Storage rack
Through the cooperation of the guiding components and the identification body, the self-propelled device can accurately locate and interact with the storage rack, realize synchronous charging and item interaction, solve the problem of insufficient positioning accuracy, and improve efficiency and flexibility.
Patent Information
- Application Number
- CN202422541560.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Priority Date
- 2023-11-15
- Filing Date
- 2024-10-21
- Publication Date
- 2025-12-02
- Estimated Expiration
- 2034-10-21
AI Technical Summary
The existing self-propelled devices lack positioning accuracy when interacting with storage racks, which affects the efficiency of item interaction.
Using guidance components and identification devices, the self-propelled device is guided to accurate positioning through reflected signals, and combined with a charging device, it can achieve synchronous charging and object interaction.
It improves the accuracy of interaction between self-propelled equipment and storage racks, simplifies the working logic, reduces the footprint of auxiliary devices, and adapts to various usage scenarios.
Smart Images
Figure CN223619506U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of intelligent storage, and in particular to a storage rack. Background Technology
[0002] In recent years, with the continuous development of control technology and the gradual improvement of the level of intelligence in society, more and more self-propelled equipment and service robots have been used for transportation, cleaning, rescue and reception, bringing great convenience to people's lives and gaining widespread application.
[0003] The self-propelled devices in this technology include a chassis, detection sensors, a movement module, and a control module. The chassis of the self-propelled device has a circular cross-section. When charging is required, it is generally charged through a charging station. The mobile robot has one set of charging components, and the charging station has another set of charging components. When charging is needed, the two sets of charging electrodes are connected to achieve charging. When self-propelled devices are used in the field of pickup and delivery, in order to improve the delivery efficiency of the self-propelled device, it is generally equipped with an intelligent food picker to assist the self-propelled device. The sides of the self-propelled device are equipped with receiving ends that cooperate with the food picker.
[0004] In related technologies, self-propelled devices rely on pre-scanned map files to control their movement to a preset position, enabling their receiving end to better interact with the takeout rack and ensure that the items on the takeout rack can be smoothly received by the receiving end of the self-propelled device. However, map files are composed of several pixels, and the accuracy of locating the interactive position of the self-propelled device in this way is poor.
[0005] This application provides a storage rack that can be used in conjunction with a self-propelled device, enabling better accuracy during the interaction between the self-propelled device and the storage rack. Utility Model Content
[0006] To improve the accuracy of interaction between self-propelled devices and storage racks, this application provides a storage rack.
[0007] The storage rack provided in this application adopts the following technical solution:
[0008] A storage rack, comprising:
[0009] Frame;
[0010] A storage component, mounted on a frame, is used to store and / or suspend items. When the storage component is in operation, the items stored and / or suspended on the storage component are moved to the receiving end of the self-propelled device.
[0011] The guide component is used to guide the self-propelled device to a preset position.
[0012] Optionally, it also includes a charging device for charging the self-propelled device.
[0013] Optionally, the guiding component includes an identifier, and when the self-propelled device identifies and / or senses the identifier, its own charging component cooperates with the charging device, and the receiving end of the self-propelled device cooperates with the storage component.
[0014] Optionally, the frame is provided with a guide slot for inserting a self-propelled device.
[0015] Optionally, it also includes a sensing area for sensing the identifier and triggering the storage component to operate.
[0016] Optionally, the frame is provided with a housing, and the charging device is disposed on the housing.
[0017] Optionally, the identification body includes a reflector for reflecting the detection signal illuminating it.
[0018] Optionally, the sidewall of the frame with the guide groove is arc-shaped and tangent to the sidewall of the self-propelled equipment chassis.
[0019] Optionally, the housing is detachably mounted on the frame.
[0020] Optionally, the housing is rectangular in shape, and a counterweight is disposed inside the housing.
[0021] Optionally, the housing has a plurality of heat dissipation holes.
[0022] Optionally, a cable management plate is provided inside the housing, and the cable management plate has several through holes.
[0023] In summary, this application includes at least one of the following beneficial effects:
[0024] 1. The guiding component guides the self-propelled device to a preset position, enabling the receiving end of the self-propelled device to better interact with the storage component and complete the picking and placing of goods;
[0025] 2. During the process of the self-propelled equipment moving to the position of the storage rack and interacting with the storage rack to retrieve goods, the self-propelled equipment can also be charged for a short time, reducing the footprint of the auxiliary devices of the self-propelled equipment and simplifying the working logic of the self-propelled equipment.
[0026] 3. The charging device can be installed and removed from the storage rack according to the needs of use, adapting to a variety of usage scenarios. Attached Figure Description
[0027] Figure 1 This is a schematic diagram of the structure of a storage rack provided in the first embodiment of this application;
[0028] Figure 2 This is a schematic diagram of the interaction between the self-propelled device and the storage rack in the first embodiment of this application;
[0029] Figure 3 This is a schematic diagram of the charging device in the first embodiment of this application;
[0030] Figure 4 This is a schematic diagram of the structure of a storage rack provided in the second embodiment of this application;
[0031] Figure 5 This is a schematic diagram of the interaction between the self-propelled device and the storage rack in the second embodiment of this application.
[0032] Explanation of reference numerals in the attached drawings: 1. Frame; 2. Storage component; 3. Self-propelled device; 4. Receiving end; 5. Charging device; 6. Guiding component; 7. Reflector; 8. Guide groove; 9. Sensing area; 10. Housing; 11. Counterweight; 12. Heat dissipation hole; 13. Cable management board; 14. Robot body; 15. Chassis; 16. Casing; 17. Linkage unit; 18. Suspension groove. Detailed Implementation
[0033] In recent years, with the continuous development of control technology and the gradual improvement of the level of social intelligence, more and more self-propelled devices and service robots have been used for transportation, cleaning, rescue and reception work, bringing great convenience to people's lives. The present application provides a storage rack that can work with a self-propelled device in the prior art. The self-propelled device 3 in the prior art includes a robot body 14, a chassis 15, a detection sensor (not shown in the figure), a movement module, a control module, etc. The chassis 15 has a circular cross-section. When charging is required, it is generally charged through a charging pile. The mobile robot is equipped with a set of charging components, and the charging pile is equipped with a charging device. When charging is required, the charging components are connected to the charging device to achieve charging. This part is the prior art, and the specific structure will not be described in detail.
[0034] The following is in conjunction with the appendix Figure 1 - Appendix Figure 5 This application will be described in further detail.
[0035] Example 1:
[0036] This application discloses a storage rack. (Refer to...) Figure 1 and Figure 2 The storage rack includes:
[0037] The frame 1 is provided with storage components 2 for storing and / or suspending items. There are two storage components 2. When the self-propelled device 3 runs to a preset point and cooperates with the storage components 2 to retrieve goods, the two storage components 2 are located on both sides of the self-propelled device, and each storage component 2 cooperates with the receiving end 4 of the self-propelled device 3. In this embodiment, the receiving end 4 is the hook assembly located on both sides of the self-propelled device 3. The storage component 2 includes a housing 16 and a linkage part 17. The housing 16 is fixed to the frame 1, and the linkage part 17 is rotatably connected to the housing 16. The storage component 2 has at least two states: open and closed. The linkage part 17 has a hanging groove 18 for suspending items. When the storage component 2 is in the open state, the linkage part 17 rotates to allow the items suspended on it to slide from the hanging groove 18 to the hook assembly. When the storage component 2 is in the closed state, the linkage part 17 rotates closer to the housing 16, and the items suspended on it can be stably suspended on the linkage part 17.
[0038] The frame 1 is equipped with a guide component 6 and a charging device 5. The guide component 6 is used to guide the self-propelled device 3 to a preset position. The guide component 6 includes an identification body. The charging device 5 is detachably mounted on the frame 1 and is used to charge the self-propelled device 3. When the self-propelled device 3 identifies and / or senses the identification body, the charging component of the self-propelled device 3 cooperates with the charging component, and the receiving end 4 of the self-propelled device 3 cooperates with the storage component 2. Specifically, the identification element includes a reflector 7, which is disposed on the side of the charging device 5 near the self-propelled device 3, or on the frame 1. This is not limited here. In other embodiments, the identification element can also be an object with specific shape, color, arrangement, or other identification characteristics. In this embodiment, the reflector 7 can be one or more of a reflective strip, reflective sticker, or reflector plate. In this embodiment, the reflector 7 is a reflective sticker. The reflector 7 is used to reflect the detection signal illuminating it. The self-propelled device 3 moves towards the frame 1 according to a preset movement path. When the self-propelled device 3 moves to the vicinity of the frame 1, the detection sensor emits a detection signal forward and receives the detection signal emitted back by the reflector 7. Then, based on the received detection signal, the position and orientation of the self-propelled device 3 are determined, and the self-propelled device 3 is determined to have moved to a predetermined position. Generally, this detection signal is a laser signal, which aligns the charging component of the self-propelled device 3 with the charging device 5, and causes the self-propelled device 3 to move forward to complete the docking with the charging device 5. The frame 1 has a guide groove 8 for the self-propelled device 3 to be inserted. The side wall of the frame 1 with the guide groove 8 is arc-shaped and tangent to the side wall of the chassis 15 with a circular cross-section. Under the combined action of the guide groove 8 and the reflector 7, the self-propelled device 3 continuously corrects its posture and direction of travel as it approaches the storage rack, so that it can accurately cooperate with the storage components 2 and the charging device 5 on the storage rack.
[0039] Reference Figure 2 and Figure 3 A detachable housing 10 is mounted on the frame 1, and the charging device 5 is mounted on the housing 10. This configuration allows for flexibility in choosing whether to install the charging device 5 on the frame 1, depending on the usage scenario and needs. The housing 10 is rectangular and has several ventilation holes 12. A counterweight 11 and a cable management plate 13 are installed inside the housing 10. The counterweight 11 is located at the bottom of the housing 10, and the cable management plate 13 has several through holes. The counterweight 11 increases the weight inside the housing 10, making it less likely for the charging device 5 to move accidentally. When the self-propelled device 3 frequently moves into the frame 1 to work, it is easy for the self-propelled device 3 and the charging device 5 to collide. The cable management plate 13 increases the strength of the housing 10, protecting the charging device 5, and also allows the cables in the charging device 5 to be organized.
[0040] Understandably, the self-propelled device 3 includes a control board with signal interface terminals. Detection sensors are connected to these terminals. The control board also has a control interface connected to the movement module of the self-propelled device 3. During movement, the detection sensors send real-time detection signals to the control board. When the self-propelled device 3 reaches a predetermined position for interaction with the frame 1, the detection sensors detect the detection signal reflected by the reflector 7. Based on the received reflected signal, the control board determines that the self-propelled device 3 has reached the preset position. After determining that the self-propelled device 3 has reached the preset position, the control board outputs a control signal to the movement module of the self-propelled device 3 through the control interface, controlling the robot to stop moving. The frame 1 has a recognition device that can identify when the self-propelled device 3 has reached the predetermined position and sends a signal to the control component to open the storage component 2. The control component receives and responds to this signal, thereby controlling the storage component 2 to open.
[0041] Example 2:
[0042] Reference Figure 4 and Figure 5 The difference between the storage rack in this embodiment and that in embodiment 1 is that the rack body 1 is provided with a sensing area 9. The sensing area 9 is used to sense the identifier. The sensing area 9 can be a QR code scanning window / IC sensing area / ID sensing area, etc. When the sensing area 9 is a QR code scanning window, the identifier it senses is the corresponding QR code.
[0043] Specifically, in this embodiment, the storage component 2 can be opened or closed by the control signal of the control component. The control component in this embodiment can issue the control signal to open or close the storage component 2 by receiving the QR code trigger signal from the food delivery personnel or consumers. This embodiment will not describe this in detail.
[0044] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.
Claims
1. A storage rack, characterized in that, include: Frame (1); Storage component (2), set on frame (1) for storing and / or hanging items, when the storage component (2) is working, the items stored and / or hung on the storage component (2) are moved to the receiving end (4) of the self-propelled device (3); The guide component (6) is used to guide the self-propelled device (3) to a preset position.
2. A storage rack according to claim 1, characterized in that: It also includes a charging device (5) for charging the self-propelled device (3).
3. A storage rack according to claim 2, characterized in that: The guiding component (6) includes an identifier. When the self-propelled device (3) identifies and / or senses the identifier, the charging component of the self-propelled device (3) cooperates with the charging device (5), and the receiving end (4) of the self-propelled device (3) cooperates with the storage component (2).
4. A storage rack according to claim 1, characterized in that: The frame (1) has a guide groove (8) for the self-propelled device (3) to be inserted.
5. A storage rack according to claim 1, characterized in that: It also includes a sensing area (9) for sensing the identifier and triggering the storage component (2) to work.
6. A storage rack according to claim 2, characterized in that: The frame (1) is provided with a housing (10), and the charging device (5) is provided on the housing (10).
7. A storage rack according to claim 3, characterized in that: The identification body includes a reflector (7) for reflecting the detection signal illuminating it.
8. A storage rack according to claim 3, characterized in that: The side wall of the frame (1) with the guide groove (8) is arc-shaped and tangent to the side wall of the chassis (15) of the self-propelled equipment (3).
9. A storage rack according to claim 6, characterized in that: The housing (10) is detachably mounted on the frame (1).