Industrial automatic intelligent mobile device

Abstract

The invention discloses an industrial automatic intelligent mobile device, and belongs to the technical field of intelligent mobile, the industrial automatic intelligent mobile device comprises a support plate, the upper surface of the support plate is provided with a mounting rack, and the surfaces of the support plate and the mounting rack are provided with a plurality of 3D laser radar sensors; an adjusting mechanism for adjusting the height on the surface of the mounting frame is mounted on the surface of the supporting plate, a clamping mechanism for clamping materials is arranged on the surface of the adjusting mechanism, a control driving base is mounted at the bottom of the supporting plate, and a plurality of groups of Mecanum wheels are mounted at the bottom of the control driving base. On the basis that the workpieces are carried, the workpieces of different sizes can be clamped, and the surrounding environment can be sensed.

Description

Technical Field

[0001] The present invention relates to the field of intelligent mobile technology, and more specifically, to an industrial automation intelligent mobile device. Background Art

[0002] With the rapid development of modern industry, the application of robot automated production lines in the field of industrial production is becoming more and more extensive, such as in the fields of electronic manufacturing, automobile manufacturing, processing and packaging, and cargo sorting. At the same time, with the specialization, specialization, and randomization of production and processing, higher requirements are put forward for the production efficiency, production versatility, intelligence, and flexibility of automated production lines. General production lines are equipped with handling devices to transport workpieces or move them away from the production line.

[0003] The existing mobile device is not convenient to adjust according to the size of the workpiece, and is unstable during movement, and the workpiece is easy to fall off. At the same time, the existing assembly fixture cannot automatically adjust according to different workpieces or materials during the assembly process, resulting in low assembly efficiency and unstable product quality. At the same time, the existing mobile device is not convenient for sensing the surrounding environment, which affects the convenience of moving the device. Summary of the invention

[0004] 1. Technical issues to be solved

[0005] In view of the problems existing in the prior art, the purpose of the present invention is to provide an industrial automation intelligent mobile device. On the basis of realizing the transportation of workpieces, the present invention can also clamp workpieces of different sizes and sense the surrounding environment.

[0006] 2. Technical solution

[0007] To solve the above problems, the present invention adopts the following technical solutions:

[0008] An industrial automation intelligent mobile device comprises: a support plate, a mounting frame is installed on the upper surface of the support plate, a plurality of 3D laser radar sensors are installed on the surfaces of the support plate and the mounting frame, an adjustment mechanism for adjusting the height on the surface of the mounting frame is installed on the surface of the support plate, a clamping mechanism for clamping materials is provided on the surface of the adjustment mechanism, a control drive base is installed on the bottom of the support plate, and a plurality of Mecanum wheels are installed on the bottom of the control drive base.

[0009] As a preferred solution of the present invention, the adjustment mechanism includes two first electric cylinders installed on the surface of the support plate and used for longitudinal adjustment, the surfaces of the two first electric cylinder piston rods are installed with connecting seats, the inner side of the connecting seats is installed with a first movable seat, the surface of the first movable seat is installed with a second electric cylinder for horizontal adjustment, the surface of the second electric cylinder piston rod is installed with a second movable seat, a plurality of first limit rods are installed on the surface inside the second movable seat, and the first limit rods are slidably connected to the surface of the first movable seat, and the surface of the first limit rods is provided with a limit ring.

[0010] As a preferred solution of the present invention, the adjustment mechanism also includes a first guide rail extending longitudinally installed on the two side surfaces of the mounting frame, and multiple first sliding blocks are installed on both sides of the inner surface of the first movable seat, and the first sliding blocks on both sides are respectively slidably connected to the surfaces of the two first guide rails.

[0011] As a preferred solution of the present invention, the clamping mechanism includes a mounting plate installed on the surface of the second movable seat, a bidirectional motor is installed on the surface of the mounting plate, a third movable seat is installed on the surfaces of the piston rods on both sides of the bidirectional motor, a third electric cylinder for adjusting inward is installed on the surface of the third movable seat, a clamping plate is installed on the surface of the piston rod of the third electric cylinder, two buffer pads are installed on the surface of the inner side of the clamping plate, a second limit rod is installed on the surface of the clamping plate, and the second limit rod is slidably connected to the surface of the third movable seat.

[0012] As a preferred solution of the present invention, two horizontally extending second guide rails are installed on the surface of the mounting plate, and a plurality of second sliding blocks are installed on the surface of the third movable seat, and the second sliding blocks are slidably connected to the surfaces of the second guide rails.

[0013] As a preferred solution of the present invention, a 3D laser radar navigation system is arranged on the inner side of the control driving base, and the 3D laser radar navigation system includes an environment perception module, a SLAM positioning module, a control module, a drive execution module, a communication module, a power management module and a safety module;

[0014] The environmental perception module is used to process the point cloud data collected by the 3D laser radar sensor to identify obstacles, ground and wall environmental elements. The SLAM positioning module is used to simultaneously perform positioning and mapping, and continuously update the map and its own position. The control module is used to perform path planning and obstacle avoidance strategies according to the SLAM positioning module, and generate control instructions. The drive execution module is used to convert the instructions issued by the control module into current inputs of the adjustment mechanism, the clamping mechanism and the Mecanum wheel, control the rotation speed and direction of the adjustment mechanism, the clamping mechanism and the Mecanum wheel, and perform closed-loop control. The communication module is used to realize data exchange with the network and support remote monitoring and operation. The power management module is used to monitor the battery power to ensure that the device automatically returns to the charging station for charging when the power is low. The safety module is used to quickly stop the operation of the adjustment mechanism, the clamping mechanism and the Mecanum wheel when an abnormal situation occurs.

[0015] As a preferred solution of the present invention, the environment perception module includes a data processing unit, an object recognition and classification unit and a dynamic environment perception unit;

[0016] The data processing unit is used to filter, denoise and normalize the data collected by the 3D lidar sensor, and extract edges, corners and textures from the data, and combine the data of multiple sensors through Kalman filtering. The object recognition and classification unit is used to use convolutional neural network computer vision technology to identify known objects or environmental features through feature point matching. The dynamic environment perception unit is used to detect dynamic objects in the environment and predict the future trajectory of dynamic objects based on historical data.

[0017] As a preferred solution of the present invention, the SLAM positioning module includes a map construction unit, an environment modeling unit, a positioning unit, a path planning unit and an obstacle avoidance unit;

[0018] The map construction unit is used to convert the data processed by the data processing unit into an environmental model, and optimize the constructed map to reduce cumulative errors. The environmental modeling unit is used to construct a three-dimensional model constructed by the map construction unit based on the data processed by the data processing unit, and classify and label different areas or objects in the environment. The positioning unit is used to estimate the current position and posture of the motion device based on the 3D lidar sensor data and the constructed map, and identify whether the motion device has returned to a previously visited position to correct the cumulative errors. The obstacle avoidance unit is used to detect obstacles in the surrounding environment in real time, and generate an obstacle avoidance path based on the position and speed of the obstacles. The path planning unit is used to generate an optimal path from the starting point to the target point based on the map information, and at the same time, in a real-time environment, adjust the path according to the environmental changes perceived in real time by the obstacle avoidance unit to avoid dynamic obstacles.

[0019] 3. Beneficial effects

[0020] Compared with the prior art, the advantages of the present invention are:

[0021] (1) The present invention can generate a high-precision three-dimensional environmental map through a 3D lidar sensor, so that the mobile device can plan and navigate paths more accurately in complex environments, reduce errors and deviations, and perceive the surrounding environment in real time through high-precision perception capabilities and autonomous navigation functions, so that the intelligent mobile transport device can efficiently complete tasks without human intervention, can quickly detect obstacles and avoid them, and improve the safety and stability of the equipment in dynamic environments.

[0022] (2) The present invention can clamp workpieces of different sizes through the clamping mechanism, and then move them on the surface of the mounting frame through the adjusting mechanism, thereby realizing lateral and longitudinal movement of the clamping mechanism and the workpiece, and further can move and pick up workpieces at different positions. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A schematic diagram of an industrial automation intelligent mobile device according to the present invention;

[0024] Figure 2 A schematic diagram of a first-viewing angle of view of an adjustment mechanism in an industrial automation intelligent mobile device of the present invention;

[0025] Figure 3 A schematic diagram of a second viewing angle of an adjustment mechanism in an industrial automation intelligent mobile device according to the present invention;

[0026] Figure 4 A schematic diagram of a clamping mechanism in an industrial automation intelligent mobile device of the present invention;

[0027] Figure 5 The present invention is a schematic diagram of a module for controlling a driving base in an industrial automation intelligent mobile device.

[0028] Description of the numbers in the figure:

[0029] 1. Support plate; 2. Mounting frame; 3. 3D laser radar sensor; 4. Adjustment mechanism; 401. First electric cylinder; 402. Connecting seat; 403. First moving seat; 404. First guide rail; 405. First sliding block; 406. Second electric cylinder; 407. Second moving seat; 408. First limiting rod; 409. Limiting ring; 5. Clamping mechanism; 501. Mounting plate; 502. Second guide rail; 503. Second sliding block; 504. Third moving seat; 505. Third electric cylinder; 506. Clamping plate; 507. Buffer pad; 508. Second limiting rod; 509. Bidirectional motor; 6. Control drive base; 7. Mecanum wheel. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] Example:

[0032] See also Figure 1-5 An industrial automation intelligent mobile device comprises: a support plate 1, a mounting frame 2 is installed on the upper surface of the support plate 1, a plurality of 3D laser radar sensors 3 are installed on the surfaces of the support plate 1 and the mounting frame 2, an adjusting mechanism 4 for adjusting the height on the surface of the mounting frame 2 is installed on the surface of the support plate 1, a clamping mechanism 5 for clamping materials is provided on the surface of the adjusting mechanism 4, a control driving base 6 is installed on the bottom of the support plate 1, and a plurality of groups of Mecanum wheels 7 are installed on the bottom of the control driving base 6.

[0033] In a specific embodiment of the present invention, workpieces of different sizes can be clamped by the clamping mechanism 5, and then moved on the surface of the mounting frame 2 by the adjusting mechanism 4, so that the clamping mechanism 5 and the workpiece can be moved horizontally and vertically, and then the workpieces in different positions can be moved and picked up. The 3D lidar sensor 3 can generate a high-precision three-dimensional environmental map, so that the mobile device can perform path planning and navigation more accurately in a complex environment, reducing errors and deviations.

[0034] Specifically, the adjustment mechanism 4 includes two first electric cylinders 401 installed on the surface of the support plate 1 and used for longitudinal adjustment, a connecting seat 402 is installed on the surface of the piston rod of the two first electric cylinders 401, a first movable seat 403 is installed on the inner side of the connecting seat 402, a second electric cylinder 406 for horizontal adjustment is installed on the surface of the first movable seat 403, a second movable seat 407 is installed on the surface of the piston rod of the second electric cylinder 406, a plurality of first limiting rods 408 are installed on the surface of the inner side of the second movable seat 407, and the first limiting rods 408 are slidably connected to the surface of the first movable seat 403, and a limiting ring 409 is provided on the surface of the first limiting rod 408. The adjustment mechanism 4 also includes a first guide rail 404 extending longitudinally and installed on both side surfaces of the mounting frame 2, a plurality of first sliding blocks 405 are installed on both sides of the inner surface of the first movable seat 403, and the first sliding blocks 405 on both sides are respectively slidably connected to the surfaces of the two first guide rails 404.

[0035] In a specific embodiment of the present invention, the first electric cylinder 401 is activated by its output shaft to drive the connecting seat 402 and the first movable seat 403 to move longitudinally. When the first movable seat 403 moves, it drives the first sliding block 405 to move on the surface of the first guide rail 404. Then, the second electric cylinder 406 is activated by its piston rod to drive the second movable seat 407 to move. At the same time, the movement of the second movable seat 407 drives the first limiting rod 408 to move on the surface of the first movable seat 403.

[0036] Specifically, the clamping mechanism 5 includes a mounting plate 501 mounted on the surface of the second movable seat 407, a bidirectional motor 509 is mounted on the surface of the mounting plate 501, a third movable seat 504 is mounted on the surface of the piston rods on both sides of the bidirectional motor 509, a third electric cylinder 505 for adjusting inward is mounted on the surface of the third movable seat 504, a clamping plate 506 is mounted on the surface of the piston rod of the third electric cylinder 505, two buffer pads 507 are mounted on the surface of the inner side of the clamping plate 506, a second limiting rod 508 is mounted on the surface of the clamping plate 506, and the second limiting rod 508 is slidably connected to the surface of the third movable seat 504, two horizontally extending second guide rails 502 are mounted on the surface of the mounting plate 501, a plurality of second sliding blocks 503 are mounted on the surface of the third movable seat 504, and the second sliding blocks 503 are slidably connected to the surface of the second guide rail 502.

[0037] In a specific embodiment of the present invention, the bidirectional motor 509 is used to start its piston rod to drive the third movable seats 504 on both sides to move. The movement of the third movable seat 504 drives the second sliding block 503 to move on the surface of the second guide rail 502. Then, the third electric cylinder 505 is started by its piston rod to drive the clamping plate 506 and the buffer pad 507 to move, thereby clamping the workpiece.

[0038] Specifically, a 3D laser radar navigation system is arranged inside the control driving base 6, and the 3D laser radar navigation system includes an environment perception module, a SLAM positioning module, a control module, a drive execution module, a communication module, a power management module and a safety module;

[0039] The environmental perception module is used to process the point cloud data collected by the 3D laser radar sensor 3 to identify obstacles, ground and wall environmental elements. The SLAM positioning module is used to simultaneously perform positioning and mapping, and continuously update the map and its own position to achieve high-precision autonomous positioning. The control module is used to perform path planning and obstacle avoidance strategies according to the SLAM positioning module, generate control instructions, and achieve precise motion control. The drive execution module is used to convert the instructions issued by the control module into current inputs of the adjustment mechanism 4, the clamping mechanism 5 and the Mecanum wheel 7, control the speed and direction of the adjustment mechanism 4, the clamping mechanism 5 and the Mecanum wheel 7, and perform closed-loop control to ensure that the device travels along a predetermined trajectory. The communication module is used to realize data exchange with the network to ensure the real-time and accuracy of information, and support remote monitoring and operation, so that managers can understand the working status of the device in real time. The power management module is used to monitor the battery power to ensure that the device automatically returns to the charging station for charging when the power is low. The safety module is used to quickly stop the operation of the adjustment mechanism 4, the clamping mechanism 5 and the Mecanum wheel 7 when an abnormal situation occurs, to ensure safety and prevent the device from causing harm to surrounding personnel and equipment during operation.

[0040] Specifically, the environment perception module includes a data processing unit, an object recognition and classification unit, and a dynamic environment perception unit;

[0041] The data processing unit is used to filter, denoise and normalize the data collected by the 3D lidar sensor 3, and extract edges, corners and textures from the data, and combine the data of multiple sensors through Kalman filtering to improve the accuracy and robustness of environmental perception. The object recognition and classification unit is used to use convolutional neural network computer vision technology to identify known objects or environmental features through feature point matching, thereby identifying and classifying objects in the environment, thereby improving the accuracy of object recognition. The dynamic environment perception unit is used to detect dynamic objects in the environment and predict the future trajectory of dynamic objects based on historical data so that avoidance measures can be taken in advance.

[0042] Specifically, the SLAM positioning module includes a map construction unit, an environment modeling unit, a positioning unit, a path planning unit, and an obstacle avoidance unit;

[0043] The map construction unit is used to convert the data processed by the data processing unit into an environmental model, and optimize the constructed map to reduce the cumulative error and improve the accuracy of the map. The environmental modeling unit is used to construct the three-dimensional model constructed by the map construction unit according to the data processed by the data processing unit, classify and label different areas or objects in the environment, and provide more detailed environmental information. The positioning unit is used to estimate the current position and posture of the motion device according to the 3D lidar sensor 3 data and the constructed map, and identify whether the motion device has returned to the previously visited position to correct the cumulative error. The obstacle avoidance unit is used to detect obstacles in the surrounding environment in real time, and generate an obstacle avoidance path according to the position and speed of the obstacle to ensure that the device can safely bypass the obstacle. The path planning unit is used to generate the optimal path from the starting point to the target point according to the map information. At the same time, in the real-time environment, the path is adjusted according to the environmental changes perceived by the obstacle avoidance unit in real time to avoid dynamic obstacles and ensure safe driving.

[0044] A method for using an industrial automation intelligent mobile device comprises the following steps:

[0045] The piston rod of the bidirectional motor 509 is started to drive the third moving seats 504 on both sides to move. The movement of the third moving seat 504 drives the second sliding block 503 to move on the surface of the second guide rail 502. Then the third electric cylinder 505 starts its piston rod to drive the clamping plate 506 and the buffer pad 507 to move, so as to clamp workpieces of different sizes. Then the first electric cylinder 401 is started to drive the connecting seat 402 and the first moving seat 403 to move longitudinally. When the first moving seat 403 moves, it drives the first sliding block 405 to move on the surface of the first guide rail 404. Then the second electric cylinder 406 starts its piston rod to drive the second moving seat 407 to move. At the same time, the movement of the second moving seat 407 drives the first limiting rod 408 to move on the surface of the first moving seat 403, thereby realizing the lateral and longitudinal movement of the clamping mechanism 5 and the workpiece, so that the workpieces at different positions can be moved and taken. The 3D laser radar sensor 3 can generate a high-precision three-dimensional environmental map.

[0046] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and improved concepts of the present invention within the technical scope disclosed by the present invention, and they should be covered by the protection scope of the present invention.

Claims

1. An industrial automation intelligent mobile device, characterized in that: include: A support plate (1), a mounting frame (2) is mounted on the upper surface of the support plate (1), a plurality of 3D laser radar sensors (3) are mounted on the surfaces of the support plate (1) and the mounting frame (2), an adjustment mechanism (4) for adjusting the height on the surface of the mounting frame (2) is mounted on the surface of the support plate (1), a clamping mechanism (5) for clamping a material is provided on the surface of the adjustment mechanism (4), a control drive base (6) is mounted on the bottom of the support plate (1), and a plurality of Mecanum wheels (7) are mounted on the bottom of the control drive base (6).

2. The industrial automation intelligent mobile device according to claim 1, characterized in that: The adjustment mechanism (4) comprises two first electric cylinders (401) mounted on the surface of the support plate (1) and used for longitudinal adjustment, the surfaces of the piston rods of the two first electric cylinders (401) are mounted with connecting seats (402), the inner side of the connecting seats (402) is mounted with a first movable seat (403), the surface of the first movable seat (403) is mounted with a second electric cylinder (406) for horizontal adjustment, the surface of the piston rod of the second electric cylinder (406) is mounted with a second movable seat (407), the inner surface of the second movable seat (407) is mounted with a plurality of first limiting rods (408), and the first limiting rods (408) are slidably connected to the surface of the first movable seat (403), and the surface of the first limiting rods (408) is provided with a limiting ring (409).

3. The industrial automation intelligent mobile device according to claim 2, characterized in that: The adjustment mechanism (4) further comprises first guide rails (404) extending longitudinally and mounted on the two side surfaces of the mounting frame (2); a plurality of first sliding blocks (405) are mounted on both sides of the inner side surface of the first movable seat (403); and the first sliding blocks (405) on both sides are respectively slidably connected to the surfaces of the two first guide rails (404).

4. The industrial automation intelligent mobile device according to claim 3, characterized in that: The clamping mechanism (5) comprises a mounting plate (501) mounted on the surface of a second movable seat (407), a bidirectional motor (509) being mounted on the surface of the mounting plate (501), a third movable seat (504) being mounted on the surfaces of piston rods on both sides of the bidirectional motor (509), a third electric cylinder (505) for adjusting inwardly being mounted on the surface of the third movable seat (504), a clamping plate (506) being mounted on the surface of the piston rod of the third electric cylinder (505), two buffer pads (507) being mounted on the inner surface of the clamping plate (506), a second limiting rod (508) being mounted on the surface of the clamping plate (506), and the second limiting rod (508) being slidably connected to the surface of the third movable seat (504).

5. The industrial automation intelligent mobile device according to claim 4, characterized in that: The surface of the mounting plate (501) is mounted with two horizontally extending second guide rails (502), the surface of the third movable seat (504) is mounted with a plurality of second sliding blocks (503), and the second sliding blocks (503) are slidably connected to the surface of the second guide rails (502).

6. The industrial automation intelligent mobile device according to claim 5, characterized in that: A 3D laser radar navigation system is arranged on the inner side of the control driving base (6), and the 3D laser radar navigation system comprises an environment perception module, a SLAM positioning module, a control module, a drive execution module, a communication module, a power management module and a safety module; The environmental perception module is used to process the point cloud data collected by the 3D laser radar sensor (3) to identify obstacles, ground and wall environmental elements. The SLAM positioning module is used to simultaneously perform positioning and mapping, and continuously update the map and its own position. The control module is used to perform path planning and obstacle avoidance strategies according to the SLAM positioning module and generate control instructions. The drive execution module is used to convert the instructions issued by the control module into current inputs of the adjustment mechanism (4), the clamping mechanism (5) and the Mecanum wheel (7), control the rotation speed and direction of the adjustment mechanism (4), the clamping mechanism (5) and the Mecanum wheel (7), and perform closed-loop control. The communication module is used to realize data exchange with the network and support remote monitoring and operation. The power management module is used to monitor the battery power to ensure that the device automatically returns to the charging station for charging when the power is low. The safety module is used to quickly stop the operation of the adjustment mechanism (4), the clamping mechanism (5) and the Mecanum wheel (7) when an abnormal situation occurs.

7. The industrial automation intelligent mobile device according to claim 6, characterized in that: The environment perception module includes a data processing unit, an object recognition and classification unit, and a dynamic environment perception unit; The data processing unit is used to filter, denoise and normalize the data collected by the 3D laser radar sensor (3), and extract edges, corners and textures from the data, and combine the data of multiple sensors through Kalman filtering. The object recognition and classification unit is used to use convolutional neural network computer vision technology to identify known objects or environmental features through feature point matching. The dynamic environment perception unit is used to detect dynamic objects in the environment and predict the future trajectory of the dynamic objects based on historical data.

8. The industrial automation intelligent mobile device according to claim 7, characterized in that: The SLAM positioning module includes a map construction unit, an environment modeling unit, a positioning unit, a path planning unit and an obstacle avoidance unit; The map construction unit is used to convert the data processed by the data processing unit into an environmental model, and optimize the constructed map to reduce cumulative errors. The environmental modeling unit is used to construct a three-dimensional model constructed by the map construction unit based on the data processed by the data processing unit, and classify and label different areas or objects in the environment. The positioning unit is used to estimate the current position and posture of the motion device based on the 3D laser radar sensor (3) data and the constructed map, and to identify whether the motion device has returned to a previously visited position to correct the cumulative errors. The obstacle avoidance unit is used to detect obstacles in the surrounding environment in real time, and generate an obstacle avoidance path based on the position and speed of the obstacles. The path planning unit is used to generate an optimal path from a starting point to a target point based on map information, and at the same time, in a real-time environment, adjust the path based on environmental changes perceived in real time by the obstacle avoidance unit to avoid dynamic obstacles.

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