Full-area vertical weight transfer robot and DER control method thereof

Abstract

The invention provides a full-area vertical heavy object carrying robot and a DER control method thereof.The full-area vertical heavy object carrying robot comprises a heavy object mechanical arm, an AGV and a DER control unit, the heavy object mechanical arm is arranged at the upper end of the AGV, the DER control unit is arranged in the AGV, and the heavy object mechanical arm and the AGV are both in electric signal connection with the DER control unit; the DER control unit is used for managing and optimizing power supply of the AGV and the weight mechanical arm, the weight mechanical arm, the AGV and the DER control unit are all in communication connection with the central control unit in the area, and the central control unit is used for coordinating and controlling operation of the whole system. The invention relates to the field of robot weight carrying.

Description

Technical Field

[0001] The present invention relates to the field of robot heavy object handling, and in particular to a full-area vertical heavy object handling robot and a DER control method thereof. Background Art

[0002] With the rapid development of automation technology, the control technology of distributed energy resources (DERs) has gradually become an important research direction in the field of industrial automation. DERs include various miniaturized power generation equipment, energy storage devices, and demand response systems, which can be flexibly integrated into the existing power system to improve the efficiency and reliability of the system. In the smart grid under the existing technology, DER control technology can realize the efficient management of distributed power generation and energy storage systems, and realize the efficient utilization of distributed energy through intelligent management systems, such as adjusting power generation through predictive analysis to adapt to changes in load; in building energy management under the existing technology, DER control technology can optimize the energy distribution inside the building, improve energy efficiency, and reduce energy consumption; in addition, at electric vehicle charging stations, DER control technology can achieve dynamic load balancing to ensure the safety and efficiency of the charging process.

[0003] However, although AGVs and handling robots have been widely used in many industries, traditional AGVs and handling robots usually adopt a fixed charging mode, that is, when the power is lower than a certain threshold, the AGV must stop working and go to a specific charging station for charging. This not only affects work efficiency, but also easily leads to congestion of charging stations when multiple AGVs are working at the same time. In addition, these devices lack flexibility in power use and cannot dynamically adjust power output according to actual operating needs, resulting in energy waste or operation interruption. Due to the mobility of AGVs and handling robots and the complexity of the operating environment, the design of their power systems needs to take into account safety and stability, which puts higher requirements on power conversion technology.

[0004] In order to solve these problems existing in the prior art, the present invention proposes a full-area vertical heavy-object handling robot and a DER control method thereof. Summary of the invention

[0005] In view of the above-mentioned defects of the prior art, the present invention provides a full-area vertical heavy-object handling robot and a DER control method thereof, aiming to solve the problems of low efficiency of fixed charging mode, lack of flexibility in power use and easy congestion of charging stations existing in traditional AGV vehicles and handling robots.

[0006] To achieve the above-mentioned objectives, the technical solution adopted by the present invention is: a full-area vertical heavy-duty handling robot, comprising a heavy-duty manipulator arm, an AGV vehicle and a DER control unit, wherein the heavy-duty manipulator arm is arranged at the upper end of the AGV vehicle, and the DER control unit is arranged inside the AGV vehicle, the heavy-duty manipulator arm and the AGV vehicle are both electrically connected to the DER control unit, and the DER control unit is used to manage and optimize the power supply of the AGV vehicle and the heavy-duty manipulator arm, the heavy-duty manipulator arm, the AGV vehicle and the DER control unit are all communicatively connected to the central control unit in the area, and the central control unit is used to coordinate and control the operation of the entire system.

[0007] Based on the above, the beneficial effects of a full-area vertical heavy-duty handling robot are to solve the problems of low efficiency of fixed charging mode, lack of flexibility in power use, and easy congestion of charging stations existing in traditional AGV vehicles and handling robots; mainly reflected in:

[0008] 1. Through intelligent management and optimization of the DER control unit, the present invention can dynamically adjust the power distribution according to the actual working status of the heavy-duty manipulator and the AGV vehicle, so that the robot can be more efficient when performing tasks, reducing work interruptions caused by improper power supply, thereby greatly improving work efficiency;

[0009] 2. The present invention can monitor the power status of the robot in real time by combining the DER control unit with the central control unit, and automatically make power allocation or charging decisions according to the power status. This flexible power management method not only avoids unnecessary power waste, but also plans the charging path in advance when the power is low, effectively preventing operation interruptions caused by sudden power outages;

[0010] 3. Traditional AGV vehicles and transport robots often start looking for charging stations only when the power level is below a certain threshold, which easily leads to multiple devices going to the charging station at the same time, causing congestion. The robot in the present invention can plan the charging time in advance according to its own power status and work plan, disperse the charging demand, and thus effectively alleviate the congestion problem of the charging station.

[0011] Furthermore, the DER control unit includes a battery management module, a charging station management module, an energy storage module and an energy optimization module. The battery management module is respectively communicated with the energy optimization module and the central control unit, the charging station management module is respectively communicated with the energy optimization module, the central control unit and the AGV vehicle, the energy storage module is respectively communicated with the energy optimization module and the central control unit, the energy storage module supplies power to the heavy object robotic arm and the AGV vehicle, and the energy optimization module is also communicated with the central control unit.

[0012] Based on the above, the communication connection between the charging station management module and the energy optimization module, the central control unit and the AGV vehicle enables the robot to autonomously select the best charging time and path according to the current working status and environmental information when the battery is low, thereby not only avoiding congestion at the charging station, but also reducing work interruptions caused by charging, and improving overall work efficiency; the coordinated work of the energy storage module and the battery management module ensures the continuity and stability of the power supply, especially in emergency situations, and can respond quickly and take measures to ensure the continuity and safety of the robot's work; the energy optimization module can maximize energy conservation and reduce unnecessary power consumption while ensuring the normal operation of the robot through intelligent scheduling of power resources; it should be noted that the communication connection between the battery management module and the energy optimization module, and the communication connection between the charging station management module and the energy optimization module are so that in an emergency, when the central processing unit cannot uniformly feedback signals to each heavy-duty handling robot to transmit and issue command signals, these modules can still transmit signals to each other and take measures quickly to ensure the continuity and safety of the robot's work.

[0013] Furthermore, the heavy object robotic arm includes a rotating lifting module, a joint module and a gripper module. The rotating lifting module is arranged on one side of the upper end of the AGV vehicle, the joint module is arranged on the output end of the rotating lifting module, and the gripper module is arranged on the output end of the joint module. The rotating lifting module, the joint module and the gripper module are all communicatively connected to the central control unit.

[0014] Based on the above, the beneficial effect of the rotating lifting module is to control the joint module to achieve 360-degree full-angle rotation and vertical height adjustment; the beneficial effect of the joint module is to drive the clamping module to fold and rotate relative to the joint module; the beneficial effect of the clamping module is to clamp heavy objects.

[0015] Furthermore, the rotary lifting module includes a full-angle rotation mechanism and a lifting mechanism, the full-angle rotation mechanism is arranged on one side of the upper end of the AGV vehicle, and the lifting mechanism is arranged on the output end of the full-angle rotation mechanism, the joint module includes a first arm span and a first joint motor, one end of the first arm span is arranged on the output end of the lifting mechanism, and the first joint motor is arranged on the other end of the first arm span, the clamping claw module includes a second arm span, a weight chuck and a positioning camera, one end of the second arm span is arranged on the output end of the first joint motor, the weight chuck is arranged on the other end of the second arm span, and the positioning camera is arranged on one side of the second arm span close to the weight chuck, and the weight chuck is composed of a rotating motor, a coupling, a screw rod, a hollow column, an inner expansion push block, a plurality of articulated connecting rods and a plurality of inner The top block, the coupling is arranged at the output end of the rotating motor, the screw rod is arranged at the lower end of the coupling, the hollow column is arranged at the lower part of the other end of the second arm span, the screw rod passes through the middle part of the hollow column and is rotatably connected to the bottom of the hollow column, the inner expansion push block is threadedly fitted on the screw rod, the outer surface of the inner expansion push block is adapted to the sliding inner cavity of the hollow column, a plurality of the hinged connecting rods are evenly distributed in the hinge grooves around the hollow column, an outer top sliding groove is arranged below each of the hinge grooves, each of the inner top blocks is slidably connected in one of the outer top sliding grooves, the hinged connecting rod is provided with an upper hinge part, a middle hinge part and a lower hinge part, the upper hinge part is hinged to the lower end of the inner expansion push block, the middle hinge part is hinged in the hinge groove, and the lower hinge part is hinged to the inner end of the inner top block.

[0016] Based on the above, the beneficial effects of the full-angle rotation mechanism and the lifting mechanism are: it realizes 360-degree all-round rotation and vertical height adjustment of the joint module, so that the joint module can be operated at any angle and different heights on the horizontal plane, greatly expanding the operating range and flexibility of the robot arm, and improving the adaptability and operating ability of the robot arm; the beneficial effect of the first arm span is to install the first joint motor; the beneficial effect of the first joint motor is to drive the second arm span to rotate; the beneficial effect of the heavy object chuck is to expand inward to clamp the heavy object; the beneficial effect of the positioning camera is to locate the target position of the heavy object; the beneficial effect of the rotating motor is to drive the screw to rotate through the coupling; the beneficial effect of the hollow column is to adapt to the sliding installation of the inner expansion push block; the beneficial effect of the inner expansion push block is to push the upper hinged portion of a number of articulated connecting rods to move along the hinged portion of the inner expansion push block through the screw; the beneficial effect of the articulated connecting rod is to push the inner top block to move outward, thereby expanding inward to clamp the heavy object.

[0017] Furthermore, the AGV is provided with a vehicle driving module, an environment recognition module, a path planning module, a task scheduling module and an obstacle avoidance module. The vehicle driving module is respectively communicated with the environment recognition module and the obstacle avoidance module, and the environment recognition module is also respectively communicated with the path planning module, the obstacle avoidance module and the central control unit, and the path planning module is also respectively communicated with the task scheduling module and the charging station management module, and the task scheduling module is also communicated with the central control unit.

[0018] Based on the above, the beneficial effect of the vehicle drive module is to drive the AGV vehicle; the beneficial effect of the communication connection between the vehicle drive module and the environment recognition module is to receive the navigation signal of the environment recognition module; the beneficial effect of the communication connection between the vehicle drive module and the obstacle avoidance module is that when an obstacle is detected, a stop command can be issued immediately to prevent it from hitting the obstacle; the beneficial effect of the environment recognition module is to locate its own position in real time according to the preset map; the beneficial effect of the communication connection between the environment recognition module and the path planning module is to receive new path planning instructions according to the latest task; the beneficial effect of the communication connection between the environment recognition module and the obstacle avoidance module is to promptly receive instructions on the existence of obstacles on the path, and record them in the navigation data to optimize the navigation route; The beneficial effect of the communication connection between the identification module and the central control unit is that the real-time updated navigation data is sent to the central control unit; the beneficial effect of the path planning module is that the optimal route is planned according to its own position; the beneficial effect of the communication connection between the path planning module and the task scheduling module is that the instructions of new tasks are accepted, and the optimal route is planned according to the new tasks; the beneficial effect of the communication connection between the path planning module and the charging station management module is that the charging instructions are accepted, and the optimal route to the charging area is planned according to the charging instructions; the beneficial effect of the communication connection between the task scheduling module and the central control unit is that the task objectives that change according to the actual situation are received, and the priorities are automatically sorted and the instructions are sent to the path planning module for path planning.

[0019] Furthermore, the central control unit includes a data processing module, a control strategy module, a real-time monitoring module and a performance evaluation module. The data processing module is respectively communicated with the rotating lifting module, joint module, gripper module, battery management module, charging station management module, energy storage module, energy optimization module, real-time monitoring module and performance evaluation module. The control strategy module is respectively communicated with the rotating lifting module, joint module, gripper module, energy optimization module, environment identification module and task scheduling module, and the real-time monitoring module is also communicated with the performance evaluation module.

[0020] Based on the above, the beneficial effect of the data processing module is to process and feedback the communication data between each module, so that the communication signals between each module are interconnected; the beneficial effect of the data processing module and the control strategy module being respectively communicated with the rotating lifting module, the joint module, and the clamping claw module is: the data processing module receives and analyzes the current status of the rotating lifting module, the joint module, and the clamping claw module, and the control strategy module controls the actions of the rotating lifting module, the joint module, and the clamping claw module according to the actual task to complete the current task; the beneficial effect of the communication connection between the data processing module and the battery management module is to obtain the key parameters of the battery such as voltage, current, and temperature in real time to ensure that the battery operates within a safe range; the data processing module communicates with the charging station management module The beneficial effect of the communication connection is to dynamically adjust the charging plan according to the robot's power status and task requirements, avoid congestion at the charging station, and monitor the charging process in real time to ensure charging safety and timely handle abnormal charging situations; the beneficial effect of the communication connection between the data processing module and the energy storage module is to monitor the power status of the energy storage module in real time to ensure the stability and reliability of energy supply; the beneficial effect of the communication connection between the data processing module and the energy optimization module is to receive various data on the current operating efficiency of the energy optimization module; the beneficial effect of the communication connection between the data processing module and the real-time monitoring module is to send the robot's operating status to the real-time monitoring module in real time, including position, speed, load and other information, to ensure the normal operation of the robot; control strategy module The beneficial effect of the communication connection with the energy optimization module is that the power distribution is dynamically adjusted according to the working state and environmental conditions of the robot, so as to ensure the load balance of each component and improve the operation efficiency of the overall system; the beneficial effect of the communication connection between the control strategy module and the environment recognition module is that the navigation information of the environment recognition module is received; the beneficial effect of the communication connection between the control strategy module and the task scheduling module is that the information of each execution task of the current robot is sent to the task scheduling module; the beneficial effect of the communication connection between the data processing module, the real-time monitoring module and the control strategy module and the performance evaluation module is that the data processing module can collect and process a large amount of data from each subsystem, including battery status, energy usage, environmental information and task execution status, through Through the analysis of the data processing module, the performance evaluation module can obtain the overall operating status of the system, identify performance bottlenecks and room for improvement; the real-time monitoring module can collect the robot's operating status data in real time through the data processing module, including position, speed, load and energy consumption. These real-time data provide the performance evaluation module with instant performance monitoring, enabling it to promptly discover performance problems and abnormal conditions, ensuring that the performance evaluation module can respond and handle problems quickly, and improving the reliability and stability of the system; the performance evaluation module can evaluate the effects of different control strategies. Through continuous interaction with the performance evaluation module, the performance evaluation module continuously provides improved and optimized control algorithms to the control strategy module to improve the overall performance and efficiency of the robot.

[0021] The present invention also provides a DER control method for a full-area vertical heavy-object handling robot, the method comprising the following steps:

[0022] Step 1: Monitor and determine the power status;

[0023] Step 2: Make power allocation or charging decisions based on the power status;

[0024] Step 3: Perform corresponding power distribution or charging operations.

[0025] Furthermore, in step one, the data processing module of the central control unit monitors the charging station management module, the energy optimization module, the battery management module and the energy storage module in the DER control unit; the energy storage module has three states, namely, sufficient power, medium power and insufficient power; after receiving the power status signal, the data processing module synchronizes the signal to the battery management module; the battery management module determines the power status and feeds back the signal to the data processing module.

[0026] Furthermore, in step 2:

[0027] When the energy storage module is in a state of sufficient power:

[0028] The data processing module sends a signal indicating sufficient power to the energy optimization module, and the energy optimization module sends a preset power allocation plan for the heavy object manipulator and the AGV vehicle when sufficient power is available to the energy storage module;

[0029] When the energy storage module is in a medium power state:

[0030] The data processing module sends a signal of medium power to the energy optimization module and the charging station management module, and the charging station management module determines whether the full-area vertical heavy-duty handling robot is in operation. If it is in operation, the energy optimization module sends a preset power allocation plan of the heavy-duty manipulator and the AGV vehicle when the power is medium to the energy storage module. If it is not in operation, the charging station management module sends a charging instruction to the path planning module;

[0031] When the energy storage module is in a low-power state:

[0032] The data processing module sends a low-battery signal to the charging station management module, and the charging station management module sends a charging instruction to the path planning module.

[0033] Furthermore, in step three:

[0034] When the energy storage module is in a state of sufficient power:

[0035] The energy storage module allocates operating power according to a preset power allocation plan when the power is sufficient;

[0036] When the energy storage module is in a medium power state:

[0037] If the vehicle is in operation, the energy storage module allocates the operation power according to the preset power allocation plan at the same time as the power level; if the vehicle is not in operation, the path planning module sends the preset charging navigation point to the environment recognition module, and the environment recognition module issues a preset instruction to reach the target point to the vehicle driving module, and the vehicle driving module drives the full-area vertical heavy-duty handling robot to the charging navigation point. Once the obstacle avoidance module detects an obstacle, it sends a signal to the environment recognition module, re-allocates the navigation path according to the navigation point target, and synchronizes the latest signal instruction to the vehicle driving module, and the vehicle driving module continues to drive the full-area vertical heavy-duty handling robot to the charging navigation point to perform charging operations;

[0038] When the energy storage module is in a low-power state:

[0039] The path planning module sends a preset charging navigation point to the environment recognition module, and the environment recognition module issues a preset instruction to reach the target point to the vehicle driving module. The vehicle driving module drives the full-area vertical heavy-object handling robot to the charging navigation point. Once the obstacle avoidance module detects an obstacle, it sends a signal to the environment recognition module, re-assigns the navigation path according to the navigation point target, and synchronizes the latest signal instruction to the vehicle driving module. The vehicle driving module continues to drive the full-area vertical heavy-object handling robot to the charging navigation point to perform charging operations.

[0040] In order to more clearly illustrate the above features of the present invention and its intended objectives, the present invention is further described below in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 A perspective view of the present invention;

[0042] Figure 2 It is a front view of the weight chuck of the present invention;

[0043] Figure 3 is a cross-sectional view of a weight chuck of the present invention;

[0044] Figure 4 is a signal connection diagram of the present invention;

[0045] Figure 5 It is a communication connection diagram of each module of the present invention;

[0046] Figure 6 These are the steps of the DER control method of the present invention.

[0047] Description of the accompanying figures: 1-heavy object mechanical arm, 11-rotating lifting module, 111-full angle rotating mechanism, 112-lifting mechanism, 12-joint module, 121-first arm span, 122-first joint motor, 13-claw module, 131-second arm span, 132-heavy object chuck, 1321-rotating motor, 1322-coupling, 1323-screw rod, 1324-hollow column, 13241-hinge groove, 13242-outer top sliding groove, 1325-inner expansion push block, 1326-hinge connecting rod, 13261-upper hinge part, 13 262-middle hinge part, 13263-lower hinge part, 1327-inner top block, 133-positioning camera, 2-AGV vehicle, 21-vehicle drive module, 22-environmental recognition module, 23-path planning module, 24-task scheduling module, 25-obstacle avoidance module, 3-DER control unit, 31-battery management module, 32-charging station management module, 33-energy storage module, 34-energy optimization module, 4-central control unit, 41-data processing module, 42-control strategy module, 43-real-time monitoring module, 44-performance evaluation module. DETAILED DESCRIPTION

[0048] The present invention will be further described in detail below with reference to the accompanying drawings and by way of examples. The following examples are intended to explain the present invention but the present invention is not limited to the following examples.

[0049] Example

[0050] See also Figures 1 to 6 .

[0051] The present embodiment discloses a full-area vertical heavy-duty handling robot, comprising a heavy-duty manipulator arm 1, an AGV vehicle 2 and a DER control unit 3. The heavy-duty manipulator arm 1 is arranged at the upper end of the AGV vehicle 2, and the DER control unit 3 is arranged inside the AGV vehicle 2. The heavy-duty manipulator arm 1 and the AGV vehicle 2 are both electrically connected to the DER control unit 3 by signals. The DER control unit 3 is used to manage and optimize the power supply of the AGV vehicle 2 and the heavy-duty manipulator arm 1. The heavy-duty manipulator arm 1, the AGV vehicle 2 and the DER control unit 3 are all communicatively connected to a central control unit 4 in the area, and the central control unit 4 is used to coordinate and control the operation of the entire system.

[0052] In this embodiment, the DER control unit 3 includes a battery management module 31, a charging station management module 32, an energy storage module 33 and an energy optimization module 34. The battery management module 31 is respectively communicated with the energy optimization module 34 and the central control unit 4, the charging station management module 32 is respectively communicated with the energy optimization module 34, the central control unit 4 and the AGV vehicle 2, the energy storage module 33 is respectively communicated with the energy optimization module 34 and the central control unit 4, the energy storage module 33 supplies power to the heavy object robotic arm 1 and the AGV vehicle 2, and the energy optimization module 34 is also communicated with the central control unit 4.

[0053] In this embodiment, the heavy object robotic arm 1 includes a rotating lifting module 11, a joint module 12 and a gripper module 13. The rotating lifting module 11 is arranged on one side of the upper end of the AGV vehicle 2, the joint module 12 is arranged on the output end of the rotating lifting module 11, and the gripper module 13 is arranged on the output end of the joint module 12. The rotating lifting module 11, the joint module 12 and the gripper module 13 are all communicatively connected to the central control unit 4.

[0054] In this embodiment, the rotary lifting module 11 includes a full-angle rotation mechanism 111 and a lifting mechanism 112, the full-angle rotation mechanism 111 is configured on one side of the upper end of the AGV vehicle 2, and the lifting mechanism 112 is configured on the output end of the full-angle rotation mechanism 111. The joint module 12 includes a first arm span 121 and a first joint motor 122, one end of the first arm span 121 is configured on the output end of the lifting mechanism 112, and the first joint motor 122 is configured on the other end of the first arm span 121. The gripper module 13 includes a second arm span 1 31, a weight chuck 132 and a positioning camera 133, one end of the second arm span 131 is arranged on the output end of the first joint motor 122, the weight chuck 132 is arranged on the other end of the second arm span 131, the positioning camera 133 is arranged on the second arm span 131 near the side of the weight chuck 132, the weight chuck 132 is composed of a rotating motor 1321, a coupling 1322, a screw rod 1323, a hollow column 1324, an inner expansion push block 1325, a plurality of hinged connecting rods 1326 and a plurality of inner top blocks 1327, the coupling 1322 is set At the output end of the rotating motor 1321, the screw rod 1323 is arranged at the lower end of the coupling 1322, and the hollow column 1324 is arranged at the lower part of the other end of the second arm span 131, the screw rod 1323 passes through the middle part of the hollow column 1324, and is rotatably connected to the bottom of the hollow column 1324, the inner expansion block 1325 is threadedly matched with the screw rod 1323, and the outer surface of the inner expansion block 1325 is adapted to the sliding inner cavity of the hollow column 1324, and a plurality of the hinge connecting rods 1326 are evenly distributed on the hinges around the hollow column 1324. In the connecting groove 13241, an outer top sliding groove 13242 is arranged below each of the hinge grooves 13241, and each of the inner top blocks 1327 is slidably connected in one of the outer top sliding grooves 13242. The hinge connecting rod 1326 is provided with an upper hinge part 13261, a middle hinge part 13262 and a lower hinge part 13263. The upper hinge part 13261 is hinged to the lower end of the inner expansion push block 1325, the middle hinge part 13262 is hinged in the hinge groove 13241, and the lower hinge part 13263 is hinged to the inner end of the inner top block 1327.

[0055] In this embodiment, the AGV vehicle 2 is provided with a vehicle driving module 21, an environment recognition module 22, a path planning module 23, a task scheduling module 24 and an obstacle avoidance module 25. The vehicle driving module 21 is respectively communicated with the environment recognition module 22 and the obstacle avoidance module 25, and the environment recognition module 22 is also respectively communicated with the path planning module 23, the obstacle avoidance module 25 and the central control unit 4, and the path planning module 23 is also respectively communicated with the task scheduling module 24 and the charging station management module 32, and the task scheduling module 24 is also communicated with the central control unit 4.

[0056] In this embodiment, the central control unit 4 includes a data processing module 41, a control strategy module 42, a real-time monitoring module 43 and a performance evaluation module 44. The data processing module 41 is respectively communicated with the rotating lifting module 11, the joint module 12, the clamping module 13, the battery management module 31, the charging station management module 32, the energy storage module 33, the energy optimization module 34, the real-time monitoring module 43 and the performance evaluation module 44. The control strategy module 42 is respectively communicated with the rotating lifting module 11, the joint module 12, the clamping module 13, the energy optimization module 34, the environment identification module 22 and the task scheduling module 24. The real-time monitoring module 43 is also communicated with the performance evaluation module 44.

[0057] The present invention also discloses a DER control method for a full-area vertical heavy-object handling robot, the method comprising the following steps:

[0058] Step 1: Monitor and determine the power status;

[0059] Step 2: Make power allocation or charging decisions based on the power status;

[0060] Step 3: Perform corresponding power distribution or charging operations.

[0061] In step 1 of this embodiment, the data processing module 41 of the central control unit 4 monitors the charging station management module 32, the energy optimization module 34, the battery management module 31 and the energy storage module 33 in the DER control unit 3; the energy storage module 33 has three states, namely, sufficient power, medium power and insufficient power; after receiving the power state signal, the data processing module 41 synchronizes the signal to the battery management module 31; the battery management module 31 determines the power state and feeds back the signal to the data processing module 41.

[0062] In step 2 of this embodiment:

[0063] When the energy storage module 33 is in a fully charged state:

[0064] The data processing module 41 sends a signal indicating sufficient power to the energy optimization module 34, and the energy optimization module 34 sends a preset power allocation plan for the heavy object manipulator 1 and the AGV vehicle 2 when the power is sufficient to the energy storage module 33;

[0065] When the energy storage module 33 is in a medium power state:

[0066] The data processing module 41 sends a signal of medium power to the energy optimization module 34 and the charging station management module 32. The charging station management module 32 determines whether the full-area vertical heavy-duty handling robot is in operation. If it is in operation, the energy optimization module 34 sends a preset power allocation plan of the heavy-duty manipulator 1 and the AGV vehicle 2 when the power is medium to the energy storage module 33. If it is not in operation, the charging station management module 32 sends a charging instruction to the path planning module 23.

[0067] When the energy storage module 33 is in a low-power state:

[0068] The data processing module 41 sends a low-power signal to the charging station management module 32 , and the charging station management module 32 sends a charging instruction to the path planning module 23 .

[0069] In step 3 of this embodiment:

[0070] When the energy storage module 33 is in a fully charged state:

[0071] The energy storage module 33 allocates the operating power according to the preset power allocation scheme when the power is sufficient;

[0072] When the energy storage module 33 is in a medium power state:

[0073] If the operation is in progress, the energy storage module 33 allocates the operation power according to the preset power allocation plan when the power is in the middle. If the operation is not in progress, the path planning module 23 sends the preset charging navigation point to the environment recognition module 22, and the environment recognition module 22 issues a preset instruction to reach the target point to the vehicle driving module 21, and the vehicle driving module 21 drives the full-area vertical heavy-object handling robot to the charging navigation point. Once the obstacle avoidance module 25 detects an obstacle, it sends a signal to the environment recognition module 22, re-allocates the navigation path according to the navigation point target, and synchronizes the latest signal instruction to the vehicle driving module 21, and the vehicle driving module 21 continues to drive the full-area vertical heavy-object handling robot to the charging navigation point to perform charging operations;

[0074] When the energy storage module 33 is in a low-power state:

[0075] The path planning module 23 sends a preset charging navigation point to the environment recognition module 22, and the environment recognition module 22 issues a preset instruction to reach the target point to the vehicle driving module 21. The vehicle driving module 21 drives the full-area vertical heavy-object handling robot to the charging navigation point. Once the obstacle avoidance module 25 detects an obstacle, it sends a signal to the environment recognition module 22, re-assigns the navigation path according to the navigation point target, and synchronizes the latest signal instruction to the vehicle driving module 21. The vehicle driving module 21 continues to drive the full-area vertical heavy-object handling robot to the charging navigation point to perform charging operations.

[0076] It should be particularly noted that the heavy object in this embodiment refers to a large enameled wire reel.

[0077] The above description is only the optimal solution embodiment of the present invention and is not intended to limit the present invention. Various modifications or substitutions made by those skilled in the art to the present invention without departing from the essence and protection scope of the present invention should also be within the protection scope of the present invention.

Claims

1. A full-area vertical heavy-object handling robot, characterized in that: The invention comprises a heavy-duty robot arm (1), an AGV vehicle (2) and a DER control unit (3), wherein the heavy-duty robot arm (1) is arranged at the upper end of the AGV vehicle (2), and the DER control unit (3) is arranged inside the AGV vehicle (2). The heavy-duty robot arm (1) and the AGV vehicle (2) are both electrically connected to the DER control unit (3), and the DER control unit (3) is used to manage and optimize the power supply of the AGV vehicle (2) and the heavy-duty robot arm (1). The heavy-duty robot arm (1), the AGV vehicle (2) and the DER control unit (3) are all communicatively connected to a central control unit (4) in the area, and the central control unit (4) is used to coordinate and control the operation of the entire system.

2. The full-area vertical heavy-object handling robot according to claim 1, characterized in that: The DER control unit (3) comprises a battery management module (31), a charging station management module (32), an energy storage module (33) and an energy optimization module (34); the battery management module (31) is respectively connected to the energy optimization module (34) and the central control unit (4); the charging station management module (32) is respectively connected to the energy optimization module (34), the central control unit (4) and the AGV vehicle (2); the energy storage module (33) is respectively connected to the energy optimization module (34) and the central control unit (4); the energy storage module (33) supplies power to the heavy object mechanical arm (1) and the AGV vehicle (2); and the energy optimization module (34) is also connected to the central control unit (4).

3. The full-area vertical heavy-object handling robot according to claim 2, characterized in that: The heavy object mechanical arm (1) comprises a rotating lifting module (11), a joint module (12) and a gripper module (13); the rotating lifting module (11) is arranged on one side of the upper end of the AGV vehicle (2); the joint module (12) is arranged on the output end of the rotating lifting module (11); the gripper module (13) is arranged on the output end of the joint module (12); the rotating lifting module (11), the joint module (12) and the gripper module (13) are all connected to the central control unit (4) for communication.

4. The full-area vertical heavy-object handling robot according to claim 3, characterized in that: The rotary lifting module (11) comprises a full-angle rotating mechanism (111) and a lifting mechanism (112), wherein the full-angle rotating mechanism (111) is arranged on one side of the upper end of the AGV vehicle (2), and the lifting mechanism (112) is arranged on the output end of the full-angle rotating mechanism (111). The joint module (12) comprises a first arm span (121) and a first joint motor (122), wherein one end of the first arm span (121) is arranged on the output end of the lifting mechanism (112), and the first joint motor (122) is arranged on the other end of the first arm span (121). The gripper module (13) comprises a second arm span (131), a weight The invention relates to a weight chuck (132) and a positioning camera (133), wherein one end of the second arm span (131) is arranged on the output end of the first joint motor (122), the weight chuck (132) is arranged on the other end of the second arm span (131), the positioning camera (133) is arranged on the side of the second arm span (131) close to the weight chuck (132), the weight chuck (132) is composed of a rotating motor (1321), a coupling (1322), a screw rod (1323), a hollow column (1324), an inner expansion push block (1325), a plurality of hinged connecting rods (1326) and a plurality of inner top blocks (1327), the coupling (1322) The screw rod (1323) is arranged at the output end of the rotating motor (1321), the screw rod (1323) is arranged at the lower end of the coupling (1322), the hollow column (1324) is arranged at the lower part of the other end of the second arm span (131), the screw rod (1323) passes through the middle part of the hollow column (1324) and is rotatably connected to the bottom of the hollow column (1324), the inner expansion block (1325) is threadedly matched with the screw rod (1323), the outer surface of the inner expansion block (1325) is adapted to the sliding inner cavity of the hollow column (1324), and a plurality of hinged connecting rods (1326) are evenly distributed on the hinges around the hollow column (1324). In the connecting groove (13241), an outer top sliding groove (13242) is arranged below each of the hinge grooves (13241), and each of the inner top blocks (1327) is slidably connected in one of the outer top sliding grooves (13242). The hinge connecting rod (1326) is provided with an upper hinge part (13261), a middle hinge part (13262) and a lower hinge part (13263). The upper hinge part (13261) is hinged to the lower end of the inner expansion push block (1325), the middle hinge part (13262) is hinged in the hinge groove (13241), and the lower hinge part (13263) is hinged to the inner end of the inner top block (1327).

5. The full-area vertical heavy-object handling robot according to claim 3, characterized in that: The AGV vehicle (2) is provided with a vehicle driving module (21), an environment recognition module (22), a path planning module (23), a task scheduling module (24) and an obstacle avoidance module (25); the vehicle driving module (21) is respectively connected to the environment recognition module (22) and the obstacle avoidance module (25); the environment recognition module (22) is also respectively connected to the path planning module (23), the obstacle avoidance module (25) and a central control unit (4); the path planning module (23) is also respectively connected to the task scheduling module (24) and a charging station management module (32); and the task scheduling module (24) is also connected to the central control unit (4).

6. The full-area vertical heavy-object handling robot according to claim 5, characterized in that: The central control unit (4) comprises a data processing module (41), a control strategy module (42), a real-time monitoring module (43) and a performance evaluation module (44); the data processing module (41) is respectively connected to the rotating lifting module (11), the joint module (12), the gripper module (13), the battery management module (31), the charging station management module (32), the energy storage module (33), the energy optimization module (34), the real-time monitoring module (43) and the performance evaluation module (44); the control strategy module (42) is respectively connected to the rotating lifting module (11), the joint module (12), the gripper module (13), the energy optimization module (34), the environment recognition module (22) and the task scheduling module (24); and the real-time monitoring module (43) is also connected to the performance evaluation module (44).

7. A DER control method for a full-area vertical heavy-object handling robot according to any one of claims 1 to 6, characterized in that: The method comprises the following steps: Step 1: Monitor and determine the power status; Step 2: Make power allocation or charging decisions based on the power status; Step 3: Perform corresponding power distribution or charging operations.

8. The DER control method of a full-area vertical heavy-object handling robot according to claim 7, characterized in that: In step 1, the data processing module (41) of the central control unit (4) monitors the charging station management module (32), the energy optimization module (34), the battery management module (31) and the energy storage module (33) in the DER control unit (3); the energy storage module (33) has three states, namely, sufficient power, medium power and insufficient power; after receiving the power state signal, the data processing module (41) synchronizes the signal to the battery management module (31); the battery management module (31) determines the power state and feeds back the signal to the data processing module (41).

9. The DER control method of a full-area vertical heavy-object handling robot according to claim 8, characterized in that: In step 2: When the energy storage module (33) is in a state of sufficient power: The data processing module (41) sends a signal indicating sufficient power to the energy optimization module (34), and the energy optimization module (34) sends a preset power distribution plan for the heavy object mechanical arm (1) and the AGV vehicle (2) when sufficient power is available to the energy storage module (33); When the energy storage module (33) is in a medium power state: The data processing module (41) sends a signal of medium power to the energy optimization module (34) and the charging station management module (32), and the charging station management module (32) determines whether the full-area vertical heavy-duty handling robot is in operation. If it is in operation, the energy optimization module (34) sends a preset power allocation plan for the heavy-duty mechanical arm (1) and the AGV vehicle (2) when the power is medium to the energy storage module (33); if it is not in operation, the charging station management module (32) sends a charging instruction to the path planning module (23); When the energy storage module (33) is in a low-power state: The data processing module (41) sends a low-power signal to the charging station management module (32), and the charging station management module (32) sends a charging instruction to the path planning module (23).

10. The DER control method of a full-area vertical heavy-object handling robot according to claim 9, characterized in that: In step three: When the energy storage module (33) is in a state of sufficient power: The energy storage module (33) allocates operating power according to a preset power allocation plan when the power is sufficient; When the energy storage module (33) is in a medium power state: If the operation is in progress, the energy storage module (33) allocates the operation power according to the preset power allocation plan when the power is in the middle; if the operation is not in progress, the path planning module (23) sends a preset charging navigation point to the environment recognition module (22), and the environment recognition module (22) issues a preset instruction to reach the target point to the vehicle driving module (21), and the vehicle driving module (21) drives the full-area vertical heavy-object handling robot to depart from the charging navigation point. Once the obstacle avoidance module (25) detects an obstacle, it sends a signal to the environment recognition module (22), re-allocates the navigation path according to the navigation point target, and synchronizes the latest signal instruction to the vehicle driving module (21), and the vehicle driving module (21) continues to drive the full-area vertical heavy-object handling robot to depart from the charging navigation point to perform the charging operation; When the energy storage module (33) is in a low-power state: The path planning module (23) sends a preset charging navigation point to the environment recognition module (22), the environment recognition module (22) issues a preset instruction to reach the target point to the vehicle driving module (21), the vehicle driving module (21) drives the full-area vertical heavy-object handling robot to depart from the charging navigation point, and once the obstacle avoidance module (25) detects an obstacle, it sends a signal to the environment recognition module (22), re-assigns the navigation path according to the navigation point target, and synchronizes the latest signal instruction to the vehicle driving module (21), and the vehicle driving module (21) continues to drive the full-area vertical heavy-object handling robot to depart from the charging navigation point to perform charging operations.

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