Sample feeding robot and control system thereof

Abstract

The invention discloses a sample feeding robot and a control system thereof, the sample feeding robot comprises a main body, a plurality of tray assemblies are sequentially arranged in the main body from top to bottom, a control panel is arranged on the main body, a code scanning gun is mounted on the side surface of the main body, and the code scanning gun is electrically connected with the control panel. The tray assembly is electrically connected with the control panel. According to the sample conveying robot and the control system thereof, label information of a code scanning sample can be input into the system through the code scanning gun, meanwhile, the tray of the corresponding category can slide out through category information in the label information, the sample corresponds to the tray, and the sample cannot be misplaced.

Description

Technical Field

[0001] The invention belongs to the technical field of sample delivery robots, and in particular relates to a sample delivery robot and a control system thereof. Background Art

[0002] During the solvent testing process, sampling personnel need to send the sampled samples to different testing stations for testing after sampling, which requires manual transportation and is time-consuming.

[0003] In the prior art, samples are generally delivered by a sample delivery robot. After sampling, the sampler places the sample on the tray of the sample delivery robot, and the sample delivery robot automatically delivers the sample to the testing station. However, when there are many types of samples, each sample is placed in a different tray, and the sampler is likely to put the wrong tray, resulting in the wrong sample being delivered. Summary of the invention

[0004] The purpose of the present invention is to provide a sample delivery robot and a control system thereof, so as to solve the problem in the prior art that samples are easily placed on the wrong tray, resulting in wrong sample delivery.

[0005] To this end, the present invention provides a sample delivery robot, comprising:

[0006] A main body, wherein a plurality of tray assemblies are sequentially arranged inside the main body from top to bottom, a control panel is arranged on the main body, a barcode scanning gun is installed on the side of the main body, the barcode scanning gun is electrically connected to the control panel, and the tray assembly is electrically connected to the control panel.

[0007] Preferably, the tray assembly comprises a linear module and a tray, the linear module is fixedly mounted on both sides of the main body, and sliders are provided on both sides of the tray, and the sliders are slidably connected to the linear module.

[0008] Preferably, a sample rack is fixedly mounted on the tray, and the sample rack is provided with fixing holes evenly distributed in a matrix.

[0009] Preferably, an electrically controlled universal wheel is provided at the bottom of the main body, a measuring unit is provided on the electrically controlled universal wheel, and the measuring unit is electrically connected to the control panel.

[0010] Preferably, the measuring unit includes an odometer, an accelerometer and a gyroscope.

[0011] Preferably, a laser radar and a camera are arranged on the top of the main body.

[0012] A control system for a sample delivery robot, used to control the above-mentioned sample delivery robot, including a main control module, a sample scanning module, a tray classification module, an environmental positioning module, a path planning module and a motion control module, wherein the sample scanning module is electrically connected to the tray classification module, the environmental positioning module is electrically connected to the path planning module, the path planning module is electrically connected to the motion control module, and the main control module is electrically connected to the sample scanning module, the tray classification module, the environmental positioning module, the path planning module and the motion control module. The main control module is used to coordinate and control the sample scanning module, the tray classification module, the environmental positioning module, the path planning module and the motion control module as a whole, the sample scanning module is used to scan and extract sample information, the tray classification module is used to determine the tray where the sample is located according to the sample information, the environmental positioning module is used to establish an environmental map and locate the position of the sample delivery robot, the path planning module is used to plan the motion path of the sample delivery robot, and the motion control module is used to control the movement of the sample delivery robot.

[0013] Preferably, the environmental positioning module establishes an environmental map through SLAM to locate the position of the sample delivery robot.

[0014] Preferably, the path planning module sets the shortest initial path according to the environment map established by the environment positioning module.

[0015] Preferably, the path planning module performs real-time path adjustment according to the real-time environment detected by the environment positioning module.

[0016] Beneficial effects:

[0017] 1. The present invention provides a sample delivery robot and a control system thereof. The label information of the sample can be scanned by a barcode scanner and entered into the system. At the same time, the category information in the label information can make the tray of the corresponding category slide out, so that the sample corresponds to the tray and the sample will not be placed wrongly.

[0018] 2. The environmental positioning module in the present invention locates the position of the sample delivery robot by establishing an environmental map through SLAM, which allows the sample delivery robot to understand its own position in real time in an unknown environment and simultaneously draw an environmental map, providing a path planning basis for the path planning module. At the same time, the environmental positioning module can obtain the current environmental changes in real time, and the path planning module can adjust the path in real time according to the environmental changes, avoid obstacles, and prevent the sample delivery robot from colliding.

[0019] 3. The path planning module in the present invention does not need to recalculate the entire path when encountering environmental changes, but instead partially updates the original path, thereby improving the speed of path adjustment while ensuring the obstacle avoidance effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 This is a structural schematic diagram of Example 1 of a sample delivery robot in the present invention;

[0022] Figure 2 This is a system structure diagram of Example 1 of a control system of a sample delivery robot in the present invention; in the figure: 1-main body, 2-tray assembly, 21-linear module, 22-tray, 23-slider, 24-sample rack 25-fixing hole, 3-control panel, 4-barcode scanner, 5-laser radar, 6-camera, 7-electrically controlled universal wheel. DETAILED DESCRIPTION

[0023] The content of the present invention can be more easily understood by selecting the following detailed description of the preferred implementation method of the present invention and the embodiments included. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those of ordinary skill in the art to which the present invention belongs. When there is a conflict, the definition in this specification shall prevail.

[0024] Embodiment 1:

[0025] like Figure 1 A sample delivery robot and a control system thereof are shown, comprising:

[0026] The main body 1 has three tray components 2 arranged in order from top to bottom inside the main body 1, a control panel 3 is arranged on the main body 1, a barcode scanner 4 is installed on the side of the main body 1, the barcode scanner 4 is electrically connected to the control panel 3, and the tray component 2 is electrically connected to the control panel 3. A laser radar 5 and a camera 6 are arranged on the top of the main body 1.

[0027] The tray assembly 2 includes a linear module 21 and a tray 22. The linear module 21 is fixedly mounted on both sides of the main body 1. Slide blocks 23 are provided on both sides of the tray 22. The slide blocks 23 are slidably connected on the linear module 21. A sample rack 24 is fixedly mounted on the tray 22. The sample rack 24 is provided with fixing holes 25 evenly arranged in a matrix. The linear module 21 controls the position of the slide blocks 23 on the linear module 21 to adjust the position of the tray 22. The sample rack 24 is used to fix the sample.

[0028] The bottom of the main body 1 is provided with an electric universal wheel 7, on which a measuring unit is provided, and the measuring unit is electrically connected to the control panel 3. The measuring unit includes an odometer, an accelerometer and a gyroscope. The odometer converts the rotation of the electric universal wheel 7 into the moving distance of the sample delivery robot, the accelerometer measures the acceleration of the sample delivery robot, and the gyroscope calculates the angle of the sample delivery robot.

[0029] A control system of a sample delivery robot is also provided, which is used to control the above-mentioned sample delivery robot, including a main control module, a sample scanning module, a tray classification module, an environmental positioning module, a path planning module and a motion control module, wherein the sample scanning module is electrically connected to the tray classification module, the environmental positioning module is electrically connected to the path planning module, the path planning module is electrically connected to the motion control module, and the main control module is electrically connected to the sample scanning module, the tray classification module, the environmental positioning module, the path planning module and the motion control module. The main control module is used for overall coordination and control of the sample scanning module, the tray classification module, the environmental positioning module, the path planning module and the motion control module, the sample scanning module is used for scanning and extracting sample information, the tray classification module is used for determining the tray 22 where the sample is located according to the sample information, the environmental positioning module is used for establishing an environmental map and locating the position of the sample delivery robot, the path planning module is used for planning the motion path of the sample delivery robot, and the motion control module is used for controlling the movement of the sample delivery robot.

[0030] The environment positioning module establishes an environment map through SLAM to locate the position of the sample delivery robot. The environment positioning module establishes an environment map based on the actual map through SLAM, and uses the odometer, accelerometer and gyroscope in the measurement unit to assist in positioning the sample delivery robot and determine the position of the sample delivery robot in the environment map. The real-time environment around the sample delivery robot is detected through the laser radar 5 and the camera 6.

[0031] The path planning module sets the shortest initial path according to the environment map established by the environment positioning module. The path planning module makes real-time path adjustments according to the real-time environment detected by the environment positioning module.

[0032] The path planning module is initialized according to the position of the sampling point to the workbench in the environmental map, and the Dijkstra algorithm is used to search from the target point until the starting point is found. In this step, each node will have an h value, which represents the cost estimate from the node to the target node. When the environmental positioning module detects an obstacle on the path, it determines the area of ​​impact of the change on the current path. The impact area is the smallest area where the path may need to be replanned. In the impact area, update the cost function of the node. Start from the boundary of the impact area and diffuse to the surrounding area to recalculate the cost of the path. When the diffusion reaches the node on the original path, compare the cost of the new and old paths. If the cost of the new path is lower, update the path of the node. When the cost of the new path is not lower, stop the update process.

[0033] Working principle: After sampling, the staff will attach a label on the sample. The label has a QR code, which contains the sample information, and the sample information contains the category information. The QR code on the label is scanned by the barcode scanner 4, and the sample information is stored in the main control module. At the same time, the category information is transmitted to the tray classification module. The tray classification module recognizes the category information and pushes out the corresponding tray 22 to ensure that the staff puts the sample on the correct tray 22.

[0034] After the sample is placed, the environmental positioning module establishes an environmental map of the locations of the three testing workstations. The path planning module calculates the initial path to the workstation based on the environmental map. The motion control module controls the sample delivery robot to move according to the initial path. The environmental positioning module locates the position of the sample delivery robot in real time.

[0035] The environmental positioning module detects obstacles on the forward path through the laser radar 5 and the camera 6. When the environment changes, the path planning module replans the current path and updates it in real time, thereby improving the speed of path adjustment while ensuring the obstacle avoidance effect.

Claims

1. A sample delivery robot, characterized in that: include: A main body, wherein a plurality of tray assemblies are sequentially arranged inside the main body from top to bottom, a control panel is arranged on the main body, a barcode scanning gun is installed on the side of the main body, the barcode scanning gun is electrically connected to the control panel, and the tray assembly is electrically connected to the control panel.

2. A sample delivery robot according to claim 1, characterized in that: The tray assembly comprises a linear module and a tray. The linear module is fixedly mounted on both sides of the main body. Slide blocks are arranged on both sides of the tray. The slide blocks are slidably connected on the linear module.

3. A sample delivery robot according to claim 2, characterized in that: A sample rack is fixedly mounted on the tray, and the sample rack is provided with fixing holes evenly distributed in a matrix.

4. The sample delivery robot according to claim 1, characterized in that: An electrically controlled universal wheel is disposed at the bottom of the main body, a measuring unit is disposed on the electrically controlled universal wheel, and the measuring unit is electrically connected to the control panel.

5. The sample delivery robot according to claim 1, characterized in that: The measuring unit includes an odometer, an accelerometer and a gyroscope.

6. The sample delivery robot according to claim 1, characterized in that: A laser radar and a camera are arranged on the top of the main body.

7. A control system for a sample delivery robot, characterized in that: A sample delivery robot used to control any one of claims 1 to 6, comprising a main control module, a sample scanning module, a tray classification module, an environmental positioning module, a path planning module and a motion control module, wherein the sample scanning module is electrically connected to the tray classification module, the environmental positioning module is electrically connected to the path planning module, the path planning module is electrically connected to the motion control module, and the main control module is electrically connected to the sample scanning module, the tray classification module, the environmental positioning module, the path planning module and the motion control module.

8. The control system of the sample delivery robot according to claim 7, characterized in that: The environmental positioning module establishes an environmental map through SLAM to locate the position of the sample delivery robot.

9. The control system of a sample delivery robot according to claim 7, characterized in that: The path planning module sets the shortest initial path according to the environment map established by the environment positioning module.

10. The control system of a sample delivery robot according to claim 8, characterized in that: The path planning module performs real-time path adjustment according to the real-time environment detected by the environment positioning module.

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