CN106155062A - A kind of Mobile Robot Control System - Google Patents
A kind of Mobile Robot Control System Download PDFInfo
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- CN106155062A CN106155062A CN201610811249.XA CN201610811249A CN106155062A CN 106155062 A CN106155062 A CN 106155062A CN 201610811249 A CN201610811249 A CN 201610811249A CN 106155062 A CN106155062 A CN 106155062A
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- 238000005314 correlation function Methods 0.000 claims abstract description 3
- 230000032258 transport Effects 0.000 claims description 15
- 230000006698 induction Effects 0.000 claims description 6
- 230000004888 barrier function Effects 0.000 claims description 3
- 230000033228 biological regulation Effects 0.000 claims description 3
- 230000005684 electric field Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 2
- 238000004260 weight control Methods 0.000 claims description 2
- 238000013461 design Methods 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 4
- 238000013473 artificial intelligence Methods 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to mobile robot field, it is specifically related to a kind of Mobile Robot Control System, including mobile robot, this move robot include mobile unit, for lifting the hoistable platform of goods and for loading the bracing frame of goods, this moves robot and also includes a control centre and location signal transmitter；Control platform, this control platform includes control module, high in the clouds module and line module, this control module and control centre's wireless connections, this high in the clouds module is for storing the real-time map information having mobile robot to move, and this line module is for the correlation function of user operation Mobile Robot Control System.Goods is loaded and transport by the present invention by a kind of Mobile Robot Control System of design, mobile robot, and monitors cartographic information and goods information in real time by controlling platform, sets up an optimum robot path planning, it is achieved efficient transportation efficiency.
Description
Technical field
The present invention relates to mobile robot field, be specifically related to a kind of Mobile Robot Control System.
Background technology
Mobile robot (Robot) is the installations automatically performing work.It both can accept mankind commander, the most permissible
Run the program of layout in advance, it is also possible to according to the principle guiding principle action formulated with artificial intelligence technology.Its task is to assist
Or the work of replacement human work, such as produce the work of industry, building industry, or danger.
Intelligent mobile robot, is that collection environment sensing, a dynamic decision are multi-functional with execution etc. with planning, Behavior-Based control
Integrated system in one.It has concentrated sensor technology, information processing, electronic engineering, computer engineering, Automated condtrol work
The multi-disciplinary achievement in research such as journey and artificial intelligence, represents the overachievement of electromechanical integration, is current scientific technological advance
One of most active field.Along with robot performance is the most perfect, the range of application of mobile robot greatly extends, and not only exists
The industries such as industry, agricultural, medical treatment, service are widely used, and in urban safety, national defence and space exploration field etc.
It is harmful to and is well applied with dangerous situation.Therefore, mobile robot technology has obtained the common concern of countries in the world.
But, the control of mobile robot is extremely complex, particularly in environment complicated and changeable, it would be desirable to the goods of transport
Thing transports destination like clockwork, and carries out oneself's change path according to different scenes, is very difficult to realization, needs
Using the most accurate device, cost is the highest.
Meanwhile, the loading of goods and the path of transport generally require artificial participation, not only affect conevying efficiency, exist especially
In the case of multiple goods difference destination is changeable, easily mixes up or reduce conevying efficiency, being also greatly improved human cost.
Summary of the invention
The technical problem to be solved in the present invention is, for the drawbacks described above of prior art, it is provided that a kind of moving machine
Device people's control system, improves conevying efficiency, reduces cost of transportation.
The technical solution adopted for the present invention to solve the technical problems is: provide a kind of Mobile Robot Control System, bag
Include: mobile robot, this moves robot and includes mobile unit, for lifting the hoistable platform of goods and for loading goods
Bracing frame, this moves robot and also includes a control centre and location signal transmitter, and this control centre controls mobile single respectively
Unit and hoistable platform work, and this location signal transmitter is for showing the real time position of mobile robot；Control platform, this control
Platform includes control module, high in the clouds module and line module, this control module and control centre's wireless connections, and this high in the clouds module is used
In storing the real-time map information having mobile robot to move, this line module is used for user operation Mobile Robot Control System
Correlation function；Wherein, this control module sets up a machine according to real time position and the real-time map information of mobile robot
People's path planning is also sent to control centre, and this control centre controls mobile according to robot path planning or user operation commands
Robot works.
Wherein, preferred version is: this Mobile Robot Control System also includes some loading platforms, this high in the clouds module stores
Having the goods information of loading platform, this control platform is set up a goods according to goods information and is loaded planning and be sent in control
The heart, this control centre loads planning or user operation commands according to goods, controls hoistable platform and transports the goods on loading platform
On bracing frame, and control mobile robot with moving to target.
Wherein, preferred version is: this goods information include measurement of cargo, goods weight, goods handling initially, goods fortune
With sending target and goods time of advent, this control centre controls hoistable platform by goods handling according to measurement of cargo and goods weight
On bracing frame, this control centre according to goods handling initially, goods handling target and control goods time of advent mobile
Unit moves.
Wherein, preferred version is: this loading platform includes a conveying track coordinated with hoistable platform and by transport rail
What the goods on road pushed hoistable platform to pushes away goods plate.
Wherein, preferred version is: this moves robot and also includes a mechanical arm, and this mechanical arm is for by hoistable platform
On goods be placed into the correspondence position of bracing frame.
Wherein, preferred version is: this moves robot and also includes a sensing unit, and this sensing unit is used for detecting moving machine
Barrier around device people, this high in the clouds module sets up real-time map information according to obstacle information, and this control module is according in real time
Cartographic information re-establishes robot path planning.
Wherein, preferred version is: this sensing unit is infrared induction, ultrasonic sensing or electric field induction.
Wherein, preferred version is: this location signal transmitter is that WIFI location transmitters, GPS location transmitters, RFID penetrate
Frequency identifies location transmitters or ultra broadband location transmitters.
Wherein, preferred version is: this control module includes a dispatching algorithm module, and this dispatching algorithm module is used for map structure
Build with update, robot group operation controls, robot path planning, hoistable platform lifting, loading platform goods regulate and control.
Wherein, preferred version is: this line module includes user operation end and emulation client, and control centre is according to user
The user operation commands of operating side and emulation client controls mobile work robot.
The beneficial effects of the present invention is, compared with prior art, the present invention is by a kind of mobile robot control of design
System, goods is loaded and transport by mobile robot, and monitors cartographic information and goods information in real time by controlling platform,
Set up an optimum robot path planning, it is achieved efficient transportation efficiency；Meanwhile, by high in the clouds module, goods information, map are believed
Breath and robot location's information effectively arrange, it is achieved high-efficiency management.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing:
Fig. 1 is the structured flowchart of Mobile Robot Control System of the present invention；
Fig. 2 is the structured flowchart of sensing unit of the present invention；
Fig. 3 is the structural representation that the present invention moves robot；
Fig. 4 is the structural representation that the present invention moves robot and loading platform.
Detailed description of the invention
In conjunction with accompanying drawing, presently preferred embodiments of the present invention is elaborated.
As shown in figures 1 and 3, the present invention provides the preferred embodiment of a kind of Mobile Robot Control System.
A kind of Mobile Robot Control System, including: mobile robot, this moves robot and includes mobile unit 11, uses
In the hoistable platform 12 of lifting goods 40 with for loading the bracing frame 13 of goods 40, this moves robot and also includes in a control
The heart 21 and location signal transmitter 22, this control centre 21 controls mobile unit 11 respectively and hoistable platform 12 works, this position
Signal projector 22 is for showing the real time position of mobile robot；Controlling platform, this control platform includes control module 31, cloud
End module 32 and line module 33, this control module 31 and control centre 21 wireless connections, this high in the clouds module 32 has for storage
The real-time map information that mobile robot moves, this line module 33 being correlated with for user operation Mobile Robot Control System
Function；Wherein, this control module 31 sets up a robot road according to real time position and the real-time map information of mobile robot
Footpath is planned and is sent to control centre 21, and this control centre 21 controls mobile according to robot path planning or user operation commands
Robot works.
Wherein, mobile unit 11 is wheel, and wheel can be intended to 360 degree and rotate without dead angle.
In the present embodiment, location signal transmitter 22 is WIFI location transmitters, GPS location transmitters, RFID radio frequency
Identification location transmitters or ultra broadband location transmitters, the position signalling of each mobile robot of high in the clouds module 32 real-time reception, and
Advise a location database, it is simple to the foundation of robot path planning.
Wherein, each position signal projector 22 is numbered according to the IP address of IPV6, and comprises its position, time
Etc. information.
In the present embodiment, this control module 31 includes a dispatching algorithm module, and this dispatching algorithm module is used for map structure
Build with update, robot group operation control, robot path planning, hoistable platform 12 lift, the goods 40 of loading platform 51
Regulation and control.
Map structuring and renewal are mainly according to detection and the feedback of photographic head of robot, to not on original map
Area of maybe can walking, area of can walking is marked, it is achieved real-time map updates, and blocks transport routes as put thing, or
Personnel are had to block transport routes.Further, in the presence of mobile article, such as personnel, photographic head can be passed through to removable
Thing carries out real-time tracking, it is simple to effective renewal of map.
Robot group operation controls, when each robot realizes position feedback and work feedback, according to effectively letter
Breath, combining cartographic information, robot group is control effectively, prevents work from repeating, motion collision etc..
Robot path planning includes three emphasis, and first is the best route figure of each robot itself, it is achieved have most
Effect beeline transport goods 40, second be each machine human world path repeat time, it is ensured that in same time period, have one
The individual defence time difference, time i.e. by duplicate paths, both must assure that in prescribed limit at the walk time difference of this section of distance, the 3rd
It is the path planning again that causes of specific event, i.e. finds that area of maybe can walking, the area of can not walking on original map more becomes
Time, in time the robot prepared or moved is changed route again.
Further, just to thirdly, during path planning, it can be ensured that the backup path of more than two, to prevent unexpected sending out
Raw.
Goods 40 regulation and control of hoistable platform 12 lifting and loading platform 51 are the saturations according to bracing frame 13, and goods
40 self-informations, effectively distribute, it is achieved efficient operation efficiency.
In the present embodiment, this line module 33 include user operation end and emulation client, control centre 21 according to
The user operation commands of operating side, family and emulation client controls mobile work robot.
As in figure 2 it is shown, the present invention provides the preferred embodiment of a kind of sensing unit.
This moves robot and also includes a sensing unit 23, and this sensing unit 23 is for detecting the barrier around mobile robot
Hindering thing, this high in the clouds module 32 sets up real-time map information according to obstacle information, and this control module 31 is according to real-time map information
Re-establish robot path planning.
In the present embodiment, sensing unit 23 is infrared induction, ultrasonic sensing or electric field induction.
Meanwhile, photographic head is tracked according to the feedback of sensing unit 23, improves safety coefficient.
As shown in Figure 4, the present invention provides the preferred embodiment of a kind of mobile robot and loading platform.
This Mobile Robot Control System also includes some loading platforms 51, and the storage of this high in the clouds module 32 has loading platform 51
Goods 40 information, this control platform according to goods 40 information set up one goods 40 load planning and be sent to control centre 21,
This control centre 21 loads planning or user operation commands according to goods 40, controls hoistable platform 12 and transports on loading platform 51
Goods 40 is on bracing frame 13, and controls mobile robot and move to target ground.
Wherein, this goods 40 information includes that goods 40 volume, goods 40 weight, goods 40 transport initially, goods 40 is transported
With sending target and goods 40 time of advent, this control centre 21 is according to goods 40 volume and goods 40 Weight control hoistable platform 12
Goods 40 is transported on bracing frame 13, this control centre 21 transports initially according to goods 40, goods 40 with transporting target and
Goods 40 controls mobile unit 11 and move the time of advent.
In the present embodiment, this loading platform 51 includes a conveying track coordinated with hoistable platform 12 and by transport rail
What the goods 40 on road pushed hoistable platform 12 to pushes away goods plate.
Further, this moves robot and also includes a mechanical arm, and this mechanical arm is for by hoistable platform 12
Goods 40 is placed into the correspondence position of bracing frame 13.
In invention, by mass data process, analysis, map structuring and renewal, multirobot group collaboration, robot road
Move to high in the clouds on the complicated algorithms such as footpath planning, big data depth study, promote system effectiveness and performance, lightweight robot body
Design and reduce robot body Based Intelligent Control cost, meanwhile, share resource and United Dispatching, it is simple to information sharing.
As described above, only preferred embodiment, it is not intended to limit the scope of the present invention, Fan Yibenfa
The equivalence that bright claim is made changes or modifies, and is all the present invention and is contained.
Claims (10)
1. a Mobile Robot Control System, it is characterised in that including:
Mobile robot, this moves robot and includes mobile unit, for lifting the hoistable platform of goods and for loading goods
Bracing frame, this moves robot and also includes a control centre and location signal transmitter, and this control centre controls mobile respectively
Unit and hoistable platform work, this location signal transmitter is for showing the real time position of mobile robot；
Controlling platform, this control platform includes control module, high in the clouds module and line module, this control module and control centre without
Line connects, and this high in the clouds module is for storing the real-time map information having mobile robot to move, and this line module is grasped for user
Make the correlation function of Mobile Robot Control System；
Wherein, this control module sets up robot path rule according to real time position and the real-time map information of mobile robot
Drawing and be sent to control centre, it is artificial that this control centre controls mobile machine according to robot path planning or user operation commands
Make.
Mobile Robot Control System the most according to claim 1, it is characterised in that: this Mobile Robot Control System is also
Including some loading platforms, this high in the clouds module stores has the goods information of loading platform, and this control platform is built according to goods information
A vertical goods loads planning and is sent to control centre, and this control centre loads planning or user operation commands, control according to goods
Hoistable platform processed transports goods on loading platform to bracing frame, and controls mobile robot and move to target ground.
Mobile Robot Control System the most according to claim 2, it is characterised in that: this goods information includes goods body
Long-pending, goods weight, goods handling initially, goods handling target ground and goods time of advent, this control centre is according to goods body
Long-pending and goods weight controls hoistable platform by goods handling to bracing frame, this control centre according to goods handling initially, goods
Thing transports target ground and goods controls mobile unit and move the time of advent.
Mobile Robot Control System the most according to claim 2, it is characterised in that: this loading platform includes one and rises
Conveying track that fall platform coordinates and the goods on conveying track is pushed to hoistable platform push away goods plate.
Mobile Robot Control System the most according to claim 4, it is characterised in that: this moves robot and also includes a machine
Tool arm, this mechanical arm for being placed into the correspondence position of bracing frame by the goods on hoistable platform.
Mobile Robot Control System the most according to claim 1, it is characterised in that: this moves robot and also includes a sense
Answering unit, this sensing unit is for detecting the barrier around mobile robot, and this high in the clouds module is set up according to obstacle information
Real-time map information, this control module re-establishes robot path planning according to real-time map information.
Mobile Robot Control System the most according to claim 1, it is characterised in that: this sensing unit be infrared induction,
Ultrasonic sensing or electric field induction.
Mobile Robot Control System the most according to claim 1, it is characterised in that: this location signal transmitter is WIFI
Location transmitters, GPS location transmitters, RFID RF identification location transmitters or ultra broadband location transmitters.
Mobile Robot Control System the most according to claim 1, it is characterised in that: this control module includes that a scheduling is calculated
Method module, this dispatching algorithm module is for map structuring and renewal, robot group operation control, robot path planning, liter
Fall lifting platform, the goods regulation and control of loading platform.
Mobile Robot Control System the most according to claim 1, it is characterised in that: this line module includes that user grasps
Making end and emulation client, control centre controls mobile machine according to the user operation commands of user operation end and emulation client
People works.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610811249.XA CN106155062A (en) | 2016-09-08 | 2016-09-08 | A kind of Mobile Robot Control System |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610811249.XA CN106155062A (en) | 2016-09-08 | 2016-09-08 | A kind of Mobile Robot Control System |
Publications (1)
| Publication Number | Publication Date |
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| CN106155062A true CN106155062A (en) | 2016-11-23 |
Family
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610811249.XA Withdrawn CN106155062A (en) | 2016-09-08 | 2016-09-08 | A kind of Mobile Robot Control System |
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| Country | Link |
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| CN (1) | CN106155062A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107180285A (en) * | 2017-07-13 | 2017-09-19 | 深圳市普渡科技有限公司 | A kind of whole process automatic dining hall service system |
| CN107193265A (en) * | 2017-06-14 | 2017-09-22 | 浙江德尚智能科技有限公司 | A kind of mobile robot multiple spot scheduling communication method |
| CN108255094A (en) * | 2017-11-28 | 2018-07-06 | 南京航空航天大学 | A kind of ad hoc network intelligent carriage experimental data acquisition platform |
| CN108490948A (en) * | 2018-04-19 | 2018-09-04 | 安徽省科普产品工程研究中心有限责任公司 | A kind of science and technology center's intelligence guide system |
| CN109227529A (en) * | 2018-11-05 | 2019-01-18 | 上海快仓智能科技有限公司 | Cargo transfer robot and its control method |
| CN110612548A (en) * | 2017-08-04 | 2019-12-24 | 欧姆龙株式会社 | Simulation device, control device, and simulation program |
| CN114301954A (en) * | 2021-12-15 | 2022-04-08 | 苏州奇葩智能科技有限公司 | Mobile robot industrial internet control system |
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| CN102895092A (en) * | 2011-12-13 | 2013-01-30 | 冷春涛 | Multi-sensor integration based three-dimensional environment identifying system for walker aid robot |
| CN105083837A (en) * | 2015-08-13 | 2015-11-25 | 无锡普智联科高新技术有限公司 | Storage system based on cloud-structure unified platform |
| CN105629970A (en) * | 2014-11-03 | 2016-06-01 | 贵州亿丰升华科技机器人有限公司 | Robot positioning obstacle-avoiding method based on supersonic wave |
| CN206431487U (en) * | 2016-09-08 | 2017-08-22 | 肇庆市小凡人科技有限公司 | A kind of Mobile Robot Control System |
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| CN102895092A (en) * | 2011-12-13 | 2013-01-30 | 冷春涛 | Multi-sensor integration based three-dimensional environment identifying system for walker aid robot |
| CN105629970A (en) * | 2014-11-03 | 2016-06-01 | 贵州亿丰升华科技机器人有限公司 | Robot positioning obstacle-avoiding method based on supersonic wave |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107193265A (en) * | 2017-06-14 | 2017-09-22 | 浙江德尚智能科技有限公司 | A kind of mobile robot multiple spot scheduling communication method |
| CN107180285A (en) * | 2017-07-13 | 2017-09-19 | 深圳市普渡科技有限公司 | A kind of whole process automatic dining hall service system |
| CN110612548A (en) * | 2017-08-04 | 2019-12-24 | 欧姆龙株式会社 | Simulation device, control device, and simulation program |
| CN110612548B (en) * | 2017-08-04 | 2023-04-07 | 欧姆龙株式会社 | Simulation device, control device, and computer-readable recording medium |
| CN108255094A (en) * | 2017-11-28 | 2018-07-06 | 南京航空航天大学 | A kind of ad hoc network intelligent carriage experimental data acquisition platform |
| CN108490948A (en) * | 2018-04-19 | 2018-09-04 | 安徽省科普产品工程研究中心有限责任公司 | A kind of science and technology center's intelligence guide system |
| CN108490948B (en) * | 2018-04-19 | 2021-01-29 | 安徽省科普产品工程研究中心有限责任公司 | Intelligent guide system for science and technology museum |
| CN109227529A (en) * | 2018-11-05 | 2019-01-18 | 上海快仓智能科技有限公司 | Cargo transfer robot and its control method |
| CN114301954A (en) * | 2021-12-15 | 2022-04-08 | 苏州奇葩智能科技有限公司 | Mobile robot industrial internet control system |
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Application publication date: 20161123 |