Logistics robot self-balance adjusting device and adjusting method

Abstract

According to the self-balance adjusting device and method for the logistics robot, the inclination angle sensor, the load sensor and the optical position sensor are arranged, the states of goods and the logistics robot are monitored in real time, sensor data are obtained, real-time data for gravity center shift judgment are obtained, an accurate data basis is provided for balance adjustment, and the self-balance adjusting device and method for the logistics robot are suitable for large-scale popularization and application. Based on sensor data, state judgment, gravity center adjustment and dynamic optimization are carried out on the logistics robot, control signals are determined, real-time gravity center monitoring and timely balance adjustment of the logistics robot in the working process are achieved, effective and timely state information is provided for real-time gravity center adjustment, and the real-time balance adjustment of the logistics robot is achieved. The balancing weight is controlled to move on the sliding rail and the stabilizing fins are controlled to be unfolded based on the control signal, and the stability and the working efficiency of the logistics robot in a complex and changeable working environment are achieved by integrating an active balance weight adjusting and fin stabilizing mechanism.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a self-balancing adjustment device and an adjustment method for a logistics robot. Background Art

[0002] With the increasing automation of logistics, logistics robots are increasingly being used in warehousing, transportation, and other scenarios. However, in actual operation, robots often encounter problems such as cargo tilt, center of gravity shift, and vibration, resulting in reduced stability and, in turn, impacting transportation efficiency and cargo safety. The need to rapidly adjust the robot's center of gravity and maintain balance through a combination of hardware and algorithms has become a pressing technical challenge. Summary of the Invention

[0003] The present invention provides a self-balancing adjustment device and an adjustment method for a logistics robot, which are used to solve the problems raised in the background technology.

[0004] A self-balancing adjustment device for a logistics robot, comprising:

[0005] The sensor module, including an inclination sensor, a load sensor, and an optical position sensor, is used to monitor the status of goods and logistics robots in real time and obtain sensor data;

[0006] The control module is used to determine the status of the logistics robot, adjust the center of gravity, and dynamically optimize it based on sensor data to determine the control signal;

[0007] The counterweight module is located inside the robot chassis and can move along the slide rail. It is used to control the movement of the counterweight on the slide rail based on the control signal.

[0008] The stabilizing fin module is used to control the stabilizing fins to unfold based on a control signal.

[0009] Preferably, the sensor module includes:

[0010] The tilt sensor is used to monitor the tilt angle of the logistics robot during operation and obtain tilt angle data;

[0011] Load sensor, used to monitor the weight of cargo during the operation of the logistics robot and obtain cargo weight data;

[0012] The optical position sensor is used to locate the relative position of the goods and the robot and obtain relative position data.

[0013] Preferably, the control module includes:

[0014] A computing unit, configured to determine the center of gravity position and overturning moment of the logistics robot based on the sensor data;

[0015] A judgment unit, configured to judge whether the logistics robot has a center of gravity shift based on the center of gravity position and the overturning moment;

[0016] If so, determining control signals for the counterweight and the stabilizing fins based on the center of gravity position and the overturning moment;

[0017] Otherwise, no center of gravity adjustment is performed.

[0018] Preferably, the control module further includes:

[0019] A prediction unit, configured to obtain a historical working state of the logistics robot within a preset time after the center of gravity is adjusted, determine a working sequence based on the historical working state, input the working sequence into a preset state prediction model, and obtain a predicted state of the logistics robot;

[0020] An information determination unit, configured to obtain a current position, working environment, and working mode of the logistics robot, and determine predicted movement information of the logistics robot based on the current position, working environment, and working mode in combination with a predicted state;

[0021] a constraint determining unit, configured to determine a movement trajectory, a movement speed, and a movement angle based on the predicted movement information, determine first constraint information based on the movement trajectory, determine second constraint information based on the movement speed, and determine third constraint information based on the movement angle;

[0022] a conflict determination unit, configured to determine whether the first constraint information, the second constraint information, and the third constraint information conflict with each other;

[0023] If so, locating the predicted position and the predicted center of gravity offset based on the conflict information, and establishing a predicted offset sequence based on the multiple predicted positions and predicted center of gravity offsets;

[0024] Otherwise, it is determined that the predicted state of the logistics robot does not have a center of gravity shift;

[0025] a trajectory determination unit, configured to determine a movement trajectory sequence for the counterweight based on the predicted offset sequence, and optimize the movement trajectory sequence based on the distance difference and time difference between adjacent sequences in the movement trajectory sequence to obtain a target movement trajectory sequence;

[0026] A signal determination unit is used to generate a prediction control signal for the counterweight according to the target movement trajectory sequence.

[0027] Preferably, the trajectory determination unit includes:

[0028] an optimization determination unit, configured to determine an optimization direction and an optimization distance for a later trajectory in an adjacent sequence based on a distance difference between adjacent sequences in the moving trajectory sequence;

[0029] A secondary optimization unit is used to perform secondary optimization on the optimization distance based on the time difference between adjacent sequences in the moving trajectory sequence to obtain a target optimization distance;

[0030] The optimization unit is used to optimize the movement trajectory sequence according to the target optimization distance and optimization direction to obtain a target movement trajectory sequence.

[0031] Preferably, the computing unit includes:

[0032] The center of gravity calculation unit is used to determine the total mass of the logistics robot, the weight of the cargo, and the weight of the counterweight based on the sensor data, and obtain the center of gravity position of the cargo and the dynamic position of the counterweight, and determine the total center of gravity position of the logistics robot;

[0033]

[0034] Among them, (x c ,y c ) represents the total center of gravity of the logistics robot, M represents the total mass of the logistics robot, m1 represents the weight of the cargo, m2 represents the weight of the counterweight, (x1, y1) represents the center of gravity of the cargo, and (x2, y2) represents the dynamic position of the counterweight;

[0035] A torque calculation unit is used to obtain the horizontal distance of the robot's center of gravity from the center line of the chassis based on sensor data and calculate the overturning moment;

[0036] M t =MgΔx c

[0037] Among them, M t represents the overturning moment, Δx c It represents the horizontal distance that the robot's center of gravity deviates from the center line of the chassis, and g represents the acceleration due to gravity.

[0038] Preferably, the judgment unit determines the control signals for the counterweight and the stabilizing fin based on the center of gravity position and the overturning moment, including:

[0039] Determine whether the distance difference between the center of gravity position and the target center of gravity position exceeds a preset distance threshold, and whether the moment difference between the overturning moment and the critical moment exceeds a preset moment threshold;

[0040] If so, a control signal for coordinated control of the counterweight and the stabilizing fin is triggered;

[0041] Otherwise, the control signal to the counterweight or the stabilizing fin is determined.

[0042] Preferably, the control signal for triggering the coordinated control of the counterweight and the stabilizing fins includes:

[0043] A constraint setting unit is used to determine, based on the current trajectory of the logistics robot, a first type of constraint on the movement range of the counterweight block and the deployment angle of the stabilizing fins; based on the current speed of the logistics robot, a second type of constraint on the movement speed of the counterweight block and the deployment rate of the stabilizing fins; and based on the current tilt angle of the logistics robot, a third type of constraint on the control sequence of the counterweight block and the stabilizing fins;

[0044] a parameter determination unit, configured to determine an initial movement range, an initial movement speed, and an initial control sequence for the counterweight based on the distance difference and the current state of the logistics robot, and to determine an initial deployment angle, an initial deployment rate, and an initial control sequence for the stabilizing fins based on the torque difference and the current state of the logistics robot;

[0045] a parameter verification unit, configured to integrate the initial movement range, initial movement speed, and initial control sequence of the counterweight with the initial deployment angle, initial deployment rate, and initial control sequence of the stabilizing fin to obtain initial control information, and determine whether the initial control information satisfies the first, second, and third constraints;

[0046] If so, determining a control signal for coordinated control of the counterweight and the stabilizing fin based on the control information;

[0047] Otherwise, conflict information is obtained, and a conflict resolution method is set based on the self-balancing requirements and work requirements of the logistics robot. The optimal solution is selected from the conflict resolution methods based on the conflict information, and the initial control information is adjusted based on the optimal solution, and a control signal for the coordinated control of the counterweight block and the stabilizing fin is obtained.

[0048] A self-balancing adjustment method for a logistics robot, comprising:

[0049] S1: Monitor the status of cargo and logistics robots in real time based on inclination sensors, load sensors, and optical position sensors to obtain sensor data;

[0050] S2: Based on sensor data, the logistics robot is judged on its state, center of gravity is adjusted, and dynamic optimization is performed to determine the control signal;

[0051] S3: Controlling the counterweight to move on the slide rail based on the control signal;

[0052] S4: Controlling the stabilizing fins to deploy based on the control signal.

[0053] Preferably, the step S2: performing state judgment, center of gravity adjustment, and dynamic optimization on the logistics robot based on sensor data to determine a control signal includes:

[0054] Determine the center of gravity and overturning moment of the logistics robot based on sensor data;

[0055] Determine whether the logistics robot has a center of gravity shift based on the center of gravity position and overturning moment;

[0056] If so, determining control signals for the counterweight and the stabilizing fins based on the center of gravity position and the overturning moment;

[0057] Otherwise, no center of gravity adjustment is performed.

[0058] Compared with the prior art, the present invention has achieved the following beneficial effects:

[0059] By setting up inclination sensors, load sensors and optical position sensors, the status of goods and logistics robots can be monitored in real time, sensor data can be obtained, and real-time data for judging the center of gravity offset can be obtained, providing an accurate data basis for balance adjustment. Based on the sensor data, the logistics robot can be judged, the center of gravity can be adjusted and dynamically optimized, and the control signal can be determined to achieve real-time center of gravity monitoring and timely balance adjustment of the logistics robot during work, providing effective and timely status information for real-time center of gravity adjustment. Based on the control signal, the counterweight block is controlled to move on the slide rail and the stabilizing fins are controlled to unfold. By integrating the active adjustment of the counterweight and stabilizing fin mechanism, the stability and work efficiency of the logistics robot in complex and changeable working environments can be achieved, providing an improvement path for existing logistics equipment and paving the way for the promotion of robots in more non-standard scenarios.

[0060] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present invention. The purpose and other advantages of the present invention can be achieved and obtained through the structures specifically pointed out in this application document.

[0061] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0063] Figure 1 This is a structural diagram of a self-balancing adjustment device for a logistics robot according to an embodiment of the present invention;

[0064] Figure 2 This is a flow chart of a self-balancing adjustment method for a logistics robot in an embodiment of the present invention. DETAILED DESCRIPTION

[0065] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0066] Example 1:

[0067] The embodiment of the present invention provides a self-balancing adjustment device for a logistics robot, such as Figure 1 Shown, including:

[0068] The sensor module, including an inclination sensor, a load sensor, and an optical position sensor, is used to monitor the status of goods and logistics robots in real time and obtain sensor data;

[0069] The control module is used to determine the status of the logistics robot, adjust the center of gravity, and dynamically optimize it based on sensor data to determine the control signal;

[0070] The counterweight module is located inside the robot chassis and can move along the slide rail. It is used to control the movement of the counterweight on the slide rail based on the control signal.

[0071] The stabilizing fin module is used to control the stabilizing fins to unfold based on a control signal.

[0072] In this embodiment, the stabilizing fins can increase the contact area between the robot and the ground after being deployed.

[0073] In this embodiment, the control signal is a control signal for sliding the counterweight and deploying the stabilizing fin.

[0074] In this embodiment, the control module can respond to cargo deviation in milliseconds and immediately adjust the center of gravity position and restoring torque.

[0075] In this embodiment, the application scenarios of the logistics robot's self-balancing adjustment include the ability to quickly adjust the center of gravity offset that occurs during the transportation of heavy goods to reduce the risk of cargo overturning; when the robot is driving on a complex path, the self-balancing device ensures that the cargo is stable and does not fall; in the case of staff movement or temporary accumulation of cargo, the system can respond quickly to maintain the stability of the robot's operation.

[0076] The beneficial effects of the above design scheme are: by setting up inclination sensors, load sensors and optical position sensors, the status of goods and logistics robots can be monitored in real time, sensor data can be obtained, and real-time data for center of gravity offset judgment can be obtained, providing an accurate data basis for balance adjustment. Based on the sensor data, the logistics robot can be judged, the center of gravity can be adjusted and dynamically optimized, and the control signal can be determined to achieve real-time center of gravity monitoring and timely balance adjustment of the logistics robot during work, providing effective and timely status information for real-time center of gravity adjustment, and controlling the counterweight block to move on the slide rail and the stabilizing fins to unfold based on the control signal. By integrating the active adjustment of the counterweight and stabilizing fin mechanism, the stability and work efficiency of the logistics robot in a complex and changeable working environment can be achieved, providing an improvement path for existing logistics equipment and paving the way for the promotion of robots in more non-standard scenarios.

[0077] Example 2:

[0078] Based on Example 1, this embodiment of the present invention provides a self-balancing adjustment device for a logistics robot, wherein the sensor module includes:

[0079] The tilt sensor is used to monitor the tilt angle of the logistics robot during operation and obtain tilt angle data;

[0080] Load sensor, used to monitor the weight of cargo during the operation of the logistics robot and obtain cargo weight data;

[0081] The optical position sensor is used to locate the relative position of the goods and the robot and obtain relative position data.

[0082] In this embodiment, the sensor data includes tilt angle data, cargo weight data, and relative position data.

[0083] The beneficial effect of the above design scheme is: by obtaining tilt angle data, cargo weight data and position data, real-time data for center of gravity offset judgment can be obtained, providing an accurate data basis for balance adjustment.

[0084] Example 3:

[0085] Based on Example 1, this embodiment of the present invention provides a self-balancing adjustment device for a logistics robot, wherein the control module includes:

[0086] A computing unit, configured to determine the center of gravity position and overturning moment of the logistics robot based on the sensor data;

[0087] A judgment unit, configured to judge whether the logistics robot has a center of gravity shift based on the center of gravity position and the overturning moment;

[0088] If so, determining control signals for the counterweight and the stabilizing fins based on the center of gravity position and the overturning moment;

[0089] Otherwise, no center of gravity adjustment is performed.

[0090] The beneficial effects of the above design scheme are: by determining the center of gravity position and overturning moment of the logistics robot based on sensor data, real-time and rapid calculation of the logistics robot is achieved, and whether the center of gravity of the logistics robot has shifted is judged based on the center of gravity position and overturning moment. If so, the control signal for the counterweight block and the stabilizing fin is determined based on the center of gravity position and overturning moment. Otherwise, the center of gravity is not adjusted, thereby realizing real-time center of gravity monitoring of the logistics robot during work and timely balance adjustment, providing effective and timely status information for real-time adjustment of the center of gravity.

[0091] Example 4:

[0092] Based on Example 3, an embodiment of the present invention provides a self-balancing adjustment device for a logistics robot, wherein the control module further includes:

[0093] A prediction unit, configured to obtain a historical working state of the logistics robot within a preset time after the center of gravity is adjusted, determine a working sequence based on the historical working state, input the working sequence into a preset state prediction model, and obtain a predicted state of the logistics robot;

[0094] An information determination unit, configured to obtain a current position, working environment, and working mode of the logistics robot, and determine predicted movement information of the logistics robot based on the current position, working environment, and working mode in combination with a predicted state;

[0095] a constraint determining unit, configured to determine a movement trajectory, a movement speed, and a movement angle based on the predicted movement information, determine first constraint information based on the movement trajectory, determine second constraint information based on the movement speed, and determine third constraint information based on the movement angle;

[0096] a conflict determination unit, configured to determine whether the first constraint information, the second constraint information, and the third constraint information conflict with each other;

[0097] If so, locating the predicted position and the predicted center of gravity offset based on the conflict information, and establishing a predicted offset sequence based on the multiple predicted positions and predicted center of gravity offsets;

[0098] Otherwise, it is determined that the predicted state of the logistics robot does not have a center of gravity shift;

[0099] a trajectory determination unit, configured to determine a movement trajectory sequence for the counterweight based on the predicted offset sequence, and optimize the movement trajectory sequence based on the distance difference and time difference between adjacent sequences in the movement trajectory sequence to obtain a target movement trajectory sequence;

[0100] A signal determination unit is used to generate a prediction control signal for the counterweight according to the target movement trajectory sequence.

[0101] In this embodiment, the predicted state of the logistics robot is, for example, an empty state, a loaded state, etc.

[0102] In this embodiment, the working mode is, for example, transportation, handling, etc.

[0103] In this embodiment, the first constraint information is the constraint range of the moving speed and the moving angle determined by the moving trajectory, and the center of gravity shift does not occur within the constraint range. The second constraint information is the constraint range of the moving trajectory and the moving angle determined at the moving speed, and the center of gravity shift does not occur within the constraint range. The third constraint information is the constraint range of the moving trajectory and the moving speed determined at the moving angle, and the center of gravity shift does not occur within the constraint range. When any one of the moving trajectory, the moving speed and the moving angle can only be determined to have a center of gravity shift, the corresponding constraint information is the constraint range of any one of the moving trajectory, the moving speed and the moving angle. For example, the maximum allowable speed and steering angle are calculated based on the moving trajectory such as an S-shaped curve, and the safe trajectory curvature and inclination angle threshold are reversed according to the current speed; the critical acceleration and load distribution range are determined in combination with the steering angle, etc.

[0104] In this embodiment, generating a predictive control signal for the counterweight can prepare for controlling the counterweight in advance, achieve a faster response, and ensure stability.

[0105] The beneficial effects of the above design scheme are: by predicting the state of the logistics robot and combining multi-dimensional constraint optimization with spatiotemporal sequence prediction, the movement trajectory of the counterweight block can be predicted, and the counterweight block can be started in advance by predicting the center of gravity offset, achieving a breakthrough from passive response to active prevention, making preparations for the control of the counterweight block in advance, achieving faster response, and ensuring stability.

[0106] Example 5:

[0107] Based on Example 4, an embodiment of the present invention provides a self-balancing adjustment device for a logistics robot, wherein the trajectory determination unit includes:

[0108] an optimization determination unit, configured to determine an optimization direction and an optimization distance for a later trajectory in an adjacent sequence based on a distance difference between adjacent sequences in the moving trajectory sequence;

[0109] A secondary optimization unit is used to perform secondary optimization on the optimization distance based on the time difference between adjacent sequences in the moving trajectory sequence to obtain a target optimization distance;

[0110] The optimization unit is used to optimize the movement trajectory sequence according to the target optimization distance and optimization direction to obtain a target movement trajectory sequence.

[0111] In this embodiment, the smaller the time difference, the smaller the optimization amplitude, and the larger the distance difference, the larger the optimization amplitude.

[0112] The beneficial effects of the above design scheme are as follows: by determining the optimization direction and optimization distance of the rear trajectory in the adjacent sequences based on the distance difference between adjacent sequences in the moving trajectory sequence, performing secondary optimization on the optimization distance based on the time difference between adjacent sequences in the moving trajectory sequence to obtain the target optimization distance, and optimizing the moving trajectory sequence according to the target optimization distance and optimization direction to obtain the target moving trajectory sequence, so that the obtained target moving trajectory sequence meets the balance requirements while reducing the complexity of the counterweight trajectory movement and achieving efficient control.

[0113] Example 6:

[0114] Based on Example 3, an embodiment of the present invention provides a self-balancing adjustment device for a logistics robot, wherein the computing unit includes:

[0115] The center of gravity calculation unit is used to determine the total mass of the logistics robot, the weight of the cargo, and the weight of the counterweight based on the sensor data, and obtain the center of gravity position of the cargo and the dynamic position of the counterweight, and determine the total center of gravity position of the logistics robot;

[0116]

[0117] Among them, (x c ,y c ) represents the total center of gravity of the logistics robot, M represents the total mass of the logistics robot, m1 represents the weight of the cargo, m2 represents the weight of the counterweight, (x1, y1) represents the center of gravity of the cargo, and (x2, y2) represents the dynamic position of the counterweight;

[0118] A torque calculation unit is used to obtain the horizontal distance of the robot's center of gravity from the center line of the chassis based on sensor data and calculate the overturning moment;

[0119] M t =MgΔx c

[0120] Among them, M t represents the overturning moment, Δx c It represents the horizontal distance that the robot's center of gravity deviates from the center line of the chassis, and g represents the acceleration due to gravity.

[0121] The beneficial effects of the above design scheme are: by determining the total mass of the logistics robot, the weight of the cargo and the weight of the counterweight based on the sensor data, and obtaining the center of gravity position of the cargo, as well as the dynamic position of the counterweight, and determining the total center of gravity position of the logistics robot, the horizontal distance of the robot's center of gravity from the center line of the chassis is obtained based on the sensor data, and the overturning moment is calculated, providing effective and timely status information for real-time adjustment of the center of gravity.

[0122] Example 7:

[0123] Based on Example 3, an embodiment of the present invention provides a self-balancing adjustment device for a logistics robot, wherein the judgment unit determines the control signals for the counterweight and the stabilizing fin based on the center of gravity position and the overturning moment, including:

[0124] Determine whether the distance difference between the center of gravity position and the target center of gravity position exceeds a preset distance threshold, and whether the moment difference between the overturning moment and the critical moment exceeds a preset moment threshold;

[0125] If so, a control signal for coordinated control of the counterweight and the stabilizing fin is triggered;

[0126] Otherwise, the control signal to the counterweight or the stabilizing fin is determined.

[0127] The beneficial effect of the above design scheme is: by judging whether the distance between the center of gravity position and the target center of gravity position exceeds the preset distance threshold, and whether the difference between the overturning moment and the critical moment exceeds the preset torque threshold, if so, the instruction for coordinated control of the counterweight block and the stabilizing fin is triggered; otherwise, the control signal for the counterweight block or the stabilizing fin is determined to realize real-time center of gravity monitoring and timely balance adjustment of the logistics robot during work, providing effective and timely status information for real-time adjustment of the center of gravity.

[0128] Example 8:

[0129] Based on Example 7, this embodiment of the present invention provides a self-balancing adjustment device for a logistics robot, which triggers a control signal for coordinated control of a counterweight block and a stabilizing fin, including:

[0130] A constraint setting unit is used to determine, based on the current trajectory of the logistics robot, a first type of constraint on the movement range of the counterweight block and the deployment angle of the stabilizing fins; based on the current speed of the logistics robot, a second type of constraint on the movement speed of the counterweight block and the deployment rate of the stabilizing fins; and based on the current tilt angle of the logistics robot, a third type of constraint on the control sequence of the counterweight block and the stabilizing fins;

[0131] a parameter determination unit, configured to determine an initial movement range, an initial movement speed, and an initial control sequence for the counterweight based on the distance difference and the current state of the logistics robot, and to determine an initial deployment angle, an initial deployment rate, and an initial control sequence for the stabilizing fins based on the torque difference and the current state of the logistics robot;

[0132] a parameter verification unit, configured to integrate the initial movement range, initial movement speed, and initial control sequence of the counterweight with the initial deployment angle, initial deployment rate, and initial control sequence of the stabilizing fin to obtain initial control information, and determine whether the initial control information satisfies the first, second, and third constraints;

[0133] If so, determining a control signal for coordinated control of the counterweight and the stabilizing fin based on the control information;

[0134] Otherwise, conflict information is obtained, and a conflict resolution method is set based on the self-balancing requirements and work requirements of the logistics robot. The optimal solution is selected from the conflict resolution methods based on the conflict information, and the initial control information is adjusted based on the optimal solution, and a control signal for the coordinated control of the counterweight block and the stabilizing fin is obtained.

[0135] In this embodiment, the first type of constraint prevents the structure from colliding, and the second type of constraint prevents inertial forces from causing oscillations.

[0136] In this embodiment, the mode the logistics robot should be in is determined based on the self-balancing requirements and work requirements, and optimization is performed based on the current mode. The modes include safety priority mode, efficiency priority mode and energy consumption balance mode. The specific mode is determined according to the weights of self-balancing requirements and work requirements.

[0137] The beneficial effects of the above design scheme are: by determining a type of constraint on the moving range of the counterweight block and the deployment angle of the stabilizing fin based on the current trajectory of the logistics robot, determining a type of constraint on the moving speed of the counterweight block and the deployment rate of the stabilizing fin based on the current speed of the logistics robot, and determining a type of constraint on the control sequence of the counterweight block and the stabilizing fin based on the current tilt angle of the logistics robot, multi-dimensional physical constraints are realized, providing a basis for optimal balance generation, integrating the initial moving range, initial moving speed and initial control sequence of the counterweight block with the initial deployment angle, initial deployment rate and initial control sequence of the stabilizing fin to obtain initial control information, and judging whether the initial control information is Whether the first, second and third constraints are all satisfied; if so, determine the control signal for the coordinated control of the counterweight block and the stabilizing fin based on the control information; otherwise, obtain conflict information, set a conflict resolution method based on the self-balancing requirements and working requirements of the logistics robot, select the optimal solution from the conflict resolution methods based on the conflict information, adjust the initial control information based on the optimal solution, and obtain the control signal for the coordinated control of the counterweight block and the stabilizing fin, so as to realize the coordinated control adjustment of the counterweight block and the stabilizing fin during the working process of the logistics robot, ensure the pertinence and accuracy of the adjustment, and realize the balance and stability of the logistics robot.

[0138] Example 9:

[0139] The embodiment of the present invention provides a self-balancing adjustment method for a logistics robot, such as Figure 2 Shown, including:

[0140] S1: Monitor the status of cargo and logistics robots in real time based on inclination sensors, load sensors, and optical position sensors to obtain sensor data;

[0141] S2: Based on sensor data, the logistics robot is judged on its state, center of gravity is adjusted, and dynamic optimization is performed to determine the control signal;

[0142] S3: Controlling the counterweight to move on the slide rail based on the control signal;

[0143] S4: Controlling the stabilizing fins to deploy based on the control signal.

[0144] In this embodiment, the stabilizing fins can increase the contact area between the robot and the ground after being deployed.

[0145] In this embodiment, the control signal is a control signal for sliding the counterweight and deploying the stabilizing fin.

[0146] In this embodiment, the control module can respond to cargo deviation in milliseconds and immediately adjust the center of gravity position and restoring torque.

[0147] In this embodiment, the application scenarios of the logistics robot's self-balancing adjustment include the ability to quickly adjust the center of gravity offset that occurs during the transportation of heavy goods to reduce the risk of cargo overturning; when the robot is driving on a complex path, the self-balancing device ensures that the cargo is stable and does not fall; in the case of staff movement or temporary accumulation of cargo, the system can respond quickly to maintain the stability of the robot's operation.

[0148] The beneficial effects of the above design scheme are: by setting up inclination sensors, load sensors and optical position sensors, the status of goods and logistics robots can be monitored in real time, sensor data can be obtained, and real-time data for center of gravity offset judgment can be obtained, providing an accurate data basis for balance adjustment. Based on the sensor data, the logistics robot can be judged, the center of gravity can be adjusted and dynamically optimized, and the control signal can be determined to achieve real-time center of gravity monitoring and timely balance adjustment of the logistics robot during work, providing effective and timely status information for real-time center of gravity adjustment, and controlling the counterweight block to move on the slide rail and the stabilizing fins to unfold based on the control signal. By integrating the active adjustment of the counterweight and stabilizing fin mechanism, the stability and work efficiency of the logistics robot in a complex and changeable working environment can be achieved, providing an improvement path for existing logistics equipment and paving the way for the promotion of robots in more non-standard scenarios.

[0149] Example 10:

[0150] Based on Example 9, an embodiment of the present invention provides a self-balancing adjustment method for a logistics robot. In S2, based on sensor data, the logistics robot is subjected to state judgment, center of gravity adjustment, and dynamic optimization to determine a control signal, including:

[0151] Determine the center of gravity and overturning moment of the logistics robot based on sensor data;

[0152] Determine whether the logistics robot has a center of gravity shift based on the center of gravity position and overturning moment;

[0153] If so, determining control signals for the counterweight and the stabilizing fins based on the center of gravity position and the overturning moment;

[0154] Otherwise, no center of gravity adjustment is performed.

[0155] The beneficial effects of the above design scheme are: by determining the center of gravity position and overturning moment of the logistics robot based on sensor data, real-time and rapid calculation of the logistics robot is achieved, and whether the center of gravity of the logistics robot has shifted is judged based on the center of gravity position and overturning moment. If so, the control signal for the counterweight block and the stabilizing fin is determined based on the center of gravity position and overturning moment. Otherwise, the center of gravity is not adjusted, thereby realizing real-time center of gravity monitoring of the logistics robot during work and timely balance adjustment, providing effective and timely status information for real-time adjustment of the center of gravity.

[0156] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of this application document and its equivalents, the present invention is intended to include these modifications and variations.

Claims

1. A self-balancing adjustment device for a logistics robot, characterized in that: include: The sensor module, including an inclination sensor, a load sensor, and an optical position sensor, is used to monitor the status of goods and logistics robots in real time and obtain sensor data; The control module is used to determine the status of the logistics robot, adjust the center of gravity, and dynamically optimize it based on sensor data to determine the control signal; The counterweight module is located inside the robot chassis and can move along the slide rail. It is used to control the movement of the counterweight on the slide rail based on the control signal. The stabilizing fin module is used to control the stabilizing fins to unfold based on a control signal.

2. A self-balancing adjustment device for a logistics robot according to claim 1, characterized in that: The sensor module comprises: The tilt sensor is used to monitor the tilt angle of the logistics robot during operation and obtain tilt angle data; Load sensor, used to monitor the weight of cargo during the operation of the logistics robot and obtain cargo weight data; The optical position sensor is used to locate the relative position of the goods and the robot and obtain relative position data.

3. The self-balancing adjustment device of a logistics robot according to claim 1, characterized in that: The control module includes: A computing unit, configured to determine the center of gravity position and overturning moment of the logistics robot based on the sensor data; A judgment unit, configured to judge whether the logistics robot has a center of gravity shift based on the center of gravity position and the overturning moment; If so, determining control signals for the counterweight and the stabilizing fins based on the center of gravity position and the overturning moment; Otherwise, no center of gravity adjustment is performed.

4. A self-balancing adjustment device for a logistics robot according to claim 3, characterized in that: The control module further includes: A prediction unit, configured to obtain a historical working state of the logistics robot within a preset time after the center of gravity is adjusted, determine a working sequence based on the historical working state, input the working sequence into a preset state prediction model, and obtain a predicted state of the logistics robot; An information determination unit, configured to obtain a current position, working environment, and working mode of the logistics robot, and determine predicted movement information of the logistics robot based on the current position, working environment, and working mode in combination with a predicted state; a constraint determining unit, configured to determine a movement trajectory, a movement speed, and a movement angle based on the predicted movement information, determine first constraint information based on the movement trajectory, determine second constraint information based on the movement speed, and determine third constraint information based on the movement angle; a conflict determination unit, configured to determine whether the first constraint information, the second constraint information, and the third constraint information conflict with each other; If so, locating the predicted position and the predicted center of gravity offset based on the conflict information, and establishing a predicted offset sequence based on the multiple predicted positions and predicted center of gravity offsets; Otherwise, it is determined that the predicted state of the logistics robot does not have a center of gravity shift; a trajectory determination unit, configured to determine a movement trajectory sequence for the counterweight based on the predicted offset sequence, and optimize the movement trajectory sequence based on the distance difference and time difference between adjacent sequences in the movement trajectory sequence to obtain a target movement trajectory sequence; A signal determination unit is used to generate a prediction control signal for the counterweight according to the target movement trajectory sequence.

5. The self-balancing adjustment device of a logistics robot according to claim 4, characterized in that: The trajectory determination unit includes: an optimization determination unit, configured to determine an optimization direction and an optimization distance for a later trajectory in an adjacent sequence based on a distance difference between adjacent sequences in the moving trajectory sequence; A secondary optimization unit is used to perform secondary optimization on the optimization distance based on the time difference between adjacent sequences in the moving trajectory sequence to obtain a target optimization distance; The optimization unit is used to optimize the movement trajectory sequence according to the target optimization distance and optimization direction to obtain a target movement trajectory sequence.

6. The self-balancing adjustment device of a logistics robot according to claim 3, characterized in that: The computing unit comprises: The center of gravity calculation unit is used to determine the total mass of the logistics robot, the weight of the cargo, and the weight of the counterweight based on the sensor data, and obtain the center of gravity position of the cargo and the dynamic position of the counterweight, and determine the total center of gravity position of the logistics robot; Among them, (x c ,y c ) represents the total center of gravity of the logistics robot, M represents the total mass of the logistics robot, m1 represents the weight of the cargo, m2 represents the weight of the counterweight, (x1, y1) represents the center of gravity of the cargo, and (x2, y2) represents the dynamic position of the counterweight; A torque calculation unit is used to obtain the horizontal distance of the robot's center of gravity from the center line of the chassis based on sensor data and calculate the overturning moment; M t =MgΔx c Among them, M t represents the overturning moment, Δx c It represents the horizontal distance that the robot's center of gravity deviates from the center line of the chassis, and g represents the acceleration due to gravity.

7. The self-balancing adjustment device of a logistics robot according to claim 3, characterized in that: In the judgment unit, based on the center of gravity position and the overturning moment, the control signal for the counterweight block and the stabilizing fin is determined, including: Determine whether the distance difference between the center of gravity position and the target center of gravity position exceeds a preset distance threshold, and whether the moment difference between the overturning moment and the critical moment exceeds a preset moment threshold; If so, a control signal for coordinated control of the counterweight and the stabilizing fin is triggered; Otherwise, the control signal to the counterweight or the stabilizing fin is determined.

8. The self-balancing adjustment device of a logistics robot according to claim 7, characterized in that: The control signals that trigger the coordinated control of the counterweight and stabilizing fins include: A constraint setting unit is used to determine, based on the current trajectory of the logistics robot, a first type of constraint on the movement range of the counterweight block and the deployment angle of the stabilizing fins; based on the current speed of the logistics robot, a second type of constraint on the movement speed of the counterweight block and the deployment rate of the stabilizing fins; and based on the current tilt angle of the logistics robot, a third type of constraint on the control sequence of the counterweight block and the stabilizing fins; a parameter determination unit, configured to determine an initial movement range, an initial movement speed, and an initial control sequence for the counterweight based on the distance difference and the current state of the logistics robot, and to determine an initial deployment angle, an initial deployment rate, and an initial control sequence for the stabilizing fins based on the torque difference and the current state of the logistics robot; a parameter verification unit, configured to integrate the initial movement range, initial movement speed, and initial control sequence of the counterweight with the initial deployment angle, initial deployment rate, and initial control sequence of the stabilizing fin to obtain initial control information, and determine whether the initial control information satisfies the first, second, and third constraints; If so, determining a control signal for coordinated control of the counterweight and the stabilizing fin based on the control information; Otherwise, conflict information is obtained, and a conflict resolution method is set based on the self-balancing requirements and work requirements of the logistics robot. The optimal solution is selected from the conflict resolution methods based on the conflict information, and the initial control information is adjusted based on the optimal solution, and a control signal for the coordinated control of the counterweight block and the stabilizing fin is obtained.

9. A self-balancing adjustment method for a logistics robot, used in the self-balancing adjustment device for a logistics robot as claimed in claim 1, characterized in that: include: S1: Monitor the status of cargo and logistics robots in real time based on inclination sensors, load sensors, and optical position sensors to obtain sensor data; S2: Based on sensor data, the logistics robot is judged on its state, center of gravity is adjusted, and dynamic optimization is performed to determine the control signal; S3: Controlling the counterweight to move on the slide rail based on the control signal; S4: Controlling the stabilizing fins to deploy based on the control signal.

10. A self-balancing adjustment method for a logistics robot according to claim 9, characterized in that: In S2, based on the sensor data, the logistics robot is subjected to status judgment, center of gravity adjustment, and dynamic optimization to determine the control signal, including: Determine the center of gravity and overturning moment of the logistics robot based on sensor data; Determine whether the logistics robot has a center of gravity shift based on the center of gravity position and overturning moment; If so, determining control signals for the counterweight and the stabilizing fins based on the center of gravity position and the overturning moment; Otherwise, no center of gravity adjustment is performed.

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