Multi-layer working system for mobile robot

Abstract

The utility model provides a multi-layer operation system for a mobile robot, which comprises a plurality of layers of stacked operation platforms, and each layer of operation platform is respectively used for bearing the mobile robot for operation; the plurality of robot control systems are arranged in one-to-one correspondence with the working platforms, and different robot control systems are respectively communicated with the mobile robots on the corresponding working platforms through wireless signals of different frequency bands. The multi-layer operation of the mobile robot can be realized, so that the space utilization rate, the operation efficiency and the upper limit of the operation efficiency are improved.

Description

Technical Field

[0001] The utility model relates to the field of logistics automation, in particular to a multi-layer operation system for a mobile robot. Background Art

[0002] With the development of logistics technology, mobile robots are increasingly being deployed in logistics application scenarios. However, existing mobile robots all operate on single-layer operating platforms (including single-layer mechanical platforms or the ground). Single-layer operation not only has low space utilization, low operating efficiency, but also a low upper limit of operating efficiency, which is in urgent need of improvement. Utility Model Content

[0003] In view of the above-mentioned deficiencies of the prior art, the purpose of the present invention is to provide a multi-layer operation system for a mobile robot to realize multi-layer synchronous operation of the mobile robot, thereby improving space utilization, operation efficiency and the upper limit of operation efficiency.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] A multi-layer operation system for a mobile robot, comprising:

[0006] A stacked multi-layer work platform, each layer of the work platform is used to carry a mobile robot to perform work;

[0007] A plurality of robot control systems are arranged corresponding to the working platforms one by one, wherein different robot control systems communicate with the mobile robots on the corresponding working platforms through wireless signals of different frequency bands.

[0008] Preferably, the working platforms on adjacent layers are connected with a cross-layer passage for the mobile robot to pass through.

[0009] Preferably, each layer of the working platform is respectively configured with a wireless access point, and each robot control system communicates with the corresponding mobile robot through the wireless access point on the corresponding working platform, and the wireless access points on the working platforms on different layers are configured to support wireless signals of different frequency bands.

[0010] Preferably, the multi-layer operation system further comprises: a warehouse control system communicatively connected to each of the robot control systems.

[0011] Preferably, each layer of the working platform is respectively provided with at least one loading opening and at least one unloading opening.

[0012] Preferably, the multi-layer operation system further comprises:

[0013] Loading device, used to transfer goods to the loading port of the working platform at different levels;

[0014] The unloading device is used to unload the goods from the unloading openings of the working platforms at different levels.

[0015] Preferably, the upper device and the lower device are both cargo lifting devices.

[0016] Preferably, the cargo lifting device includes a loading platform and a lifting mechanism for driving the loading platform to rise and fall.

[0017] Preferably, the upper openings and lower openings on the working platforms at different levels are aligned in the height direction.

[0018] Preferably, the unloading device comprises a slide groove or a guide groove connected between the unloading openings of the working platforms at each layer.

[0019] By adopting the above technical solution, the utility model has the following beneficial effects:

[0020] The utility model sets up a multi-layer working platform so that the mobile robot can perform multi-layer operations, thereby improving the space utilization rate per unit area, and increasing the upper limit of the number of mobile robots that can be accommodated, thereby improving the working efficiency and the upper limit of the working efficiency; at the same time, by setting up multiple robot control systems that correspond to the working platforms one by one, and different robot control systems communicate with the mobile robots on the corresponding working platforms through wireless signals of different frequency bands, signal isolation and scheduling isolation can also be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of the multi-layer working platform in the utility model;

[0022] Figure 2 2 is a hardware architecture diagram of a multi-layer operating system for a mobile robot in the present invention. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the utility model and are not used to limit the utility model. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model.

[0024] The terms used in the present utility model are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure. The singular forms "a", "said" and "the" used in the present disclosure and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0025] In view of the current situation that mobile robots only operate on a single-layer operating platform, which not only has low space utilization, low operating efficiency, but also a low upper limit of operating efficiency, the utility model provides a multi-layer operating system for mobile robots. Figure 1 and 2 As shown, the multi-layer operating system includes stacked multi-layer operating platforms (three layers are shown in the figure as an example), and also includes a warehouse control system WCS and a robot control system RCS.

[0026] Specifically, the utility model deploys multiple layers of work platforms in a logistics warehouse, and each layer of work platforms can be used to carry mobile robots for work. Among them, the utility model does not impose any specific restrictions on the number of layers of the work platform 1. According to actual needs, 2 layers, 3 layers, 4 layers or more layers of work platforms 1 can be set. Preferably, each work platform 1 adopts a roughly rectangular mechanical platform, and each work platform has the same size, and is stacked in the height direction, and each layer of the work platform 1 has at least one upper opening (not shown) and at least one lower opening (not shown).

[0027] In a preferred embodiment, in order to achieve independent scheduling of multi-layer robots without interfering with each other, the utility model configures the number of robot control systems RCS to be the same as the number of layers of the working platform 1, and is set one-to-one with the working platform 1, and different robot control systems RCS communicate with the mobile robot 2 on the corresponding working platform 1 through wireless signals of different frequency bands.

[0028] For example, Figure 1 and 2As shown, the number of layers of the working platform 1 is configured as three layers, and the number of robot control systems RCS is three (respectively denoted as RCS1, RCS2, and RCS3). Among them, RCS1 corresponds to the first layer, that is, it independently controls the mobile robot 2 on the first-layer working platform 1, and can specifically communicate with the mobile robot 2 on this layer through the wireless access point AP1 installed on the first-layer working platform 1; RCS2 corresponds to the second layer, that is, it independently controls the mobile robot 2 on the second-layer working platform 1, and can specifically communicate with the mobile robot 2 on this layer through the wireless access point AP2 installed on the second-layer working platform 1; RCS3 corresponds to the third layer, that is, it independently controls the mobile robot 2 on the third-layer working platform 1, and can specifically communicate with the mobile robot 2 on this layer through the wireless access point AP3 installed on the third-layer working platform 1. As a result, the mobile robots 2 on different layers can be independently scheduled by different robot control systems RCS, realizing scheduling isolation.

[0029] At the same time, in order to prevent mutual interference between wireless signals on different layers, the wireless access points on different layers of working platforms in the utility model are configured to support wireless signals of different frequency bands. For example, the communication frequency band of AP1 can be adjusted to 920MHZ, and accordingly, the communication frequency band of the mobile robot 2 on the first layer of working platform 1 is also adjusted to 920MHZ; the communication frequency band of AP2 can be adjusted to 925MHZ, and accordingly, the communication frequency band of the mobile robot 2 on the second layer of working platform 1 is also adjusted to 925MHZ; the communication frequency band of AP3 can be adjusted to 928MHZ, and accordingly, the communication frequency band of the mobile robot 2 on the third layer of working platform 1 is also adjusted to 928MHZ. It should be understood that the frequency bands set here are all examples and not limitations, and other frequency bands that meet the requirements can also be used. When the coverage area radius is greater than the predetermined distance (such as 20m), it is necessary to add a signal relay device to expand the signal area.

[0030] In the specific working process, the warehouse control system WCS is used to receive the work tasks issued by the warehouse management system WMS, and based on the received work tasks, generate target work instructions that can be executed by the mobile robot 2. The target work instructions are specifically used to instruct the goods at the corresponding loading port on the work platform of the specified layer to be transported to the corresponding unloading port on the same layer. Then, the WCS sends the target work instructions to the RCS corresponding to the specified layer.

[0031] When RCS receives the target operation instruction, it will select a mobile robot 2 as the target object based on the position information and status information of each mobile robot 2 on the specified layer, and assign the target operation instruction to the target object for execution. This process is consistent with the scheduling process of mobile robots in single-layer operations in the prior art.

[0032] When the target operation instruction is executed, the corresponding RCS will collect the task execution completion data to the WCS to form a unified completed task list; if the target operation instruction is not completed due to accidents, etc., it will also be collected to the WCS to generate a corresponding unfinished task list and notify manual emergency processing.

[0033] In addition, since the mobile robots 2 on different floors may have an unbalanced workload, a cross-layer channel (not shown) is connected between the working platforms on adjacent floors for the mobile robots to pass through, so that the mobile robots 2 can be deployed to different floors through the cross-layer channel. For example, the cross-layer channel can be an elevator.

[0034] In the present invention, the multi-layer operation system further includes a loading device (not shown) and a unloading device (not shown). The loading device is used to transfer the goods to the loading ports of the operation platforms 1 at different layers, and the unloading device is used to unload the goods from the unloading ports of the operation platforms 1 at different layers. In addition, a manipulator (not shown) may be provided at each loading port to carry the goods on the loading device to the mobile robot, and a manipulator may be provided at each unloading port to carry the goods on the mobile robot to the unloading device.

[0035] In an optional embodiment, both the loading device and the lowering device are cargo lifting mechanisms (not shown), which can be implemented by any existing suitable lifting mechanism, and specifically can include a loading platform for carrying cargo and a lifting mechanism for driving the loading platform to rise and fall, so as to transfer cargo by lifting. Preferably, the loading openings on different layers of working platforms are aligned in the height direction, and the lowering openings on different layers of working platforms are also aligned in the height direction.

[0036] In another optional embodiment, the unloading device includes a slide groove or a guide groove connected between the unloading openings of the working platforms on each layer, so that the goods on different layers can be delivered to the same destination, thereby achieving a unified destination.

[0037] Although the specific implementations of the utility model are described above, those skilled in the art should understand that this is only an example, and the protection scope of the utility model is defined by the attached claims. Those skilled in the art can make various changes or modifications to these implementations without departing from the principle and essence of the utility model, but these changes and modifications fall within the protection scope of the utility model.

Claims

1. A multi-layer operation system for a mobile robot, characterized in that: include: A stacked multi-layer work platform, each layer of the work platform is used to carry a mobile robot to perform work; A plurality of robot control systems are arranged corresponding to the working platforms one by one, wherein different robot control systems communicate with the mobile robots on the corresponding working platforms through wireless signals of different frequency bands, respectively. A wireless access point is respectively configured on each layer of the working platforms, and each robot control system communicates with the corresponding mobile robot through the wireless access point on the working platform of the corresponding layer, and the wireless access points on the working platforms of different layers are configured to support wireless signals of different frequency bands.

2. The multi-layer operating system according to claim 1, characterized in that: The working platforms on adjacent layers are connected by a cross-layer passage for the mobile robot to pass through.

3. The multi-layer operating system according to claim 1, characterized in that: Each layer of the working platform is respectively provided with at least one loading opening and at least one unloading opening.

4. The multi-layer operating system according to claim 3, characterized in that: The multi-layer operating system also includes: Loading device, used to transfer goods to the loading port of the working platform at different levels; The unloading device is used to unload the goods from the unloading openings of the working platforms at different levels.

5. The multi-layer operating system according to claim 4, characterized in that: The upper piece device and the lower piece device are both cargo lifting devices.

6. The multi-layer operating system according to claim 5, characterized in that: The cargo lifting device comprises a loading platform and a lifting mechanism for driving the loading platform to rise and fall.

7. The multi-layer operating system according to claim 5 or 6, characterized in that: The upper and lower openings on the working platforms at different levels are aligned in the height direction.

8. The multi-layer operating system according to claim 4, characterized in that: The unloading device comprises a slide groove or a guide groove connected between the unloading openings of the working platforms at each layer.

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