Cell door for interacting with logistics robot and opening and closing control method thereof

Abstract

The invention relates to the technical field of logistics unit doors, and discloses a unit door for interacting with a logistics robot and an opening and closing control method of the unit door. The unit door used for interacting with the logistics robot comprises a unit door body and the robot, a first wireless communication module is arranged in the unit door body, a second wireless communication module is arranged in the robot, and the first wireless communication module is in radio signal connection with the second wireless communication module. According to the unit door used for interacting with the logistics robot and the opening and closing control method of the unit door, through cooperation of the first wireless communication module, the second wireless communication module and the distance recognition module, the distances of the multiple robots can be recognized and judged, and the advancing sequence of the robots is sorted through the sorting module; and an advancing instruction and a forbidding instruction in the instruction control unit are matched with the movement control module, so that the phenomenon that a plurality of robots are crowded and blocked is avoided, and normal transportation of goods is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics unit doors, and in particular to a unit door for interacting with a logistics robot and an opening and closing control method thereof. Background Art

[0002] Logistics unit doors are opening and closing doors used by logistics warehouses to manage logistics goods. With the continuous development of intelligent control technology, more and more robots are being used in the logistics industry, which can realize automated and intelligent transportation of goods inside the warehouse. When logistics robots transport goods in the warehouse, they can control the opening and closing of the unit doors inside the warehouse by sending wireless communication signals.

[0003] Existing smart warehouses use multiple logistics robots to transport goods, thereby reducing the workload of staff. Since each logistics robot works independently, when multiple logistics robots send door-opening signals to the unit door at the same time, multiple logistics robots will enter the unit door at the same time. At this time, the logistics robots may be crowded and blocked in the unit door, affecting the normal movement of the logistics robots. At the same time, the logistics robots may collide, affecting the normal transportation of goods. Summary of the invention

[0004] In order to achieve the above-mentioned unit door for interacting with a logistics robot and the opening and closing control method thereof, the present invention is implemented through the following technical solutions: the unit door for interacting with a logistics robot comprises a unit door and a robot, the unit door is provided with a wireless communication module 1 inside, the robot is provided with a wireless communication module 2 inside, the wireless communication module 1 and the wireless communication module 2 are connected by radio signals, and the cooperation of the wireless communication module 1 and the wireless communication module 2 is used for wireless communication between the robot and the unit door;

[0005] A driving device and a driving control module are provided inside the unit door, the driving device is used to control the opening and closing of the unit door, the driving control module and the driving device are connected by electrical signals, the driving control module is used to send a start signal to the driving device, and the wireless communication module 1 is connected by electrical signals to the driving control module;

[0006] There are multiple robots, including robot, robot, ... robot n, each robot is provided with a mobile control module inside, the mobile control module is used to control the movement of the robot, and the wireless communication module 2 is connected to the mobile control module via an electrical signal;

[0007] A distance recognition module is provided inside the unit door, and the distance recognition module is used to recognize the distance between the robot and the unit door. A sorting module is provided inside the distance recognition module, and the sorting module sorts the multiple robots from far to near according to the distance recognized by the distance recognition module;

[0008] The sorting module is internally provided with an instruction control unit, and the instruction control unit is internally provided with a moving instruction and a prohibiting instruction, and the moving instruction and the prohibiting instruction are connected to the wireless communication module 1 via electrical signals.

[0009] Furthermore, a detection module is provided inside the unit door, and the detection module is used to detect whether there is an object in the unit door.

[0010] Furthermore, the detection module and the drive control module are connected by electrical signals.

[0011] Furthermore, a timer is provided inside the detection module, and the timer is used to count the opening time of the timing unit door. The timer is connected to the drive control module via an electrical signal.

[0012] Furthermore, the detection module is connected to the walking instruction and the prohibiting instruction via electrical signals.

[0013] Furthermore, a distance judgment unit is provided inside the distance recognition module, a response unit is provided inside the drive control module, a response range is provided inside the response unit, and the distance judgment unit and the response unit are connected via electrical signals.

[0014] The opening and closing control method of a unit door for interacting with a logistics robot comprises the following control steps:

[0015] S1. When the robot approaches the unit door, the robot sends a wireless communication signal to open the door to the unit door through the wireless communication module 2;

[0016] S2, the wireless communication module in the unit door receives the wireless communication signal sent by the wireless communication module 2, and the distance judgment unit judges the distance between the robot and the unit door;

[0017] S3. When the distance of the robot is within the response range set by the response unit, the distance judgment unit sends a door opening signal to the drive control module, the drive control module sends a door opening command to the drive device, the drive device starts, and opens the unit door;

[0018] S4, after the unit door is opened, the robot passes through the unit door;

[0019] S5. When multiple robots send door-opening signals to the unit door, the distance recognition module detects the distances of the multiple robots, and the sorting module sorts the entry order of the multiple robots from far to near;

[0020] S6. The command control unit sends a walk command to the robot closest to the unit door through the wireless communication module 1 and the wireless communication module 2, and sends a no-go command to other robots;

[0021] S7: The robot closest to the unit door passes through the unit door, and the detection module monitors the robots between the unit doors.

[0022] S8. When the first robot passes through the unit door, the detection module sends a walk command to the next robot through the sorting module, and sends a no-go command to other robots, and the cycle is repeated in sequence, so that the robots can pass through the unit door in an orderly manner;

[0023] S9. When the last robot passes through the unit door and the opening time in the timer is reached, a door closing signal is sent to the drive control module. The drive control module sends a door closing command to the drive device, and the drive device closes the unit door.

[0024] Furthermore, the S4 further includes the following steps:

[0025] S401, when the robot passes through the unit door, the detection module detects whether there is a robot between the unit doors;

[0026] S402: When there is no robot between the unit doors and the opening time inside the timer is reached, the timer sends a door closing signal to the drive control module, the drive control module sends a door closing command to the drive device, and the drive device controls the unit door to close;

[0027] S403: When there is a robot between the unit doors, when the opening time inside the timer is reached, the timer does not send a door closing signal to the drive control module, and the unit door remains open.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] 1. The unit door for interacting with the logistics robot and the opening and closing control method thereof can identify and judge the distance between multiple robots through the cooperation of the wireless communication module 1 and the wireless communication module 2 with the distance recognition module, and sort the traveling order of the robots through the sorting module. The traveling instructions and the prohibition instructions inside the command control unit cooperate with the mobile control module to control the movement of the robots, thereby avoiding congestion and blockage of multiple robots and collision of robots, while ensuring the normal passage of the robots and the normal transportation of goods.

[0030] 2. The unit door used for interacting with the logistics robot and its opening and closing control method can detect whether there is a robot in the unit door through the coordinated use of the detection module and the timer to prevent the robot from being stuck in the unit door. At the same time, the movement order of multiple robots can be controlled to facilitate the robots to enter the unit door in an orderly manner. The coordination of the distance judgment unit and the response unit can control the start-up of the driving device within a certain range to avoid invalid opening of the unit door, which is beneficial to reducing the energy consumption of the unit door. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a schematic diagram of the unit door and robot structure of the present invention;

[0032] Figure 2 This is a schematic diagram of the internal module structure of the unit door of the present invention;

[0033] Figure 3 This is a schematic diagram of the wireless communication structure between the unit door and multiple robots of the present invention;

[0034] Figure 4 This is a schematic diagram of the wireless communication structure between the unit door and the robot of the present invention;

[0035] Figure 5 This is a schematic diagram of the internal module structure of the robot of the present invention;

[0036] Figure 6 It is a schematic diagram of the control structure between the command control unit and the robot of the present invention.

[0037] In the figure: 1. unit door; 2. wireless communication module 1; 3. detection module; 4. robot; 5. wireless communication module 2. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] The embodiment of the unit door for interacting with the logistics robot and the opening and closing control method thereof is as follows:

[0040] See also Figure 1-Figure 6, a unit door for interacting with a logistics robot, comprising a unit door 1 and a robot 4, wherein a wireless communication module 1 2 is provided inside the unit door 1, and a wireless communication module 2 5 is provided inside the robot 4, and the wireless communication module 1 2 and the wireless communication module 2 5 are connected by radio signals, and the cooperation between the wireless communication module 1 2 and the wireless communication module 2 5 is used for wireless communication between the robot 4 and the unit door 1;

[0041] The unit door 1 is provided with a driving device and a driving control module. The driving device is used to control the opening and closing of the unit door 1. The driving control module and the driving device are connected by electrical signals. The driving control module is used to send a start signal to the driving device. The wireless communication module 2 is connected to the driving control module by electrical signals.

[0042] A detection module 3 is provided inside the unit door 1, and the detection module 3 is used to detect whether there is an object in the unit door 1. The detection module 3 and the drive control module are connected by electrical signals. A timer is provided inside the detection module 3, and the timer is used to time the opening time of the unit door 1. The timer and the drive control module are connected by electrical signals, and the detection module 3 is connected to the walking instruction and the no-entry instruction by electrical signals.

[0043] There are multiple robots 4, including robot 1, robot 2, ... robot n. A mobile control module is provided inside the robot 4. The mobile control module is used to control the movement of the robot 4. The wireless communication module 2 5 is connected to the mobile control module by electrical signals.

[0044] A distance recognition module is provided inside the unit door 1, and the distance recognition module is used to identify the distance between the robot 4 and the unit door 1. A sorting module is provided inside the distance recognition module, and the sorting module sorts multiple robots 4 from far to near according to the distance recognized by the distance recognition module. A distance judgment unit is provided inside the distance recognition module, and a response unit is provided inside the drive control module. A response range is provided inside the response unit, and the distance judgment unit and the response unit are connected by electrical signals.

[0045] An instruction control unit is provided inside the sorting module, and a walking instruction and a prohibiting instruction are provided inside the instruction control unit. The walking instruction and the prohibiting instruction are connected to the wireless communication module 2 via electrical signals.

[0046] Working principle: When the robot 4 approaches the unit door 1, the robot 4 will send a wireless communication signal to open the door to the unit door 1 through the wireless communication module 2 5. The wireless communication module 2 in the unit door 1 will receive the wireless communication signal sent by the wireless communication module 2 5. At this time, the distance judgment unit inside the distance recognition module judges the distance between the robot 4 and the unit door 1.

[0047] When the distance judgment unit detects that the distance of the robot 4 is within the response range set by the response unit, the distance judgment unit sends a door opening signal to the drive control module, the drive control module sends a door opening command to the drive device, the drive device starts, and opens the unit door 1.

[0048] After the unit door 1 is opened, the mobile control module inside the robot 4 controls the movement of the robot 4 so that the robot 4 passes through the unit door 1. When the robot 4 passes through the unit door 1, the detection module 3 detects the position of the unit door 1 to determine whether there is a robot 4 between the unit doors 1. When there is no robot 4 between the unit doors 1, when the opening time inside the timer is reached, the timer sends a door closing signal to the drive control module, and the drive control module sends a door closing command to the drive device, and the drive device controls the unit door 1 to close.

[0049] When multiple robots 4 send door opening signals to the unit door 1, the distance recognition module will detect the distance of the robot 4, and sort the entry order of the multiple robots 4 from far to near through the sorting module. At the same time, the command control unit will be used to send a walking command to the nearest robot 4 through the wireless communication module 1 2 and the wireless communication module 2 5, and a no-entry command will be sent to other robots 4. The robot 4 closest to the unit door 1 will pass through the unit door 1, and the detection module 3 will monitor the robots 4 between the unit doors 1.

[0050] When the robot 4 passes through the unit door 1, the detection module 3 will send a walking command to the next robot 4 through the sorting module, and send a no-go command to other robots 4, and the cycle will be repeated in sequence, so that the robots 4 can pass through the unit door 1 in an orderly manner.

[0051] The opening and closing control method of a unit door for interacting with a logistics robot comprises the following control steps:

[0052] S1. When the robot 4 approaches the unit door 1, the robot 4 sends a wireless communication signal to open the door to the unit door 1 through the wireless communication module 2 5;

[0053] S2, the wireless communication module 2 in the unit door 1 receives the wireless communication signal sent by the wireless communication module 2 5, and the distance judgment unit judges the distance between the robot 4 and the unit door 1;

[0054] S3, when the distance of the robot 4 is within the response range set by the response unit, the distance judgment unit sends a door opening signal to the drive control module, the drive control module sends a door opening command to the drive device, the drive device starts, and opens the unit door 1;

[0055] S4, after the unit door 1 is opened, the robot 4 passes through the unit door 1;

[0056] S401, when the robot 4 passes through the unit door 1, the detection module 3 detects whether there is the robot 4 between the unit doors 1;

[0057] S402, when there is no robot 4 between the unit doors 1, when the opening time inside the timer is reached, the timer sends a door closing signal to the drive control module, the drive control module sends a door closing command to the drive device, and the drive device controls the unit door 1 to close;

[0058] S403, when there is a robot 4 between the unit door 1, when the opening time inside the timer is reached, the timer does not send a door closing signal to the drive control module, and the unit door 1 remains open;

[0059] S5. When multiple robots 4 send door opening signals to the unit door 1, the distance recognition module detects the distances of the multiple robots 4, and the sorting module sorts the entry order of the multiple robots 4 from far to near;

[0060] S6, the command control unit sends a walking command to the robot 4 closest to the unit door 1 through the wireless communication module 1 2 and the wireless communication module 2 5, and sends a prohibition command to other robots 4;

[0061] S7, the robot 4 closest to the unit door 1 passes through the unit door 1, and the detection module 3 monitors the robot 4 between the unit doors 1;

[0062] S8, when the first robot 4 passes through the unit door 1, the detection module 3 sends a walking command to the next robot 4 through the sorting module, and sends a prohibition command to other robots 4, and the cycle is repeated in sequence, so that the robots 4 can pass through the unit door 1 in an orderly manner;

[0063] S9. When the last robot 4 passes through the unit door 1 and the opening time in the timer is reached, a door closing signal is sent to the drive control module. The drive control module sends a door closing command to the drive device, and the drive device closes the unit door 1.

[0064] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A unit door for interacting with a logistics robot, comprising a unit door (1) and a robot (4), characterized in that: A wireless communication module 1 (2) is disposed inside the unit door (1), a wireless communication module 2 (5) is disposed inside the robot (4), and a radio signal connection is formed between the wireless communication module 1 (2) and the wireless communication module 2 (5); A drive device and a drive control module are provided inside the unit door (1); the drive device is used to control the opening and closing of the unit door (1); the drive control module and the drive device are connected by electrical signals; the drive control module is used to send a start signal to the drive device; and the wireless communication module 1 (2) is connected by electrical signals to the drive control module; There are a plurality of robots (4), including robot 1, robot 2, ... robot n, a mobile control module is provided inside the robot (4), the mobile control module is used to control the movement of the robot (4), and the wireless communication module 2 (5) is connected to the mobile control module via an electrical signal; A distance recognition module is provided inside the unit door (1), the distance recognition module is used to recognize the distance between the robot (4) and the unit door (1), and a sorting module is provided inside the distance recognition module, the sorting module sorts the multiple robots (4) from far to near according to the distance recognized by the distance recognition module; The sorting module is internally provided with an instruction control unit, and the instruction control unit is internally provided with a moving instruction and a prohibiting instruction, and the moving instruction and the prohibiting instruction are connected to the wireless communication module 1 (2) via electrical signals.

2. The unit door for interacting with a logistics robot according to claim 1, characterized in that: A detection module (3) is provided inside the unit door (1), and the detection module (3) is used to detect whether there is an object in the unit door (1).

3. The unit door for interacting with a logistics robot according to claim 2, characterized in that: The detection module (3) is connected to the drive control module via an electrical signal.

4. The unit door for interacting with a logistics robot according to claim 2, characterized in that: A timer is provided inside the detection module (3), and the timer is used to count the opening time of the unit door (1). The timer is connected to the drive control module via an electrical signal.

5. The unit door for interacting with a logistics robot according to claim 4, characterized in that: The detection module (3) is connected to the walking instruction and the prohibiting instruction via electrical signals.

6. The unit door for interacting with a logistics robot according to claim 5, characterized in that: The distance identification module is provided with a distance judgment unit inside, the drive control module is provided with a response unit inside, the response unit is provided with a response range inside, and the distance judgment unit and the response unit are connected via electrical signals.

7. A method for controlling the opening and closing of a unit door for interacting with a logistics robot, applied to the unit door for interacting with a logistics robot according to any one of claims 1 to 6, characterized in that: The control steps include: S1. When the robot (4) approaches the unit door (1), the robot (4) sends a wireless communication signal for opening the door to the unit door (1) through the wireless communication module 2 (5); S2, the wireless communication module (2) in the unit door (1) receives the wireless communication signal sent by the wireless communication module 2 (5), and the distance judgment unit judges the distance between the robot (4) and the unit door (1); S3. When the distance of the robot (4) is within the response range set by the response unit, the distance judgment unit sends a door opening signal to the drive control module, the drive control module sends a door opening command to the drive device, the drive device starts, and opens the unit door (1); S4, after the unit door (1) is opened, the robot (4) passes through the unit door (1); S5. When a plurality of robots (4) send a door opening signal to the unit door (1), the distance recognition module detects the distances of the plurality of robots (4), and the sorting module sorts the entry order of the plurality of robots (4) from far to near; S6, the command control unit sends a walking command to the robot (4) closest to the unit door (1) through the wireless communication module 1 (2) and the wireless communication module 2 (5), and sends a prohibition command to other robots (4); S7, the robot (4) closest to the unit door (1) passes through the unit door (1), and at the same time, the detection module (3) monitors the robots (4) between the unit doors (1); S8. When the first robot (4) passes through the unit door (1), the detection module (3) sends a walking instruction to the next robot (4) through the sorting module, and sends a prohibition instruction to other robots (4), and the cycle is repeated in sequence, so that the robots (4) can pass through the unit door (1) in an orderly manner; S9. When the last robot (4) passes through the unit door (1), when the opening time in the timer is reached, a door closing signal is sent to the drive control module, and the drive control module sends a door closing command to the drive device, and the drive device closes the unit door (1).

8. The method for opening and closing a unit door for interacting with a logistics robot according to claim 7, characterized in that: The S4 also includes the following steps: S401, when the robot (4) passes through the unit door (1), the detection module (3) detects whether the robot (4) exists between the unit doors (1); S402, when there is no robot (4) between the unit doors (1), when the opening time inside the timer is reached, the timer sends a door closing signal to the drive control module, the drive control module sends a door closing command to the drive device, and the drive device controls the unit door (1) to close; S403: When there is a robot (4) between the unit doors (1), when the opening time inside the timer is reached, the timer does not send a door closing signal to the drive control module, and the unit door (1) remains open.

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