Intelligent storage robot based on steering wheel speedometer

Abstract

The utility model discloses an intelligent storage robot based on a steering wheel speedometer, which is based on the motion characteristic that a steering wheel set does not depend on force counteracting, can easily realize the non-slip effect through debugging and model selection of wheel set rubber coating, uses an encoder which is a sensor with lower cost and easiness in maintenance, and can realize the intelligent storage robot based on the steering wheel speedometer. The speedometer information obtained through calculation is accurate, so that the robot can accurately know the position of the robot in a warehouse, accurate navigation to reach the operation position is achieved, inventory management and material checking are conducted, and the high material carrying efficiency is achieved; a plurality of steering wheel sets are arranged at the bottom end of the fuselage body, magnetic encoders for detecting rudder angles, wheel direction encoders for detecting wheel speeds and circuit boards are arranged on the steering wheel sets, and the circuit boards are in communication connection with the magnetic encoders and the wheel direction encoders; the storage robot can be widely applied to the field of storage robots.

Description

Technical Field

[0001] The utility model relates to an intelligent storage robot based on a steering wheel odometer, belonging to the technical field of storage robots. Background Art

[0002] Driven by both the global economy and science and technology, my country's warehousing management has entered a period of rapid development. Logistics and warehousing are also transitioning from simple automation to digital, intelligent warehousing. Storage, retrieval, and handling of goods primarily rely on manual labor and auxiliary machinery, which is costly, inefficient, and prone to damage. Automated robots can reduce reliance on manual handling and picking, thereby lowering labor costs.

[0003] Current intelligent warehouse robots mostly use lidar for positioning, whether in 2D or 3D. However, for warehouses with numerous shelves, which are characterized by simple, large-scale scenarios, high scene consistency and repeatability, and unclear point cloud features, effective performance requires a computing unit with sufficient computing power and extensive field testing. This system incurs significant human and material resource costs. Furthermore, in such environments, temperature and humidity standards are not very high, posing a significant challenge to the long-term stable operation of precision instruments like lidar. When large-scale production is required, power resources become a crucial consideration. Obviously, such systems consume a significant amount of power, resulting in significant costs associated with the number of robots required for rotational work and the design of charging stations. Inventory operations in warehouses, where the path is relatively simple, the surface is flat, and there are no complex obstacles, significantly reduces the need for lidar for positioning. Utility Model Content

[0004] The present invention overcomes the shortcomings of the existing technology and provides an intelligent warehouse robot based on a steering wheel odometer, which ensures omnidirectional movement to cope with narrow or crowded warehouse environments while having high mechanical efficiency. Under the same power, the movement speed and endurance are superior to other wheel designs. Based on the motion characteristics of the steering wheel set that does not rely on force offset, after debugging and the selection of wheel set rubber, the non-slip effect can be easily achieved. The odometer information obtained by using the encoder, a low-cost and easy-to-maintain sensor, is accurate, so that the robot can accurately know its position in the warehouse, achieve accurate navigation to reach the working position, carry out inventory management and material inventory, and achieve efficient material handling efficiency.

[0005] In order to solve the above technical problems, the technical solution adopted by the utility model is as follows: an intelligent storage robot based on a steering wheel odometer includes a chassis frame and a fuselage body, wherein the chassis frame is a closed annular frame structure, the fuselage body is fixedly arranged in the frame of the chassis frame, and multiple steering wheel groups are provided at the bottom end of the fuselage body. The steering wheel groups are provided with a magnetic encoder for detecting the steering angle, a wheel direction encoder for detecting the wheel speed, and a circuit board. The circuit board is communicatively connected with the magnetic encoder and the wheel direction encoder;

[0006] The structure of the steering wheel assembly is as follows: it includes a steering wheel body and a rotating wheel, the rotating wheel is provided at the bottom of the steering wheel body, the rotating wheel is provided with an inner gear ring, a driving motor is provided on one side of the steering wheel body, the driving motor is arranged horizontally, and a gear meshing with the inner gear ring is provided on the power output end of the driving motor, and the rotating wheel is driven to rotate by the driving motor; the wheel direction encoder is provided on the driving motor;

[0007] A steering bearing pressure plate is provided on the top side of the steering wheel body, a steering carrier is provided on the top side of the bearing pressure plate, a steering steel tooth is provided on the upper side of the steering carrier for horizontal movement, and the steering steel tooth is fixedly connected to the steering wheel body through a transmission shaft; the magnetic encoder is provided on the steering steel tooth; a steering motor is provided on the outer side of the steering steel tooth, and the steering motor is fixedly connected to the fuselage body through a support frame; a gear meshing with the steering steel tooth is provided on the power output end of the steering motor, and the steering steel tooth is driven to rotate by the steering motor, thereby driving the steering wheel body and the rotating wheel to rotate.

[0008] Furthermore, a cross-shaped bracket is provided in the chassis frame, and the fuselage body is fixedly provided on the cross-shaped bracket.

[0009] Furthermore, a suspension is provided between the fuselage body and the support frame.

[0010] Furthermore, a photoelectric gate is provided on the circuit board, and the photoelectric gate is used to assist in calibrating the steering motor.

[0011] Furthermore, the fuselage body is provided with a depth camera for collecting and identifying the two-dimensional code information in the working environment and a gyroscope for detecting the rotation angle of the fuselage body.

[0012] Furthermore, a microprocessor is provided on the fuselage body, and the microprocessor is communicatively connected to the circuit board. A communication module is also provided on the fuselage body, and the communication module is electrically connected to the microprocessor for receiving remote control signals.

[0013] Furthermore, the walking surface of the wheel is provided with a rubber bag.

[0014] The microprocessor in the utility model is an STM32F407 single-chip microcomputer, which is connected to the magnetic encoder motor, reads the encoder value for calculation, and outputs the motor closed-loop control; is connected to the photoelectric gate to read the high and low level changes; is connected to the gyroscope through SPI communication to obtain acceleration angular velocity information; is connected to the communication module of the wireless communication instruction to read the remote control information; and is connected to the serial port of the computing power unit of the depth camera to obtain serial port information.

[0015] This utility model can flexibly adapt to the complex environment in the warehouse. The steering wheel design not only improves the mechanical efficiency, but also gives it a longer endurance under the same power conditions, which is crucial for warehouse environments with long-term continuous operations. At the same time, the robot's cross-beam chassis and the cabin surrounded by sturdy sheet metal parts provide excellent load-bearing capacity, allowing it to easily handle and transport heavy objects. The integrated design of the wheel set makes maintenance and repair quick and easy, and the sheet metal process used throughout the vehicle achieves lightweight while ensuring structural strength, reducing costs. The various components of the robot adopt a standardized design, which not only simplifies the process of upgrading and replacing components in the future, but also facilitates customization and installation according to specific application requirements, improving the adaptability and flexibility of the robot.

[0016] This utility model uses a depth camera to identify product QR codes, acquiring placement and map data. It then employs AI algorithms for path planning, storing the results in a control system. The intelligent warehouse robot uses wheel odometers and preset navigation points to calculate movement parameters. A magnetic encoder detects steering angle, while a wheel encoder measures wheel speed, enabling closed-loop control. The robot's odometer updates its position and speed in real time, enabling path planning and adjustments to ensure optimal navigation.

[0017] The robot in the present invention comprises a chassis frame; a steering motor and a drive motor of a steering wheel group fixed to the bottom end of the fuselage; an encoder fixed to the wheel direction of the steering wheel group and used to detect the wheel speed; a magnetic encoder fixed to the steering direction of the steering wheel group and used to detect the steering position; a photoelectric gate fixed to the steering wheel group for assisting in calibrating the steering motor; a communication module fixed to the fuselage and used to receive remote control and wireless communication instructions; an icm20602 gyroscope fixed to the fuselage and used to detect the rotation angle of the intelligent warehousing robot; a depth camera at the front of the fuselage and used to collect and identify QR code information in the working environment; and a microprocessor arranged on the fuselage and connected to the gyroscope, the encoder and the corresponding communication module.

[0018] The chassis frame of this utility model adopts 20*20*1mm thin-walled large-section aluminum tubes. By building a cross-shaped aluminum frame as the main beam, the chassis forms a solid base. The anti-collision frame is connected to the main beam through angle brackets. On the basis of ensuring that the chassis has sufficient bending and compression resistance, circular and slot-shaped weight-reducing holes are cleverly designed on the non-bending stress-bearing surface of the aluminum tube.

[0019] The intelligent storage robot in the utility model includes a steering wheel assembly fixed to the bottom end of the fuselage, a steering motor and a drive motor fixed to the steering wheel assembly; the steering motor and the drive motor drive the steering wheel assembly, and are used for omnidirectional movement of the vehicle body after steering wheel dynamics calculation.

[0020] In the utility model, the photoelectric gate is electrically connected to the microprocessor and is used for zeroing the magnetic encoder when the accumulated error is too large due to reasons such as rough roads. The microprocessor has a timed interruption for detecting the steering direction error and automatically zeroing it.

[0021] In this utility model, a magnetic encoder is electrically connected to a microprocessor, detecting the angle of the steering motor relative to the robot chassis's positive direction. An encoder is also electrically connected to the microprocessor, detecting the rotational speed of the drive motor. Based on a kinematic forward solution, combined with wheel diameter, wheelbase, and mechanical reduction ratio, the encoder and magnetic encoder close the steering motor position loop and the drive motor speed loop to respond to microprocessor control. The use of these two encoders eliminates requirements for wheel motor selection and mechanical design reduction ratios. Combined with the photoelectric gate's near-zero error correction, this ensures accurate control of the wheel assembly, resulting in a simple design while maintaining low cost and high robustness.

[0022] The suspension system of the present invention is composed of two MGN9H model rail sliders, which work together to form a set of linear motion structures. The slider slides along the guide rail on the chassis. This layout allows the slider to be directly connected to the steering servo. This design ensures that the wheels always maintain vertical contact with the ground, and the wheelbase can be kept constant whether driving in a straight line or turning. This not only reduces the difficulty of vehicle control, but also improves the contact between the wheels and the ground, thereby enhancing grip and driving stability. The design of the shock absorber is close to a vertical connection. This layout is more beneficial to the force on the shock absorber shaft because it can more directly absorb and disperse the impact caused by uneven road surface, reducing the lateral stress on the suspension system, thereby improving the durability of the suspension system and ride comfort.

[0023] The steering wheel support in this utility model is milled aluminum, with the motor mount precisely positioned using screws. The motor mount and the motor boss utilize an interference fit, ensuring precise motor fixation and, consequently, the performance and stability of the entire steering system. Given the cantilever beam structure of the steering wheel support, the sliders are mounted in an orthogonal manner to optimize the stress distribution of the components. This design not only shortens the lever arm and reduces bending stress, but also improves the structure's resistance to frontal and side impacts, enhancing the stability and durability of the entire system.

[0024] In this utility model, a depth camera placed above the robot body is used to scan the QR code of the product. The QR code stores the coordinates of the desired location of the product in the warehouse and the layout of the warehouse. This data is sent to the microprocessor via the serial port and stored in the flash memory, ensuring that the map data of the warehouse is always available. Whenever a new QR code is scanned, the map information and the desired location information are updated according to the current situation. The microprocessor uses an AI algorithm to perform offline path planning based on the data information stored in the flash memory to find the shortest path in the warehouse environment. By combining the cumulative distance from the starting navigation point to the current navigation point and the predicted value obtained by the Euclidean heuristic function, the path with the lowest cost to the current navigation point, that is, the shortest path, is calculated. This results in a series of N navigation points, and the total number of navigation points N is updated as the path changes.

[0025] Compared to existing technologies, this new robot offers the following advantages: it can flexibly adapt to the complex environments of warehouses. Its steering wheel design not only improves mechanical efficiency, but also allows for a large-capacity battery mounted on the main body, giving it extended battery life at the same power level, a crucial feature for warehouses with long, continuous operations. Furthermore, the robot's cross-beam chassis and cabin, enclosed by sturdy sheet metal components, provide excellent load-bearing capacity, enabling it to easily handle and transport heavy objects. The integrated wheel design makes maintenance and repair quick and easy, while the sheet metal construction employed throughout the robot ensures structural strength while achieving lightweight design and reducing costs. The robot's standardized components simplify future upgrades and replacements and facilitate customization and retrofitting to meet specific application requirements, enhancing its adaptability and flexibility. A depth camera recognizes product QR codes to obtain location and map data. An AI algorithm performs path planning, storing the results in the control system. A wheel odometer and pre-set navigation points are used to calculate movement parameters. A magnetic encoder detects steering angle, while a wheel encoder measures wheel speed, achieving closed-loop control. The robot's odometer updates its position and speed in real time for path planning and adjustment to ensure optimal navigation. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present invention will be further described below with reference to the accompanying drawings.

[0027] Figure 1 This is a schematic diagram of the three-dimensional structure of the utility model Figure 1 .

[0028] Figure 2 This is a schematic diagram of the three-dimensional structure of the utility model Figure 2 .

[0029] Figure 3 This is a bottom view of the chassis frame of the present invention.

[0030] Figure 4 It is a schematic diagram of the three-dimensional structure of the steering wheel assembly in the present invention.

[0031] In the figure: 1 is the chassis frame, 2 is the fuselage body, 3 is the steering wheel assembly, 31 is the steering wheel body, 32 is the rotating wheel, 33 is the inner ring gear, 34 is the driving motor, 35 is the bearing pressure plate, 36 is the steering bearing member, 37 is the steering steel tooth, 38 is the steering motor, 39 is the support frame, 310 is the suspension, and 4 is the cross-shaped bracket. DETAILED DESCRIPTION

[0032] The present invention will be further described below with reference to specific embodiments.

[0033] like Figures 1 to 4 As shown, the present invention is an intelligent storage robot based on a steering wheel odometer, comprising a chassis frame 1 and a body 2. The chassis frame 1 is a closed annular frame structure. The body 2 is fixedly arranged within the frame of the chassis frame 1. A cross-shaped bracket 4 is provided within the chassis frame 1. The body 2 is fixedly arranged on the cross-shaped bracket 4. A plurality of steering wheel groups 3 are provided at the bottom end of the body 2. The steering wheel groups 3 are provided with a magnetic encoder for detecting the steering angle, a wheel direction encoder for detecting the wheel speed, and a circuit board. The circuit board is communicatively connected to the magnetic encoder and the wheel direction encoder.

[0034] The structure of the steering wheel assembly 3 is as follows: it includes a steering wheel body 31 and a runner 32. The runner 32 is provided at the bottom of the steering wheel body 31. The walking surface of the runner 32 is provided with a rubber bag. The runner 32 is provided with an inner ring gear 33. A drive motor 34 is provided on one side of the steering wheel body 31. The drive motor 34 is arranged horizontally, and a gear meshing with the inner ring gear 33 is provided on the power output end of the drive motor 34. The runner 32 is driven to rotate by the drive motor 34; the wheel direction encoder is provided on the drive motor 34;

[0035] A steering bearing pressure plate 35 is provided on the top side of the steering wheel body 31, and a steering bearing member 36 is provided on the top side of the bearing pressure plate 35. A steering steel tooth 37 is horizontally movably provided on the upper side of the steering bearing member 36, and the steering steel tooth 37 is fixedly connected to the steering wheel body 31 through a transmission shaft; the magnetic encoder is provided on the steering steel tooth 37; a steering motor 38 is provided on the outer side of the steering steel tooth 37, and the steering motor 38 is fixedly connected to the fuselage body 2 through a support frame 39, and a suspension 310 is provided between the fuselage body 2 and the support frame 39; a gear meshing with the steering steel tooth 37 is provided on the power output end of the steering motor 38, and the steering steel tooth 37 is driven to rotate by the steering motor 38, thereby driving the steering wheel body 31 and the rotating wheel 32 to rotate.

[0036] The circuit board is provided with a photoelectric gate, which is used to assist in calibrating the steering motor 38. The fuselage body 2 is provided with a depth camera for collecting and identifying QR code information in the working environment and a gyroscope for detecting the rotation angle of the fuselage body 2. The fuselage body 2 is provided with a microprocessor, which is communicatively connected to the circuit board. The fuselage body 2 is also provided with a communication module, which is electrically connected to the microprocessor for receiving remote control signals.

[0037] This new model not only ensures omnidirectional movement and can cope with narrow or crowded warehouse environments, but also has high mechanical efficiency. Under the same power, it is superior to other wheel designs in terms of movement speed and endurance. Based on the motion characteristics of the steering wheel set that does not rely on force offset, after debugging and the selection of wheel set rubber, it can easily achieve a non-slip effect. The use of encoders, which are low-cost and easy-to-maintain sensors, to calculate the odometer information is accurate, so that the robot can accurately know its position in the warehouse, achieve accurate navigation to the working position, carry out inventory management and material inventory, and achieve efficient material handling efficiency.

[0038] The embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the scope of knowledge possessed by ordinary technicians in this field without departing from the purpose of the present invention.

Claims

1. Intelligent warehouse robot based on steering wheel odometer, characterized by: The invention comprises a chassis frame (1) and a fuselage body (2), wherein the chassis frame (1) is a closed annular frame structure, the fuselage body (2) is fixedly arranged in the frame of the chassis frame (1), and a plurality of steering wheel groups (3) are arranged at the bottom end of the fuselage body (2), and the steering wheel groups (3) are provided with a magnetic encoder for detecting the steering angle, a wheel direction encoder for detecting the wheel speed, and a circuit board, and the circuit board is communicatively connected with the magnetic encoder and the wheel direction encoder; The structure of the steering wheel assembly (3) is as follows: it includes a steering wheel body (31) and a rotating wheel (32), the rotating wheel (32) is provided at the bottom of the steering wheel body (31), the rotating wheel (32) is provided with an inner gear ring (33), a driving motor (34) is provided on one side of the steering wheel body (31), the driving motor (34) is arranged horizontally, and a gear meshing with the inner gear ring (33) is provided on the power output end of the driving motor (34), and the rotating wheel (32) is driven to rotate by the driving motor (34); the wheel direction encoder is provided on the driving motor (34); A steering bearing pressure plate (35) is provided on the top side of the steering wheel body (31), a steering bearing member (36) is provided on the top side of the bearing pressure plate (35), a steering steel tooth (37) is provided on the upper side of the steering bearing member (36) so as to be horizontally movable, and the steering steel tooth (37) is fixedly connected to the steering wheel body (31) through a transmission shaft; the magnetic encoder is provided on the steering steel tooth (37); a steering motor (38) is provided on the outer side of the steering steel tooth (37), and the steering motor (38) is fixedly connected to the fuselage body (2) through a support frame (39); a gear meshing with the steering steel tooth (37) is provided on the power output end of the steering motor (38), and the steering steel tooth (37) is driven to rotate by the steering motor (38), thereby driving the steering wheel body (31) and the rotating wheel (32) to rotate.

2. The intelligent warehouse robot based on steering wheel odometer according to claim 1 is characterized in that: A cross-shaped bracket (4) is provided in the chassis frame (1), and the fuselage body (2) is fixedly provided on the cross-shaped bracket (4).

3. The intelligent warehouse robot based on steering wheel odometer according to claim 1 is characterized in that: A suspension (310) is provided between the fuselage body (2) and the support frame (39).

4. The intelligent warehouse robot based on steering wheel odometer according to claim 1, characterized in that: A photoelectric gate is provided on the circuit board, and the photoelectric gate is used to assist in calibrating the steering motor (38).

5. The intelligent warehouse robot based on steering wheel odometer according to claim 1 is characterized in that: The fuselage body (2) is provided with a depth camera for collecting and identifying two-dimensional code information in the working environment and a gyroscope for detecting the rotation angle of the fuselage body (2).

6. The intelligent warehouse robot based on steering wheel odometer according to claim 4 is characterized in that: The fuselage body (2) is provided with a microprocessor, the microprocessor is communicatively connected to the circuit board, and the fuselage body (2) is also provided with a communication module, the communication module is electrically connected to the microprocessor and is used to receive remote control signals.

7. The intelligent warehouse robot based on steering wheel odometer according to claim 1, characterized in that: The running surface of the wheel (32) is provided with a rubber bag.

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