change is the absence of load force.

[0078] The beneficial effects of implementing the embodiments of the present invention include: a handling device provided by the embodiments of the present invention includes a supporting body, a mobile chassis, a robotic arm, an end effector male end, an end effector female end, and a pallet, wherein the mobile chassis is connected to the bottom of the supporting body and is used to move to the first workstation according to the first moving signal; the robotic arm is connected to the top of the supporting body and is used to control the rotation process through a rotation signal to rotate the end of the robotic arm to the position of the object to be handled in the first workstation; the end effector male end is connected to the end of the robotic arm; the end effector female end is connected to the end effector male end through a fixed interface; the pallet is connected to the end effector female end and is used to carry the object to be handled. The present invention realizes object handling through a stable connection between the end effector male end and the end effector female end, thereby improving stability and safety. At the same time, the present invention can be widely used in scenarios such as mobile robots, which can greatly improve the load utilization capacity of collaborative robots and has strong application value.

[0079] Figure 3 is an optional flow chart of a control method for a transport device provided in an embodiment of the present application. Figure 3 The method may include but is not limited to steps S201 to S210.

[0080] Step S201, generating a first movement signal, where the first movement signal is used to control the mobile chassis to move to a first working station;

[0081] Step S202: after determining that the transport device has arrived at the first workstation, generating a rotation signal, the rotation signal is used to rotate the end of the robot arm to the position where the object to be transported is located, and control the robot arm to execute a first motion trajectory, the first motion trajectory including a trajectory of inserting the male end of the end effector into the female end of the end effector from bottom to top;

[0082] Step S203: Generate an object return signal according to the second magnetic induction state, and the object return signal is used to control the robot arm to place the object to be transported on the storage position;

[0083] Step S204: generating a pull-out signal, the pull-out signal being used to control the robot arm to execute a second motion trajectory, the second motion trajectory comprising a trajectory of pulling the male end of the end effector downward from the female end of the end effector;

[0084] Step S205: generating a second movement signal according to the third magnetic induction state and the first travel switch state of the storage bin, wherein the second movement signal is used to control the mobile chassis to move to the second workstation;

[0085] Step S206, generating a rotation signal so that the robot arm lifts the object to be transported from the storage location;

[0086] Step S207: Generate an object placement signal according to the fourth magnetic sensing state, where the object placement signal is used to control the robot arm to place the object to be transported on the workbench of the second workstation;

[0087] Step S208, generating a pull-out signal according to the state of the second travel switch of the second workstation, so that the robot arm is separated from the object to be transported;

[0088] Step S209: judging whether the load force of the robot arm is 0 according to the fifth magnetic induction state;

[0089] Step S210: If the load force of the robot arm is 0, a robot arm reset signal is generated, and the robot arm reset signal is used to control the robot arm to return to the initial position.

[0090] Steps S201 to S210 shown in the embodiment of the present application realize object transportation and improve stability and safety.

[0091] In some embodiments, a first movement signal can be generated first, and the first movement signal can be used to control the mobile chassis to move to the first workstation. After determining that the transport device has arrived at the first workstation, a rotation signal is generated, and the end of the robot arm can be rotated to the position of the object to be transported by the rotation signal, and the robot arm can be controlled to execute the first motion trajectory, wherein the first motion trajectory can include the trajectory of inserting the male end of the end effector into the female end of the end effector from bottom to top. Then, according to the second magnetic induction state, when the second magnetic induction state is magnetically connected, it means that the robot arm has stably lifted the object to be transported, and an object return signal is generated, and the object return signal is used to control the robot arm to place the object to be transported on the storage bin. Then, a pull-out signal is generated, and the pull-out signal is used to control the robot arm to execute the second motion trajectory, wherein the second motion trajectory can include the trajectory of pulling the male end of the end effector downward from the female end of the end effector. Then, according to the third magnetic induction state and the first travel switch state of the storage bin, when the third magnetic induction state is magnetic induction disconnected and the first travel switch state is tray in place, it indicates that the robot arm has been separated from the object to be transported, and a second movement signal is generated, and the second movement signal can be used to control the mobile chassis to move to the second workstation. Among them, the first travel switch state can include tray in place and tray absent, which is used to determine whether the tray has been placed at the preset position of the workstation. Then generate a rotation signal, so that the end of the robot arm rotates to the position where the object to be transported is located, and execute the first motion trajectory to lift the object to be transported from the storage bin again. Then, according to the fourth magnetic induction state, when the fourth magnetic induction state is magnetic induction connected, the robot arm stably lifts the object to be transported, generates an object placement signal, and can control the robot arm to place the object to be transported on the workbench of the second workstation through the object placement signal, thereby realizing the stable transportation of the object to be transported from the first workstation to the second workstation. Then, according to the state of the second travel switch of the second workstation, when the state of the second travel switch is that the tray is in place, it means that the object to be transported has been accurately placed on the second workstation, and a pull-out signal is generated to control the robot arm to execute the second motion trajectory, so that the robot arm is separated from the object to be transported. Finally, according to the fifth magnetic induction state, when the fifth magnetic induction state is magnetic induction disconnection, the robot arm has been separated from the object to be transported, and it is determined whether the load force of the robot arm is 0. If the load force of the robot arm is 0, a robot arm reset signal is generated, and the robot arm reset signal can be used to control the robot arm to return to the initial position to complete the object transport.

[0092] The beneficial effects of implementing the embodiments of the present invention include: the embodiments of the present invention first generate a first movement signal to control the mobile chassis to move to the first workstation, generate a rotation signal to rotate the end of the robot arm to the position of the object to be transported, and control the robot arm to execute the first motion trajectory, then generate an object return signal to place the object to be transported on the storage bin, generate a pull-out signal to control the robot arm to execute the second motion trajectory, and generate a second movement signal to control the mobile chassis to move to the second workstation, then generate a rotation signal to enable the robot arm to lift the object to be transported from the storage bin, generate an object placement signal to place the object to be transported on the second workstation, and finally generate a pull-out signal to enable the robot arm to detach from the object to be transported, and determine whether the load force of the robot arm is 0. If the load force of the robot arm is 0, a robot arm reset signal is generated to control the robot arm to return to its initial position, thereby realizing object transport and improving stability and safety.

[0093] like Figure 4As shown, an embodiment of the present invention provides a control system for a handling device, including a control module 301, a mobile chassis control module 302, a mechanical arm control module 303, an end effector control module 304, a communication management module 305, a power management module 306, and a human-machine interface module 307. According to the user input instruction, the control module 301 can generate a first movement signal and a rotation signal. According to the first movement signal, the mobile chassis control module 302 can control the mobile chassis to move so as to move the device to the target workstation, and according to the rotation signal, the mechanical arm control module 303 can control the mechanical arm to rotate so as to rotate the mechanical arm to the desired position. The end effector control module 304 can control the opening and closing of the end effector to achieve the clamping and release of the object. The communication management module 305 can control the communication connection between the mobile chassis, the mechanical arm and the end effector to achieve mutual cooperation. The communication management module realizes internal and external communication functions. In terms of external communication, multiple communication methods are supported, such as Wi-Fi, mobile Internet communication, etc., so that communication with the server can be carried out through a wireless network. Through Wi-Fi or 4G, 5G communication, it is possible to receive work instructions, feedback work status, etc. In terms of internal communication, the communication module ensures the communication connection between the mobile robot chassis, the mechanical arm and the end effector, for example, through a gigabit router and a network cable to achieve data transmission and coordination. The power output can be controlled by the power management module 306 to provide power for each component in the device. The power management module optimizes and manages the power supply of the entire composite robot, and can provide power supplies of different voltage levels according to demand, such as 48V, 24V, 12V, 5V, etc., to meet the power requirements of different components and assemblies. It is also responsible for managing the charging and replacement of rechargeable batteries. The parameters of the mobile chassis control module, the parameters of the mechanical arm control module, the parameters of the end effector control module, the parameters of the communication management module and the parameters of the power management module can be set through the human-machine interface module 307 using the user operation interface to achieve interactive management of each module. The HMI (Human Machine Interface) human-machine interface module provides a user-friendly interface so that users can access the user interface of the mobile robot through different devices and achieve cross-platform operation. Users can interact with the robot through computers, mobile phones, tablets and other devices to control the robot's movement, monitor its working status, set tasks, etc. This cross-platform operation mode allows users to interact with the composite robot more conveniently and flexibly, improving the convenience and efficiency of operation.

[0094] In some embodiments, the mobile chassis control module may include a chassis storage submodule, a chassis perception submodule, a chassis positioning submodule, a chassis navigation submodule, a chassis input submodule, a chassis call submodule, a chassis communication submodule, and a chassis drive submodule. It is used to control the chassis of the composite robot to perform movement, positioning, charging, alarming, and the like. The chassis data can be first saved through the chassis storage submodule, wherein the chassis data may include map data, task planning data, system configuration file data, and sensor data. Then, according to the first mobile signal, the chassis surrounding environment information is obtained through the chassis perception submodule, wherein the chassis perception submodule may include a laser radar, a visual sensor, an ultrasonic radar, an IMU inertial measurement unit, an encoder, and the like. According to the chassis surrounding environment information, the chassis positioning submodule is used to calculate the chassis position information and chassis posture information. According to the chassis data, chassis surrounding environment information, chassis position information and chassis posture information, the SLAM (Simultaneous Localization and Mapping) algorithm or other positioning technologies are used to establish a map and locate the robot's position. The chassis navigation submodule is used to plan the travel path and determine the robot's travel mode in the workspace to achieve tasks such as reaching the target position or avoiding obstacles. The robot position and obstacle avoidance path can be updated in real time. The chassis input submodule is then used to receive chassis instructions, where the chassis instructions can include remote control instructions, voice instructions and programming instructions. Then, according to the input command or task, the relevant functional modules inside the system are called, and the chassis calling submodule is used to execute the chassis instructions to realize the execution of the instructions, coordinate the workflow between the modules, and ensure the coordinated operation of the entire system. The chassis communication submodule is used to control the communication connection between the chassis subcomponents, where the chassis subcomponents can include chassis sensors and chassis motors, so that information exchange and coordination work can be carried out between the chassis subcomponents. Internal communication can include various communication protocols and interfaces, such as CAN bus, Ethernet, Modbus, etc. After the chassis sub-component communication connection is completed, the chassis parameters can be adjusted through the chassis drive sub-module according to the travel path and chassis instructions to achieve the positioning and movement of the robot chassis in space, thereby realizing the control of the mobile chassis. Among them, the chassis parameters can include movement, steering and speed. The chassis drive sub-module can include key components such as motor drivers and encoders.

[0095] In some embodiments, the robot control module may include a robot storage submodule, a robot perception submodule, a robot input submodule, a robot call submodule, a robot communication submodule, and a robot drive submodule. It is used to control the movement of the robot, such as the joint rotation of a multi-joint robot arm to achieve the movement of the robot arm to the required work, and perform tasks such as clamping, placement, and polishing. The robot data can be saved by the robot storage submodule first, and the required data can be effectively managed and extracted to provide necessary information for the motion control of the robot. Among them, the robot data may include robot configuration file data, motion planning algorithm, joint position data, and speed data. Then, according to the rotation signal, the robot surrounding environment information and work object information are obtained through the robot perception submodule, wherein the robot perception submodule may include various sensors, such as visual sensors, force sensors, torque sensors, etc., for obtaining important information about the environment and the position, shape, strength, etc. of the workpiece. The robot arm input submodule is used to receive the robot arm command, wherein the robot arm command may include information such as the command, task or target position from the system, and may support various forms of input methods, such as programming instructions, simulation interface, voice recognition, remote control, etc., to realize the control and operation of the robot arm. The robot arm call submodule is then used to execute the robot arm command to realize the inverse motion planning, kinematic solution or gripping action of the robot arm. The communication connection between the robot arm subcomponents is controlled by the robot arm communication submodule, and data transmission and reception can be realized through specific communication protocols and interfaces, such as CAN bus, Ethernet, etc. Among them, the robot arm subcomponents may include robot arm sensors and joint motors. After the communication connection of the robot arm subcomponents is completed, the robot arm parameters can be adjusted through the robot arm drive submodule according to the robot arm data, the robot arm command, the robot arm surrounding environment information and the work object information, and the control signal can be converted into the key part of actually driving the robot arm movement. The control signal can be transmitted to the motor or actuator of the robot arm, and the movement and posture adjustment of the robot arm joint can be realized through appropriate driving mode and coordinated motion control algorithm, thereby realizing the control of the robot arm.

[0096] In some embodiments, the end effector control module may include an end effector storage submodule, an end effector input submodule, an end effector communication submodule, and an end effector judgment submodule. It is used to manage the end effector, including the configuration of the end effector, such as the number of the end effector, the clamping force, the sensor switch, etc., and also includes the opening and closing of the end effector. The end effector data can be saved through the end effector storage submodule to realize complex operation tasks, wherein the end effector data can include working parameters, preset action sequence information, execution strategy information, actuator configuration information and actuator action planning algorithm. Then, the end effector input submodule is used to receive the end effector instruction to control the action of the end effector, wherein the instruction can be received in a variety of ways, and the action and operation mode of the end effector can be specified. Then, the communication connection between the end effector subcomponents is controlled through the end effector communication submodule. Through communication with the robot controller or other modules, the instructions, tasks and control signals from the controller can be received to realize the control of the end effector, and the state information, execution feedback and other data of the end effector can also be transmitted to the controller or other modules. After the communication connection of the end effector sub-components is completed, the execution strategy and action sequence can be determined by the end effector judgment sub-module according to the current environment, the state of the end effector, the end effector data and the end effector instructions to realize the control of the end effector.

[0097] The beneficial effects of implementing the embodiments of the present invention include: the control system of a transport device provided by the embodiments of the present invention includes a control module, a mobile chassis control module, a mechanical arm control module, an end effector control module, a communication management module, a power management module, and a human-machine interface module. The control module can generate a first movement signal and a rotation signal, the mobile chassis control module can control the movement of the mobile chassis, the mechanical arm control module can control the rotation of the mechanical arm, and then the end effector control module can control the opening and closing of the end effector, the communication management module can control the communication connection between the mobile chassis, the mechanical arm and the end effector, and then the power output can be controlled by the power management module. Finally, the parameters of the mobile chassis control module, the parameters of the mechanical arm control module, the parameters of the end effector control module, the parameters of the communication management module and the parameters of the power management module can be set by the human-machine interface module, so that the corresponding components can be controlled by adjusting the parameters of each module, thereby improving safety.

[0098] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but the scope of the rights of the present invention is not limited thereto. Any modification, equivalent substitution and improvement made by a person skilled in the art without departing from the scope and essence of the present invention should be within the scope of the rights of the present invention.

Claims

1. A transport device, characterized in that: The device comprises: Support the body; A mobile chassis connected to the bottom of the supporting body and configured to move to a first working station according to a first moving signal; A mechanical arm connected to the top of the supporting body, and used to control the rotation process through a rotation signal so as to rotate the end of the mechanical arm to the position where the object to be transported is located in the first working station; An end effector male end, the end effector male end being connected to the end of the robotic arm; An end effector female end, the end effector female end is connected to the end effector male end via a fixed interface; A pallet, the pallet being connected to the female end of the end effector and used for carrying the object to be transported; The control method of the conveying device comprises the following steps: Generate a first movement signal, wherein the first movement signal is used to control the mobile chassis to move to a first working station; After determining that the transport device has arrived at the first workstation, generating the rotation signal, the rotation signal is used to rotate the end of the robot arm to the position of the object to be transported, and control the robot arm to execute a first motion trajectory, the first motion trajectory including the trajectory of inserting the male end of the end effector into the female end of the end effector from bottom to top; According to the second magnetic sensing state, an object return signal is generated, and the object return signal is used to control the robot arm to place the object to be transported on the storage position; Generate a pull-out signal, the pull-out signal is used to control the robot arm to execute a second motion trajectory, the second motion trajectory includes a trajectory of pulling the male end of the end effector downward from the female end of the end effector; generating a second movement signal according to the third magnetic induction state and the first travel switch state of the storage bin, wherein the second movement signal is used to control the mobile chassis to move to the second working station; Generate the rotation signal so that the robot arm lifts the object to be transported from the storage location; generating an object placement signal according to the fourth magnetic sensing state, wherein the object placement signal is used to control the robot arm to place the object to be transported on the workbench of the second workstation; According to the state of the second travel switch of the second workstation, the pull-out signal is generated to make the robot arm separate from the object to be transported; According to the fifth magnetic induction state, determining whether the load force of the robot arm is 0; If the load force of the robot arm is 0, a robot arm reset signal is generated, and the robot arm reset signal is used to control the robot arm to return to an initial position.

2. The device according to claim 1, characterized in that The device also includes: A magnetic sensor female end, the magnetic sensor female end is connected to the end effector female end; A magnetic sensor male end, the magnetic sensor male end is connected to the end effector male end and is used to determine a load force change according to a first magnetic induction state between the magnetic sensor and the magnetic sensor female end.

3. The device according to claim 1, characterized in that The male end of the end effector includes a trapezoidal protrusion.

4. The device according to claim 3, characterized in that The end effector female end includes a trapezoidal recessed portion, and the trapezoidal protrusion is used to fix the end effector male end and the end effector female end when connected with the trapezoidal recessed portion.

5. The device according to claim 1, characterized in that The tray is connected to the female end of the end effector through bolts.

6. A control system for a handling device according to any one of claims 1 to 5, characterized in that: The system comprises: A control module, the control module is used to generate a first movement signal and a rotation signal according to a user input instruction; A mobile chassis control module, the mobile chassis control module is used to control the mobile chassis to move according to the first movement signal; A robot arm control module, the robot arm control module is used to control the robot arm to rotate according to the rotation signal; An end effector control module, the end effector control module is used to control the opening and closing of the end effector; A communication management module, the communication management module is used to control the communication connection between the mobile chassis, the mechanical arm and the end effector; A power management module, wherein the power management module is used to control power output; A human-machine interface module, which is used to set the parameters of the mobile chassis control module, the parameters of the robotic arm control module, the parameters of the end effector control module, the parameters of the communication management module and the parameters of the power management module through a user operation interface.

7. The system according to claim 6, characterized in that The mobile chassis control module comprises: A chassis storage submodule, the chassis storage submodule is used to store chassis data, the chassis data includes map data, mission planning data, system configuration file data and sensor data; A chassis sensing submodule, the chassis sensing submodule is used to obtain chassis surrounding environment information according to the first movement signal; A chassis positioning submodule, the chassis positioning submodule is used to calculate chassis position information and chassis posture information according to the chassis surrounding environment information; A chassis navigation submodule, the chassis navigation submodule is used to plan a travel path according to the chassis data, the chassis surrounding environment information, the chassis position information and the chassis posture information; A chassis input submodule, the chassis input submodule is used to receive chassis instructions, the chassis instructions include remote control instructions, voice instructions and programming instructions; A chassis calling submodule, the chassis calling submodule is used to execute the chassis instruction; A chassis communication submodule, the chassis communication submodule is used to control the communication connection between chassis subcomponents, the chassis subcomponents including chassis sensors and chassis motors; The chassis driving submodule is used to adjust chassis parameters according to the travel path and the chassis instructions after the chassis subcomponents are connected in communication, and the chassis parameters include movement, steering and speed.

8. The system according to claim 6, characterized in that The robotic arm control module comprises: A robotic arm storage submodule, the robotic arm storage submodule is used to store robotic arm data, the robotic arm data including robotic arm configuration file data, motion planning algorithm, joint position data and speed data; A robot arm sensing submodule, the robot arm sensing submodule is used to obtain the robot arm surrounding environment information and work object information according to the rotation signal; A robot arm input submodule, wherein the robot arm input submodule is used to receive robot arm instructions; A robot arm calling submodule, wherein the robot arm calling submodule is used to execute the robot arm instruction; A robotic arm communication submodule, the robotic arm communication submodule is used to control the communication connection between the robotic arm subcomponents, the robotic arm subcomponents including robotic arm sensors and joint motors; The robot arm driving submodule is used to adjust the robot arm parameters according to the robot arm data, the robot arm instructions, the robot arm surrounding environment information and the work object information after the communication connection of the robot arm subcomponents is completed, so as to achieve the adjustment of the robot arm joint movement and posture.

9. The system according to claim 6, characterized in that The end effector control module comprises: An end effector storage submodule, the end effector storage submodule is used to store end effector data, the end effector data includes working parameters, preset action sequence information, execution strategy information, actuator configuration information and actuator action planning algorithm; An end effector input submodule, wherein the end effector input submodule is used to receive end effector instructions; An end effector communication submodule, the end effector communication submodule is used to control the communication connection between the end effector subcomponents; The end effector judgment submodule is used to determine the execution strategy and action sequence according to the current environment, the state of the end effector, the end effector data and the end effector instruction after the communication connection of the end effector subcomponent is completed.

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