Control device of auxiliary cargo carrying robot

Abstract

The utility model provides an auxiliary cargo carrying robot control device. The auxiliary cargo carrying robot control device comprises a controller, a laser ranging module and an image acquisition module, the output end of the laser ranging module and the output end of the image acquisition module are both connected with the controller, and a temperature control module is arranged in the laser ranging module. The temperature control module comprises a temperature measurement module, a first comparison circuit, a second comparison circuit, a subtraction circuit, an absolute value detection circuit and a TEC module. The control precision of an existing automatic ladder climbing robot can be improved.

Description

Technical Field

[0001] The present disclosure relates to the field of robotics, and in particular to a control device for a robot for assisting in carrying goods. Background Art

[0002] There are often a large number of passengers in railway stations and long-distance bus stations, and many passengers carry large luggage items, making it inconvenient to enter and exit the stations. Although elevators are provided in railway stations and long-distance bus stations to solve the problem of passengers carrying large luggage items inconveniently, due to the large number of passengers, many passengers still choose the escalators. An automatic climbing ladder robot can achieve automatic climbing. By setting an automatic climbing ladder robot in a railway station or a long-distance bus station, it can assist passengers in carrying large luggage. However, the control accuracy of existing automatic climbing ladder robots still needs to be improved, and there will be knocking phenomena during the carrying process. Summary of the Utility Model

[0003] Embodiments of the present disclosure provide a control device for a robot for assisting in carrying goods to solve the problem of low control accuracy of existing automatic climbing ladder robots.

[0004] Embodiments of the present disclosure provide a control device for a robot for assisting in carrying goods, including a controller, a laser ranging module, and an image acquisition module. The output ends of the laser ranging module and the image acquisition module are both connected to the controller.

[0005] The laser ranging module is internally equipped with a temperature control module, and the temperature control module includes:

[0006] A temperature measurement module for converting the temperature signal of the laser ranging module into a voltage signal;

[0007] A first comparison circuit, the first input end of the first comparison circuit is connected to the output end of the temperature measurement module, and the second input end of the first comparison circuit is connected to a first reference voltage; the output end of the first comparison circuit is connected to the refrigeration control end of the TEC module;

[0008] A second comparison circuit, the first input end of the second comparison circuit is connected to the output end of the temperature measurement module, and the second input end of the second comparison circuit is connected to a second reference voltage; the output end of the second comparison circuit is connected to the heating control end of the TEC module;

[0009] A subtraction circuit for detecting the difference between the output end of the temperature measurement module and a third reference voltage;

[0010] An absolute value detection circuit for detecting the absolute value of the difference; the output end of the absolute value detection circuit is connected to the voltage input end of the TEC module.

[0011] In an exemplary embodiment of the present disclosure, the temperature measurement module includes a resistor R2 and a thermistor RT. The first end of the resistor R2 is connected to a DC power supply, the second end of the resistor R2 is grounded through the thermistor RT, and the second end of the resistor R2 is the output end of the temperature measurement module.

[0012] In an exemplary embodiment of the present disclosure, the absolute value detection circuit includes an operational amplifier U2B, an operational amplifier U2C, a resistor R1, a resistor R7, and a diode D1.

[0013] The first end of the resistor R1 is connected to the output end of the subtraction circuit, the second end of the resistor R1 is connected to the inverting input end of the operational amplifier U2B, the non-inverting input end of the operational amplifier U2B is grounded, the output end of the operational amplifier U2B is connected to the anode of the diode D1, and the cathode of the diode D1 is feedback-connected to the inverting input end of the operational amplifier U2B through the resistor R7.

[0014] The cathode of the diode D1 is connected to the non-inverting input end of the operational amplifier U2C, the output end of the operational amplifier U2C is feedback-connected to the inverting input end of the operational amplifier U2C, and the output end of the operational amplifier U2C is the output end of the absolute value detection circuit.

[0015] In an exemplary embodiment of the present disclosure, the auxiliary cargo handling robot control device further includes:

[0016] a motor current detection module, a motor voltage detection module, and a motor temperature detection module;

[0017] The output ends of the motor current detection module, the motor voltage detection module, and the motor temperature detection module are respectively connected to multiple input ends of an AND gate circuit, and the output end of the AND gate circuit is connected to the controller;

[0018] a switch circuit, which is connected in series in the motor power supply circuit, and the control end of the switch circuit is connected to the controller.

[0019] In an exemplary embodiment of the present disclosure, the auxiliary cargo handling robot control device further includes a weighing module and an alarm module, both of which are connected to the controller.

[0020] For an auxiliary cargo handling robot control device provided by an embodiment of the present disclosure, its working principle and beneficial effects are as follows:

[0021] In this embodiment, the image acquisition module is used to acquire the image information in front of the handling robot. If the image information indicates that there is a staircase ahead, the controller activates the laser ranging module. The laser ranging module continuously detects the distance between the handling robot and the staircase ahead. As the distance between the handling robot and the staircase changes, the image acquisition angle will change. When the handling robot reaches the set distance position, the image acquisition angle is the set angle. By analyzing the staircase image at the set angle, the height of the staircase steps can be obtained, and then the pose of the walking mechanism of the handling robot can be adjusted according to the height of the staircase steps, so that the walking mechanism can better fit the staircase steps and reduce the collision phenomenon during handling.

[0022] Among them, the laser ranging module is a semiconductor device, and its detection accuracy is greatly affected by temperature. To prevent the detection result of the laser ranging module from being inaccurate due to too high or too low temperature, a temperature control module is provided inside the laser ranging module in this embodiment to ensure the operating temperature of the laser ranging module and further ensure the control accuracy of the handling robot. Description of the Drawings

[0023] To more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0024] Figure 1 is the circuit schematic diagram of the temperature control module provided by the embodiment of the present disclosure. Detailed Embodiments

[0025] To enable those skilled in the art of this technology to better understand this solution, the following will clearly describe the technical solutions in the embodiments of this solution in conjunction with the drawings in the embodiments of this solution. Obviously, the described embodiments are part of the embodiments of this solution, rather than all of the embodiments. Based on the embodiments in this solution, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of this solution.

[0026] The term "including" in the specification, claims, and the above drawings of this solution, as well as any other variations, means "including but not limited to", intending to cover non-exclusive inclusion and not limited to the examples listed in the text. In addition, terms such as "first" and "second" are used to distinguish different objects, rather than to describe a specific order.

[0027] The following will describe the implementation of the present disclosure in detail in conjunction with specific drawings:

[0028] The control device of the auxiliary goods handling robot includes a controller, a laser ranging module, and an image acquisition module. The output ends of the laser ranging module and the image acquisition module are both connected to the controller.

[0029] A temperature control module is arranged inside the laser ranging module. Refer to Figure 1 , the temperature control module includes:

[0030] A temperature measurement module for converting the temperature signal of the laser ranging module into a voltage signal;

[0031] A first comparison circuit. The first input end of the first comparison circuit is connected to the output end of the temperature measurement module, and the second input end of the first comparison circuit is connected to a first reference voltage; the output end of the first comparison circuit is connected to the refrigeration control end of the TEC module.

[0032] A second comparison circuit. The first input end of the second comparison circuit is connected to the output end of the temperature measurement module, and the second input end of the second comparison circuit is connected to a second reference voltage; the output end of the second comparison circuit is connected to the heating control end of the TEC module.

[0033] A subtraction circuit for detecting the difference between the output end of the temperature measurement module and a third reference voltage;

[0034] An absolute value detection circuit for detecting the absolute value of the difference; the output end of the absolute value detection circuit is connected to the voltage input end of the TEC module.

[0035] In this embodiment, the image acquisition module is used to acquire the image information in front of the handling robot. If the image information indicates that there is a staircase ahead, the controller activates the laser ranging module. The laser ranging module real-time detects the distance between the handling robot and the staircase ahead. As the distance between the handling robot and the staircase changes, the image acquisition angle will change. When the handling robot reaches the set distance position, the image acquisition angle is the set angle. By analyzing the staircase image at the set angle, the height of the staircase steps can be obtained, and then the pose of the walking mechanism of the handling robot can be adjusted according to the height of the staircase steps, so that the walking mechanism better fits the staircase steps and reduces the collision phenomenon during the handling process.

[0036] Among them, the laser ranging module is a semiconductor device, and its detection accuracy is greatly affected by temperature. To avoid inaccurate detection results of the laser ranging module caused by too high or too low temperature, this embodiment sets a temperature control module inside the laser ranging module to ensure the working temperature of the laser ranging module and further ensure the control accuracy of the handling robot.

[0037] The working principle of the temperature control module is as follows:

[0038] Comparator U1A forms the first comparison circuit, and comparator U1B forms the second comparison circuit. The temperature measurement module is used to detect the temperature of the laser ranging module in real time. The output end of the temperature measurement module is connected to the first input end of the first comparison circuit and compared with the first reference voltage ref1. When the temperature of the laser ranging module is greater than the upper temperature limit, the output voltage of the temperature measurement module is greater than the first reference voltage ref1, and the first comparison circuit outputs a high-level signal. This high-level signal is connected to the refrigeration control end of the TEC module, and the TEC module enters the refrigeration mode to cool down the laser ranging module.

[0039] The output end of the temperature measurement module is connected to the first input end of the second comparison circuit and compared with the second reference voltage ref2. When the temperature of the laser ranging module is less than the lower temperature limit, the output voltage of the temperature measurement module is less than the second reference voltage ref2, and the second comparison circuit outputs a high-level signal. This high-level signal is connected to the heating control end of the TEC module, and the TEC module enters the heating mode to warm up the laser ranging module.

[0040] Operational amplifier U2A forms a subtraction circuit. The difference between the output end of the temperature measurement module and the third reference voltage ref3 is obtained through the subtraction circuit. The absolute value of this difference is obtained through the absolute value detection circuit. The output end of the absolute value detection circuit is connected to the voltage input end CRT of the TEC module. The greater the absolute value of the difference, the stronger the degree of refrigeration or heating of the TEC module.

[0041] Through the above analysis, it can be seen that the settings of the temperature measurement module, the first comparison circuit, the second comparison circuit, the subtraction circuit, the absolute value detection circuit, and the TEC module can realize the temperature control of the laser ranging module.

[0042] In an exemplary embodiment of the present disclosure, the temperature measurement module includes a resistor R2 and a thermistor RT. The first end of the resistor R2 is connected to the DC power supply, and the second end of the resistor R2 is grounded through the thermistor RT. The second end of the resistor R2 is the output end of the temperature measurement module.

[0043] In this embodiment, when the temperature of the laser ranging module increases, the resistance value of the thermistor RT increases, and the voltage division of the thermistor RT increases; when the temperature of the laser ranging module decreases, the resistance value of the thermistor RT decreases, and the voltage division of the thermistor RT decreases. Therefore, the temperature of the laser ranging module can be obtained by detecting the voltage division of the thermistor RT.

[0044] In an exemplary embodiment of the present disclosure, the absolute value detection circuit includes operational amplifiers U2B, U2C, a resistor R1, a resistor R7, and a diode D1.

[0045] The first end of resistor R1 is connected to the output end of the subtraction circuit. The second end of resistor R1 is connected to the inverting input end of operational amplifier U2B. The non-inverting input end of operational amplifier U2B is grounded. The output end of operational amplifier U2B is connected to the anode of diode D1. The cathode of diode D1 is feedback-connected to the inverting input end of operational amplifier U2B through resistor R7.

[0046] The cathode of diode D1 is connected to the non-inverting input end of operational amplifier U2C. The output end of operational amplifier U2C is feedback-connected to the inverting input end of operational amplifier U2C. The output end of operational amplifier U2C is the output end of the absolute value detection circuit.

[0047] In this embodiment, denote the signal at the output end of the subtraction circuit as UC. When the voltage UC is greater than zero, the output voltage of operational amplifier U2B is less than zero, diode D1 is cut off, and the voltage UC is sequentially connected to the non-inverting input end of operational amplifier U2C through resistor R1 and resistor R7. Operational amplifier U2C forms a voltage follower, and the output voltage of operational amplifier U2C is equal to the voltage UC. When the voltage UC is less than zero, the output voltage of operational amplifier U2B is greater than zero, diode D1 is turned on, and operational amplifier U2B forms an inverting proportional amplifier circuit. By setting resistor R13 = resistor R12, the amplification factor of operational amplifier U2B is -1, then the output voltage of operational amplifier U2B is equal to -UC. Through the above analysis, it can be seen that the output voltage of operational amplifier U2B is the absolute value of the signal UC.

[0048] In an exemplary embodiment of the present disclosure, the auxiliary goods handling robot control device further includes:

[0049] a motor current detection module, a motor voltage detection module, and a motor temperature detection module;

[0050] The output ends of the motor current detection module, the motor voltage detection module, and the motor temperature detection module are respectively connected to multiple input ends of an AND gate circuit. The output end of the AND gate circuit is connected to the controller;

[0051] a switch circuit, the switch circuit is connected in series in the motor power supply circuit, and the control end of the switch circuit is connected to the controller.

[0052] In this embodiment, the motor current detection module is used to detect the motor current. When the motor current is greater than the current threshold, the motor current detection module outputs a high-level signal; the motor voltage detection module is used to detect the motor voltage. When the motor voltage is greater than the voltage threshold, the motor voltage detection module outputs a high-level signal; the motor temperature detection module is used to detect the motor temperature. When the motor temperature is greater than the temperature threshold, the motor temperature detection module outputs a high-level signal. The output terminals of the motor current detection module, the motor voltage detection module, and the motor temperature detection module are connected to an AND gate circuit. If any one of the modules outputs a high-level signal, the AND gate circuit will output a high-level signal, and this high-level signal is connected to the controller. The controller determines that a fault has occurred in the motor operation based on this high-level signal, and then controls the switch circuit to disconnect, stopping the motor operation in a timely manner.

[0053] In an exemplary embodiment of the present disclosure, the control device of the auxiliary goods handling robot further includes a weighing module and an alarm module, both of which are connected to the controller.

[0054] In this embodiment, the weighing module is used to detect the weight of the goods. When the goods are overweight, the controller controls the alarm module to give an alarm to prevent the handling robot from operating overloaded.

[0055] The above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present disclosure.

Claims

1. A control device for an auxiliary cargo handling robot, characterized in that: It includes a controller, a laser ranging module and an image acquisition module, wherein the output end of the laser ranging module and the output end of the image acquisition module are both connected to the controller. The laser ranging module is internally provided with a temperature control module, and the temperature control module comprises: A temperature measurement module, used for converting the temperature signal of the laser ranging module into a voltage signal; a first comparison circuit, wherein a first input end of the first comparison circuit is connected to an output end of the temperature measurement module, and a second input end of the first comparison circuit is connected to a first reference voltage; and an output end of the first comparison circuit is connected to a cooling control end of the TEC module; A second comparison circuit, wherein a first input end of the second comparison circuit is connected to an output end of the temperature measurement module, and a second input end of the second comparison circuit is connected to a second reference voltage; and an output end of the second comparison circuit is connected to a heating control end of the TEC module; A subtraction circuit, used for detecting a difference between an output terminal of the temperature measurement module and a third reference voltage; An absolute value detection circuit is used to detect the absolute value of the difference; the output end of the absolute value detection circuit is connected to the voltage input end of the TEC module.

2. A control device for an auxiliary cargo handling robot as claimed in claim 1, characterized in that: The temperature measurement module includes a resistor R2 and a thermistor RT, wherein a first end of the resistor R2 is connected to a DC power supply, a second end of the resistor R2 is grounded via the thermistor RT, and the second end of the resistor R2 is an output end of the temperature measurement module.

3. A control device for an auxiliary cargo handling robot as claimed in claim 1, characterized in that: The absolute value detection circuit includes an operational amplifier U2B, an operational amplifier U2C, a resistor R1, a resistor R7 and a diode D1. The first end of the resistor R1 is connected to the output end of the subtraction circuit, the second end of the resistor R1 is connected to the inverting input end of the operational amplifier U2B, the non-inverting input end of the operational amplifier U2B is grounded, the output end of the operational amplifier U2B is connected to the anode of the diode D1, and the cathode of the diode D1 is feedback-connected to the inverting input end of the operational amplifier U2B through the resistor R7. The cathode of the diode D1 is connected to the non-inverting input terminal of the operational amplifier U2C, the output terminal of the operational amplifier U2C is feedback-connected to the inverting input terminal of the operational amplifier U2C, and the output terminal of the operational amplifier U2C is the output terminal of the absolute value detection circuit.

4. A control device for an auxiliary cargo handling robot as claimed in claim 1, characterized in that: Also includes: Motor current detection module, motor voltage detection module and motor temperature detection module; The output ends of the motor current detection module, the motor voltage detection module and the motor temperature detection module are respectively connected to a plurality of input ends of an AND gate circuit, and the output end of the AND gate circuit is connected to the controller; A switch circuit is connected in series in the motor power supply circuit, and a control end of the switch circuit is connected to the controller.

5. The control device for an auxiliary cargo handling robot according to claim 1, characterized in that: It also includes a weighing module and an alarm module both connected to the controller.

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