Control system of transfer robot self-adaptive to complex road conditions

Abstract

The invention provides a control system of a transfer robot self-adaptive to complex road conditions, and belongs to the technical field of robot control. The control system comprises a power supply, a control module, an instruction input module, a detection module and an execution module, the power supply is connected with the control module to provide electric energy, and the control module calculates a walking path of the transfer robot through analysis and judgment according to a control instruction input by the instruction input module and a steering position detection signal input by the detection module. Corresponding walking and steering signals are generated and sent to the execution module, and the execution module controls the transfer robot to move according to the walking path given by the control module according to the received walking and steering instructions. The system has various control modes, is convenient to control, can be suitable for movement control in various different environments, is beneficial to improving the trafficability of the transfer robot under various working conditions, and is high in practicability and good in effect.

Description

Technical Field

[0001] The invention belongs to the technical field of robot control, and in particular relates to a control system of a transport robot capable of self-adapting to complex road conditions. Background Art

[0002] Handling robots are automated, intelligent devices used to perform cargo transfer tasks in various environments. They are widely used in the fields of electricity, petroleum, chemical industry, transportation, etc. to replace manual handling and improve efficiency and safety. Handling robots have been widely used in warehousing systems. They can be used in both traditional manual in and out of the warehouse and fully automated intelligent warehousing.

[0003] Under the control of the control server, the handling robot enters the storage area to take out the container of the stored goods and transfer it to the outbound position, or takes out the container at the inbound position and transfers it to the corresponding storage position in the storage area, thereby completing the automated outbound and inbound process of the container. Moreover, using the handling robot for transfer is more convenient and faster, and can also save a lot of human resources. However, there may be some sloping working surfaces or some obstacles that the handling robot can cross on the movement path of the handling robot. When the handling robot enters the sloping working surface or crosses the obstacle, the handling robot as a whole will be bumpy, which may cause the container carried by the handling robot to fall off the handling robot, causing damage to the goods in the container, and also seriously affecting the work progress of the handling robot.

[0004] How to effectively control the walking of the handling robot is the key to improving its adaptive ability. Therefore, there is an urgent need for a reliable control system to effectively manage the behavior of the handling robot so that it can adapt to different environments. Summary of the invention

[0005] In view of this, an object of the present invention is to provide a control system of a transport robot that is adaptive to complex road conditions, and the system can control the transport robot to achieve stable and reliable movement in different environments.

[0006] The objectives of the present invention can be achieved through the following technical solutions: a control system for a transport robot that is adaptive to complex road conditions, comprising a power supply, a control module, a command input module, a detection module and an execution module, the power supply and the control module are connected to provide electric energy, the command input end of the control module is connected to the command input module to receive control commands, the detection module is connected to the detection signal input end of the control module to provide a steering position detection signal, and the execution module is connected to the signal output end of the control module to realize the movement of the transport robot; the control module calculates the walking path of the transport robot through analysis and judgment based on the control command input by the command input module and the steering position detection signal input by the detection module, and generates corresponding walking and turning signals to send to the execution module, and the execution module controls the transport robot to move according to the walking path given by the control module based on the received walking and turning commands.

[0007] In the control system of the above-mentioned transport robot that is adaptive to complex road conditions, the control module includes a power supply circuit, a command input interface unit, a mode switching switch unit, a decoding unit, a hydraulic lifting control unit and a motor control unit; the command input module includes an operating handle and a remote controller; the execution unit includes a walking motor, a steering motor and a mixed hydraulic lifting pump; the power supply circuit is connected to the power supply to convert the voltage output by the power supply into the voltage required by the control module; the command input interface unit includes a remote control signal interface and a handle signal interface, which are used to connect the remote controller and the operating handle to receive control instructions; the mode switching switch unit is used to switch the communication between the operating handle or the remote controller and the controller; the decoding unit is used to receive control instructions and decode them, and output corresponding control signals to the hydraulic lifting unit and the motor control unit; the hydraulic lifting control unit is connected to the hydraulic lifting pump to control the start and stop of the hydraulic lifting pump; the motor control unit is connected to the walking motor and the steering motor to control the walking motor to execute forward / reverse and control the steering motor to execute left / right steering.

[0008] In the control system of the handling robot capable of self-adapting to complex road conditions, the handle signal interface includes a cylinder handle signal interface, a travel motor handle signal interface, and an external speed control switch signal interface.

[0009] In the control system of the transport robot capable of adapting to complex road conditions, the power source is a battery, and the power circuit is a 48V to 12V circuit.

[0010] In the control system of the above-mentioned transport robot that is adaptive to complex road conditions, the motor control unit includes a walking motor control subunit and a steering motor control subunit; the walking motor subunit is used to receive the speed and forward / backward signals input by the decoding unit and output the signals to the walking motor after speed regulation; the steering motor control subunit is used to receive the left turn and right turn signals input by the decoding unit and output them to the steering motor.

[0011] In the control system of the transport robot capable of self-adapting to complex road conditions, the decoding unit includes a 12V to 5V circuit, a 5V to 3.3V circuit, a main circuit composed of a chip STM32F103C8T6, and an alarm circuit.

[0012] In the control system of the above-mentioned transport robot that can adapt to complex road conditions, the hydraulic lifting control unit adopts dual-cylinder signal input and output, controls the relay through the mode switching switch unit to select the operating handle or remote control to input the command signal, and then outputs the corresponding high-level signal and low-level signal to the corresponding hydraulic lifting pump.

[0013] Compared with the prior art, the control system of the transport robot that is adaptive to complex road conditions has the following advantages:

[0014] It can be applied to many application scenarios, with strong applicability and good practicality; through the effective coordinated control of walking, steering and lifting of the robotic arm, the robot's passability is effectively improved; the setting of different control modes can realize diversified command input control, which helps to overcome the defects of imperfect control command input and improve the mobile passability of the handling robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of a control system of a transport robot that is adaptive to complex road conditions according to an embodiment.

[0016] Figure 2 is a circuit diagram of a power supply circuit of an embodiment.

[0017] Figure 3 is a circuit diagram of the instruction input interface unit of the embodiment.

[0018] Figure 4 is a circuit diagram of a decoding unit of an embodiment.

[0019] Figure 5 Schematic diagram of a circuit of a walking motor control subunit of an embodiment.

[0020] Figure 6 4 is a circuit diagram of a steering motor control subunit according to an embodiment.

[0021] Figure 7Schematic diagram of a circuit of a hydraulic lifting control unit of an embodiment.

[0022] Figure 8 is a circuit diagram of a mode switching unit of an embodiment. DETAILED DESCRIPTION

[0023] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, but are not to be construed as limiting the present invention.

[0024] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0025] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0026] like Figure 1 As shown, the present invention provides a control system for a transport robot that is adaptive to complex road conditions, which is used to control the transport robot to overcome various roadblocks and achieve highly adaptable movement. The system includes a power supply, a control module, a command input module, a detection module and an execution module. The power supply is connected to the control module to provide electric energy, the command input end of the control module is connected to the command input module to receive control commands, the detection module is connected to the detection signal input end of the control module to provide a steering position detection signal, and the execution module is connected to the signal output end of the control module to realize the movement of the transport robot; the control module calculates the walking path of the transport robot through analysis and judgment according to the control command input by the command input module and the steering position detection signal input by the detection module, and generates corresponding walking and turning signals to send to the execution module, and the execution module controls the transport robot to move according to the walking path given by the control module according to the received walking and turning commands.

[0027] Among them, the control module includes a power supply circuit, a command input interface unit, a mode switching switch unit, a decoding unit, a hydraulic lifting control unit and a motor control unit; the command input module includes an operating handle and a remote control; the execution unit includes a walking motor, a steering motor and a mixed hydraulic lifting pump; the power supply circuit and the power supply are connected to convert the voltage output by the power supply into the voltage required by the control module; the command input interface unit includes a remote control signal interface and a handle signal interface, which are used to connect the remote control and the operating handle to receive control instructions; the mode switching switch unit is used to switch the communication between the operating handle or the remote control and the controller; the decoding unit is used to receive control instructions and decode them, and output corresponding control signals to the hydraulic lifting unit and the motor control unit; the hydraulic lifting control unit is connected to the hydraulic lifting pump to control the start and stop of the hydraulic lifting pump; the motor control unit is connected to the walking motor and the steering motor to control the walking motor to execute forward / reverse and control the steering motor to execute left / right steering.

[0028] Specifically, Figure 2 As shown, the power supply circuit is composed of the UC2845D1R2 power supply chip and its peripheral circuits. The input terminal VCC of the chip is connected to the battery, and the battery provides a 48V power supply voltage. Then its output pin OUT is connected to the gate of the field effect MOS tube, and a 12V voltage is output through the drain of the field effect MOS tube to realize the conversion of DC 48V to DC 12V.

[0029] like Figure 3 As shown, the P3-P8 interface in the command input interface unit is used as the remote control signal input interface of the remote control, which covers various commands sent by the remote control, such as forward, backward, brake, steering, hydraulic pump lifting, etc.; the P10 interface is used as the cylinder handle signal interface of the operating handle; the P13 interface is used as the travel motor handle signal interface of the operating handle; the P16 interface is used as the external speed control switch signal interface to realize the input of the speed control signal; the Z3 interface is used as the power input interface for inputting a 48V power supply voltage.

[0030] like Figure 4As shown, the decoding unit includes a main circuit composed of a chip STM32F103C8T6 and its peripheral circuits and two voltage conversion circuits. The two voltage conversion circuits are respectively composed of a chip cj7805B and a chip AMS1117 and corresponding peripheral circuits to realize the functions of DC12V to DC5V and DC5V to DC3.3V. The 3.3V voltage obtained by the voltage conversion circuit is input to pin 1 of the chip STM32F103C8T6 after filtering; pins 5 and 6 of the chip STM32F103C8T6 are connected to the crystal oscillator circuit; pins 7 and 9 of the chip STM32F103C8T6 are connected to the reset circuit; pins 10, 11, 12, 13, 16, 17, 18, and 19 of the chip STM32F103C8T6 are used to connect to the corresponding pins of the P3 and P5 interfaces to realize the remote control signal input of the remote controller. Pins 14, 26, 27, 28, 29, 39, 40, 41, 42, and 43 of the chip STM32F103C8T6 all output corresponding signals to the motor control unit for executing the forward, backward, and steering functions. Pin 46 of the chip STM32F103C8T6 is connected to a buzzer for realizing an alarm function.

[0031] The motor control unit includes a walking motor control subunit and a steering motor control subunit; the walking motor subunit is used to receive the speed and forward / backward signals input by the decoding unit and output the signals to the walking motor after speed regulation; the steering motor control subunit is used to receive the left turn and right turn signals input by the decoding unit and output them to the steering motor.

[0032] like Figure 5 As shown, the signal SPEED OUT-A1 output from the pin 14 of the chip STM32F103C8T6 is amplified at two stages and then transmitted to the relay K3. At the same time, the signal PEED OUT-B1 transmitted from the external speed control switch is also transmitted to the relay K3. One of the two is selected as the speed control signal and transmitted to the walking motor through the manual switch control. The signal BACK-A1 transmitted from the pin 40 of the chip STM32F103C8T6 is transmitted to the relay K3 through the transistor Q30. At the same time, the signal BACK-B1 transmitted from the walking motor handle signal interface is also transmitted to the relay K3. One of the two is selected as the forward / backward signal and transmitted to the walking motor through the manual switch control.

[0033] In addition, the signal SPEED H / L-A1 transmitted from pin 39 of the chip STM32F103C8T6 is transmitted to the relay K1 through the transistor Q24, and the signal BREAK-1 transmitted from pin 41 of the chip STM32F103C8T6 is transmitted to the relay K1 through the transistor Q21. The manual switch controls whether to transmit it to the walking motor as a brake signal and speed signal.

[0034] like Figure 6 As shown, the signal MAX-R-1 output from the pin 27 of the chip STM32F103C8T6 is connected to the positive electrode of the diode D32 through the P20 interface after filtering, the negative electrode of the diode D32 is connected to the first end of the resistor R117, the second end of the resistor R117 is connected to the base of the transistor Q43, the collector of the transistor Q43 is respectively the base of the transistor Q39, the first end of the resistor R103 and the first end of the resistor R104, the second end of the resistor R103 is connected to the pin 42 of the chip STM32F103C8T6 to obtain the signal FX R-A1, the second end of the resistor R104 is grounded, and the emitter of the transistor Q43 is grounded; the collector of the transistor Q39 is connected to the pin 9 of the relay K5, and is connected to the 12V input through the resistor R98, and the emitter of the transistor Q39 is grounded; the pin 11 of the relay K5 is connected to the sensor signal FX R-B2 transmitted by the detection module to realize the input control of the right turn signal.

[0035] Similarly, the signal MAX-L-1 output from pin 28 of the chip STM32F103C8T6 is connected to the positive electrode of the diode D18 through the P17 interface after filtering, the negative electrode of the diode D18 is connected to the first end of the resistor R99, the second end of the resistor R99 is connected to the base of the transistor Q35, the collector of the transistor Q35 is respectively the base of the transistor Q34, the first end of the resistor R93 and the first end of the resistor R94, the second end of the resistor R93 is connected to the pin 43 of the chip STM32F103C8T6 to obtain the signal FX L-A1, the second end of the resistor R94 is grounded, and the emitter of the transistor Q35 is grounded; the collector of the transistor Q34 is connected to the pin 8 of the relay K5, and is connected to the 12V input through the resistor R90, and the emitter of the transistor Q34 is grounded; the pin 6 of the relay K5 is connected to the sensor signal FX L-B1 transmitted by the detection module to realize the input control of the left turn signal.

[0036] The coil of relay K5 is controlled to be on and off by the manual switch, so that pin 8 / pin 6 can be selected to be connected to contact 4, or pin 6 / pin 10 can be selected to be connected to contact 13. Contact 4 of relay K5 is connected to pin 8 of relay K6, pin 6 of relay K6 is suspended, and both ends of the coil of relay K6 are connected to 12V input and ground respectively. Contact 4 of relay K6 is controlled to be connected to pin 8 / pin 6 by controlling the 12V input; contact 4 of relay K6 is connected to the cathode of diode D19, and the anode of diode D19 is connected to the right turn signal FX R, and the right turn signal is output; contact 13 of relay K5 is connected to pin 9 of relay K6, pin 11 of relay K6 is suspended, and both ends of the coil of relay K6 are connected to 12V input and ground respectively. Contact 4 of relay K6 is controlled to be connected to pin 9 / pin 11 by controlling the 12V input; contact 13 of relay K6 is connected to the cathode of diode D20, and the anode of diode D20 is connected to the left turn signal FX L, and the left turn signal is output.

[0037] like Figure 7 As shown, the hydraulic lifting control unit adopts dual-cylinder signal input and output, controls the relay through the mode switching switch unit to select the operating handle or remote control to input the command signal, and then outputs the corresponding high-level signal and low-level signal to the corresponding hydraulic lifting pump.

[0038] Specifically, the unit includes a left liquid level control circuit and a right liquid level control circuit. Take the left liquid level control circuit as an example: the oil pressure high signal OIL-LT-A1 outputted from the decoding module is connected to the first end of the resistor R72 and the base of the transistor Q23 through the resistor R70, the second end of the resistor R72 and the emitter of the transistor Q23 are grounded, and the collector of the transistor Q23 is connected to the pin 8 of the relay; the oil pressure high signal OIL-LT-B2 from the oil cylinder handle signal interface P10 is connected to the first end of the resistor R60 and the base of the transistor Q22 through the resistor R10, the second end of the resistor R60 and the emitter of the transistor Q22 are grounded, and the collector of the transistor Q22 is connected to the pin 6 of the relay; the pins 8 and 6 of the relay K2 are connected to the pin 4 respectively, and the coil of the relay K2 is controlled by the manual switch to turn on and off: select the connection between the pin 8 and the pin 4, or select the connection between the pin 6 and the pin 4. Similarly, the oil pressure low signal OIL-LB-A1 output from the decoding module is connected to the first end of the resistor R63 and the base of the transistor Q28 through the resistor R61, the second end of the resistor R63 and the emitter of the transistor Q28 are grounded, and the collector of the transistor Q28 is connected to the pin 9 of the relay; the oil pressure high signal OIL-LB-B2 from the cylinder handle signal interface P10 is connected to the first end of the resistor R80 and the base of the transistor Q28 through the resistor R69, the second end of the resistor R80 and the emitter of the transistor Q28 are grounded, and the collector of the transistor Q28 is connected to the pin 11 of the relay; the pins 9 and 11 of the relay K2 are connected to the pin 13 respectively, and the manual switch controls the power on and off of the coil of the relay K2: select the connection between pin 9 and pin 13, or select the connection between pin 11 and pin 13. Pin 4 of relay K2 is connected to the first end of resistor R78, the second end of resistor R78 is respectively connected to the first end of resistor R79 and the gate of MOS field effect transistor Q27, the source of MOS field effect transistor Q27 and the second end of resistor R79 are both connected to the positive electrode of capacitor C3 and 12V voltage, the negative electrode of capacitor C3 is grounded, and the drain of MOS field effect transistor Q27 is connected to the left hydraulic pump as an output end; pin 13 of relay K2 is connected to the first end of resistor R82, the second end of resistor R82 is respectively connected to the first end of resistor R84 and the gate of MOS field effect transistor Q29, the source of MOS field effect transistor Q29 and the second end of resistor R4 are both connected to 12V voltage, and the drain of MOS field effect transistor Q29 is connected to the left hydraulic pump as an output end.

[0039] The right liquid level control circuit is the same as the left liquid level control circuit, only the serial numbers of the electronic components are different, so they will not be described in detail. It should be noted that the four signals output by the two liquid level control circuits are connected to an indicator light as an operation indication, namely LED lights D21, D22, D23 and D24. The indicator lights intuitively indicate the operation status of each circuit.

[0040] like Figure 8 As shown, the mode switching switch unit is connected to the manual switch, the first end of the manual switch is respectively connected to the 12V input and the first end of the inductor L5, the second end of the inductor L5 is respectively connected to the positive electrode of the capacitor C54, the negative electrode of the diode 16 and the pin 1 of the relay K1-K5 coil, the positive electrode of the diode D16 is respectively connected to the pin 16 of the relay K1-K5 coil and the drain of the MOS field effect tube Q25; the second end of the manual switch is connected to the first end of the resistor R76, the second end of the resistor R76 is respectively connected to the first end of the resistor R77 and the gate of the MOS field effect tube Q25, and the second end of the resistor R77 and the source of the MOS field effect tube Q25 are grounded. Through the fluctuation manual switch, the coils of the relays K1-K5 can be controlled, so as to select whether to input each control instruction from the remote control or from the operating handle, and realize the free selection of the control instruction input, so that the handling robot can effectively receive the control instruction in various environments, complete the movement, and improve the passability of the robot in different road environments.

[0041] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

Claims

1. A control system for a transport robot that is adaptive to complex road conditions, comprising a power supply, a control module, a command input module, a detection module and an execution module, wherein the power supply is connected to the control module to provide electric energy, the command input end of the control module is connected to the command input module to receive control commands, the detection module is connected to the detection signal input end of the control module to provide a steering position detection signal, and the execution module is connected to the signal output end of the control module to realize the movement of the transport robot; the control module calculates the walking path of the transport robot through analysis and judgment based on the control command input by the command input module and the steering position detection signal input by the detection module, and generates corresponding walking and turning signals to send to the execution module, and the execution module controls the transport robot to move according to the walking path given by the control module based on the received walking and turning commands.

2. The control system of the transport robot capable of adapting to complex road conditions according to claim 1, characterized in that: The control module includes a power supply circuit, a command input interface unit, a mode switching switch unit, a decoding unit, a hydraulic lifting control unit and a motor control unit; the command input module includes an operating handle and a remote controller; the execution unit includes a walking motor, a steering motor and a hybrid hydraulic lifting pump; the power supply circuit is connected to the power supply to convert the voltage output by the power supply into the voltage required by the control module; the command input interface unit includes a remote control signal interface and a handle signal interface, which are used to connect the remote controller and the operating handle to receive control commands; the mode switching switch unit is used to switch the communication between the operating handle or the remote controller and the controller; the decoding unit is used to receive control commands, decode them, and output corresponding control signals to the hydraulic lifting unit and the motor control unit; the hydraulic lifting control unit is connected to the hydraulic lifting pump to control the start and stop of the hydraulic lifting pump; The motor control unit is connected to the travel motor and the steering motor to control the travel motor to perform forward / reverse movement and to control the steering motor to perform left / right steering.

3. The control system of the transport robot capable of adapting to complex road conditions according to claim 2 is characterized in that: The handle signal interface includes a cylinder handle signal interface, a travel motor handle signal interface, and an external speed control switch signal interface.

4. The control system of the transport robot capable of adapting to complex road conditions according to claim 2 or 3, characterized in that: The power source is a battery, and the power circuit is a 48V to 12V circuit.

5. The control system of the transport robot capable of adapting to complex road conditions according to claim 2 or 3, characterized in that: The motor control unit includes a walking motor control subunit and a steering motor control subunit; the walking motor subunit is used to receive the speed and forward / backward signals input by the decoding unit and output the signals to the walking motor after speed regulation; the steering motor control subunit is used to receive the left turn and right turn signals input by the decoding unit and output them to the steering motor.

6. The control system of the transport robot capable of adapting to complex road conditions according to claim 5, characterized in that: The decoding unit includes a 12V to 5V circuit, a 5V to 3.3V circuit, a main circuit composed of a chip STM32F103C8T6, and an alarm circuit.

7. The control system of the transport robot capable of adapting to complex road conditions according to claim 2 or 3, characterized in that: The hydraulic lifting control unit adopts dual-cylinder signal input and output, controls the relay through the mode switching switch unit to select the operating handle or remote control to input the command signal, and then outputs the corresponding high-level signal and low-level signal to the corresponding hydraulic lifting pump.

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