CN107932520A - A kind of operating method of split robot - Google Patents
A kind of operating method of split robot Download PDFInfo
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- CN107932520A CN107932520A CN201711183672.0A CN201711183672A CN107932520A CN 107932520 A CN107932520 A CN 107932520A CN 201711183672 A CN201711183672 A CN 201711183672A CN 107932520 A CN107932520 A CN 107932520A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of operating method of split robot, including：Transporting equipment is moved to the target area in region to be operated, and an operation equipment is at least placed with transporting equipment；Operation equipment on transporting equipment is sequentially placed on region to be operated, operation equipment independently executes operation；Operation equipment on region to be operated is got back on transporting equipment.Operating method provided by the present invention on a transporting equipment by placing at least one operation equipment, operation equipment can separate rear individually operated equipment with transporting equipment and independently execute work, influence of the transporting equipment to operation equipment is avoided, operating effect is reliable, uniform；When transporting equipment transports multiple operation equipment at the same time, pass through one-to-many mode, improve the operating efficiency for treating operating area, more operation equipment can be realized under the assistance of transporting equipment in the ranks, between string etc. cannot rely on the target area that is directly moved to of operation equipment in region to be operated between shift, applicability improves.
Description
Technical field
The present invention relates to robot manipulation's technical field, more particularly to a kind of operating method of split robot.
Background technology
With the development of robot industry, the application field of robot is more and more extensive, such as cleaning field, painting applications
Deng.
For example, in some specific regions are cleaned or painted etc. with work, generally set using manual control operation
It is standby, alternatively, by transporter drag operation equipment, and the mode such as it is controlled to operation equipment, completes the operating process specified.
However, manual operation efficiency is low, demand of human resources amount is big, and when needing, the areal for performing specific operation is more
When, operation equipment can not often complete between different zones transfer, it is necessary to the operation number of devices disposably put into very
Huge, construction cost input is huge, and operation plant maintenance task is heavy.
Therefore, split machine human efficiency and applicability how are effectively improved, reduces cost, is those skilled in the art's mesh
The preceding technical issues that need to address.
The content of the invention
The object of the present invention is to provide a kind of operating method of split robot, for reducing the input of manpower, keep away at the same time
Exempt from influence of the orographic factor to operating effect, operating efficiency is high.
To achieve the above object, the present invention provides following technical solution：
A kind of operating method of split robot, comprises the following steps：
Transporting equipment is moved to the target area in region to be operated, and an operation is at least placed with the transporting equipment and is set
It is standby；
Operation equipment on the transporting equipment is sequentially placed on the region to be operated, the operation equipment is independent
Perform operation；
Operation equipment on the region to be operated is got back on the transporting equipment.
Preferably, the step " the operation equipment on the transporting equipment is sequentially placed on the region to be operated,
The operation equipment independently executes operation " after, further include：
Judge whether the operation equipment on the region to be operated is completed to operate, if it is, performing the step
" the operation equipment on the region to be operated is got back on the transporting equipment ".
Preferably, the step " getting back to the operation equipment on the region to be operated on the transporting equipment "
Further include afterwards：
Whether the electricity for judging to get back to the operation equipment on the transporting equipment is less than default electricity, if it is, being
The operation equipment charge；
The operation equipment after charging is placed on region to be operated by the transporting equipment.
Preferably, further include：
Whether monitoring completes the electricity of the operation equipment after operation less than default electricity, if it is, by short of electricity
Operation equipment, which is got back on the transporting equipment, to charge；Alternatively, the operation equipment of short of electricity is got back into the transporting equipment
On, and control the transporting equipment to be moved to the operation equipment that juice point is the short of electricity and charge；Alternatively, control short of electricity
Operation equipment, which is moved at the edge charge port in the region to be operated, to charge.
Preferably, further include：
The electricity of the transporting equipment is detected whether less than default electricity, if it is, the transporting equipment of short of electricity independently moves
Move to juice point and charge.
Preferably, the step " transporting equipment is moved to the target area in region to be operated " is specially：
The transporting equipment is controlled to be moved to the region to be operated, when the carrier aircraft platform of the transporting equipment is moved to institute
When stating the target area in region to be operated, stop movement.
Preferably, the step " the operation equipment on the transporting equipment is sequentially placed on the region to be operated "
Specially：
The positional information of the operation equipment on the transporting equipment is obtained, and according to the initial operation in the region to be operated
Region, obtaining the operation equipment needs mobile adjusting displacement and/or adjustment angle；
Carrying mechanism of the control on the transporting equipment starts, and according to the adjusting displacement and/or adjustment angle
The operation equipment is moved to the initial operation region in the region to be operated.
Preferably, the step " the operation equipment on the transporting equipment is sequentially placed on the region to be operated "
Specially：
Operation equipment on the transporting equipment is sequentially placed on identical or different region to be operated.
Preferably, the step " the operation equipment independently executes operation " is specially：
The operation equipment enters mode of operation, and is moved according to predetermined registration operation path；When the operation equipment covers institute
Stop movement after stating predetermined registration operation path, and stop place information is sent to the transporting equipment, to treat the transporting equipment
Fetch the operation equipment.
Preferably, the predetermined registration operation path is specially：
The predetermined registration operation path planned in advance, alternatively, the default behaviour that the operation equipment is generated according to current environment parameter
Make path.
The operating method of split robot provided by the present invention, including：Transporting equipment is moved to the mesh in region to be operated
Region is marked, an operation equipment is at least placed with the transporting equipment；Operation equipment on the transporting equipment is put successively
Put on the region to be operated, the operation equipment independently executes operation；Operation on the region to be operated is set
It is on the waiting list and is back on the transporting equipment.The operating method operates equipment by placing at least one on a transporting equipment, and
And by operate equipment can be separated with transporting equipment after individually it is described operation equipment independently execute work, avoid transporting equipment
Influence to operating equipment, operating effect are reliable, uniform；Meanwhile when transporting equipment transports multiple operation equipment at the same time, pass through
One-to-many mode, effectively improves the operating efficiency for treating operating area, also, more operation equipment are in the assistance of transporting equipment
It can realize down and turn between in the ranks, between string etc. cannot rely on the target area that is directly moved to of operation equipment in region to be operated
Move, applicability improves.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is attached drawing needed in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the flow chart of the operating method of split robot provided by the present invention；
Fig. 2 is the structure diagram of split robot device provided by the present invention；
Fig. 3 is the overlooking the structure diagram of split robot device provided by the present invention；
Fig. 4 is a kind of embodiment structure diagram of operation equipment of split robot device shown in Fig. 3；
Fig. 5 is a kind of structure diagram of embodiment of handling system of split robot device shown in Fig. 3；
Fig. 6 is the structure diagram of the handling system another kind embodiment of split robot device shown in Fig. 3；
Fig. 7 puts plate workflow schematic diagram for split robot device's provided by the present invention；
Fig. 8 changes plate workflow schematic diagram for split robot device's provided by the present invention；
Wherein：1：Transporting equipment；2：Operate equipment；2-1：Operate executive component；2-2：Mobile chassis；2-3：Operation detection
Element；2-4：Capture position；3：Handling system；3-1-1：Extensible member；3-1-2：Gripper components and auxiliary；3-2-1：Revolution is freely
Spend joint；3-2-2：First cradle head；3-2-3：Second cradle head；3-2-4：3rd cradle head；4- regions to be operated.
Embodiment
The core of the present invention is to provide a kind of operating method of split robot, can effectively reduce to human resources
Utilize, while avoid influence of the orographic factor to operating effect, operating efficiency is high, and operating effect is good.
In order to make those skilled in the art more fully understand the present invention program, with reference to the accompanying drawings and detailed description
The present invention is described in further detail.
Please refer to Fig.1 to Fig. 8, Fig. 1 is the flow chart of the operating method of split robot provided by the present invention；Fig. 2 is
The structure diagram of the split robot device of separable operation provided by the present invention；Fig. 3 divides to be provided by the present invention
From the overlooking the structure diagram of the split robot device of operation；Fig. 4 is the operation equipment one of split robot device shown in Fig. 3
Kind embodiment structure diagram；Fig. 5 is a kind of embodiment of handling system of split robot device shown in Fig. 3
Structure diagram；Fig. 6 is the structural representation of the handling system another kind embodiment of split robot device shown in Fig. 3
Figure；Fig. 7 puts plate workflow schematic diagram for split robot device's provided by the present invention；Fig. 8 is provided by the present invention
Split robot device's changes plate workflow schematic diagram.
In this embodiment, the operating method of split robot is, it can be achieved that detached job, comprises the following steps：
Transporting equipment 1 is moved to the target area in region 4 to be operated, and an operation is at least placed with transporting equipment 1 and is set
Standby 2, specifically, either two or a more platform operation equipment 2 can be placed on transporting equipment 1；Above-mentioned target area can
Think the neighboring area in region 4 to be operated, or disclosure satisfy that carrying mechanism carries the neighboring area of stroke, when transporting equipment 1
After being moved to target area, disclosure satisfy that target area operation equipment 2 being placed on region 4 to be operated, the target
The division in region is needed depending on the carrying stroke of carrying mechanism；Meanwhile above-mentioned transporting equipment 1 is in own controller, navigation
Under the collective effect of equipment and driving equipment, the target area of automatic moving to region 4 to be operated；
Operation equipment 2 on transporting equipment 1 is sequentially placed on region 4 to be operated, specifically, transporting equipment 1 can be with
It is placed into using the carrying mechanism on transporting equipment 1 by equipment 2 is operated on region 4 to be operated, i.e., transporting equipment 1 can be certainly
Row completes movement, places or fetches the work such as operation equipment 2；After operation equipment 2 is placed into region 4 to be operated, equipment 2 is operated
Independent operation equipment 2 independently executes operation, specifically, when the number for operating equipment 2 is at least two, can set each operation
Standby 2 are placed sequentially in the diverse location in same region to be operated 4, or each operation equipment 2 is placed sequentially in different treat
On operating area 4；
Operation equipment 2 on region 4 to be operated is got back on transporting equipment 1.
Specifically, can be provided with carrier aircraft platform on transporting equipment 1, operation equipment 2 is placed on carrier aircraft platform, and transport is set
Standby 1 movement can drive operation equipment 2 to move, and carrier aircraft platform is specifically as follows ferry-boat platform or other being capable of placement operation
The platform of equipment 2.After operation equipment 2 is placed on region 4 to be operated, operation equipment 2 can individually treat operating area 4 and carry out
Operation, transporting equipment 1 can individually carry out other work.
It should be noted that the operation equipment 2 can be placed on the optional position in region 4 to be operated, operation equipment 2 can be with
Side is voluntarily patrolled, and voluntarily carries out path planning, in the common collaboration of self-contained controller, navigation equipment and driving equipment
Under, voluntarily complete to treat the operation elements such as the cleaning, spraying, inspection of operating area 4.
Further, the operation equipment 2 on transporting equipment 1 " is sequentially placed on region 4 to be operated, operates equipment 2 by step
Independently execute operation " after, further include：
Judge whether the operation equipment 2 on region 4 to be operated is completed to operate, if it is, performing step " will be located at
Operation equipment 2 on region 4 to be operated is got back on transporting equipment 1 ", i.e., after the completion work of equipment 2 is operated, transporting equipment 1
The predeterminated position in region 4 to be operated is moved to, operation equipment 2 is got back on carrier aircraft platform, in case follow-up work.
On the basis of the respective embodiments described above, the operation equipment 2 on region 4 to be operated " is got back to fortune by step
On transfer device 1 " further include afterwards：
Whether the electricity for judging to get back to the operation equipment 2 on transporting equipment 1 is less than default electricity, if it is, being behaviour
Make equipment 2 to charge；
Operation equipment 2 after charging is placed on region 4 to be operated by transporting equipment 1.
Specifically, after operation equipment 2 is retrieved to transporting equipment 1, when the electricity of operation equipment 2 is less than default electricity
When, it is necessary to first for operation equipment 2 charge, after being at least charged to the electricity for the work that can complete next region to be operated 4, transport is set
Operation equipment 2 after charging is placed into region 4 to be operated by standby 1.
More specifically, it is above-mentioned to charge for operation equipment 2, can be that transporting equipment 1 is directly that operation equipment 2 charges,
Charge alternatively, transporting equipment 1 is moved to the operation equipment 2 that juice point is short of electricity.
It should be noted that the operation equipment 2 for completing work can be transferred to other any areas to be operated by transporting equipment 1
On domain 4, certainly, in order to save the displacement distance of transporting equipment 1, the operation equipment 2 for completing work can be transferred to most low coverage
From region to be operated 4.
On the basis of the respective embodiments described above, further include：
Whether monitoring completes the electricity of the operation equipment 2 after operation less than default electricity, if it is, the operation by short of electricity
Equipment 2, which is got back on transporting equipment 1, to charge；Alternatively, the operation equipment 2 of short of electricity is got back on transporting equipment 1, transport is set
Standby 1, which is moved to the operation equipment 2 that juice point is short of electricity, charges；Alternatively, control short of electricity operation equipment 2 be moved to it is to be operated
Charge at the edge charge port in region 4, certainly, operation equipment 2 at this time can be in the work of itself navigation system, drive system
With being autonomous mobile at the edge charge port in region 4 to be operated and charge.
Specifically, the detection to operation 2 electricity of equipment can be real by the electric power detection element in operation equipment 2
It is existing, the detection for operating 2 electricity of equipment can be carried out when operating equipment 2 and not yet leaving region 4 to be operated, can also operated
After the completion of, carried out after being transferred to transporting equipment 1.
On the basis of the respective embodiments described above, further include：
The electricity of transporting equipment 1 is detected whether less than default electricity, if it is, the transporting equipment 1 of short of electricity is moved to and fills
Electric place charges.
Specifically, electric power detection element is installed, by obtaining the member of the electric power detection on transporting equipment 1 on transporting equipment 1
Whether the testing result of part, judge the electricity of transporting equipment 1 less than default electricity, if it is, the navigation element of transporting equipment 1
Opened with driving element, the transporting equipment 1 of short of electricity can be autonomous mobile to juice point and charge.
On the basis of the respective embodiments described above, further include：
Whether whether detection operation equipment 2 complete work or electricity less than default electricity, if it is, control operation is set
Standby 2 send alarm signal, and the alarm signal that transporting equipment 1 can be sent by receiving operation equipment 2, carries out operation equipment 2
Charge or be transferred on other regions 4 to be operated.
Needing exist for explanation is, when operating equipment 2 just in operation, default electricity can operate equipment 2 according to
Still need operation path the electricity that calculates in real time of distance, or electricity set in advance.
On the basis of the respective embodiments described above, step " transporting equipment 1 is moved to the target area in region 4 to be operated " tool
Body is：
Transporting equipment 1 is moved to region 4 to be operated, when the carrier aircraft platform of transporting equipment 1 is moved to the mesh in region 4 to be operated
When marking region, stop movement.
When band operating area 4 is bar-shaped zone, transporting equipment 1 can be preferably moved to the row end in region 4 to be operated,
Then operation equipment 2 is placed on to the marginal position in region 4 to be operated, patrolling the side time for operation equipment 2 can be reduced, improve behaviour
Make efficiency.
On the basis of the respective embodiments described above, the operation equipment 2 on transporting equipment 1 " is sequentially placed and waits to grasp by step
Make on region 4 " be specially：
The positional information of the operation equipment 2 on transporting equipment 1 is obtained, and according to the initial operation region in region 4 to be operated,
Obtaining operation equipment 2 needs adjusting displacement and/or the adjustment angle of movement；The initial operation region can be region 4 to be operated
Optional position, that is, the optional position in region 4 to be operated, certainly, the division in initial operation region can be placed on by operating equipment 2
Also need the carrying stroke of consideration carrying mechanism.
Carrying mechanism of the control on transporting equipment 1 starts, and sets operation according to adjusting displacement and/or adjusting the angle
Standby 2 are moved to the initial operation region in region 4 to be operated.
Specifically, carrying mechanism is specifically as follows the mechanical arm with gripping apparatus, alternatively, other can realize operation equipment 2
The carrying mechanism of transfer, the controller of controllable carrying mechanism action, also, transporting equipment 1 itself are provided with transporting equipment 1
Controller navigation system that its own carries or drive system etc. can also be controlled to carry out recharging, movement, carry operation
The grade work of equipment 2..
On the basis of the respective embodiments described above, the operation equipment 2 on transporting equipment 1 " is sequentially placed and waits to grasp by step
Make on region 4 " be specially：
Operation equipment 2 on transporting equipment 1 is sequentially placed on identical or different region to be operated.
Specifically, region to be operated can be divided into multiple and different subregions to be operated, can be in region to be operated
An operation equipment 2 is respectively placed at both ends, and two operation equipment 2 are operated since the both ends in region to be operated respectively, until middle
Position；When operation equipment 2 is placed on same region to be operated, when can be spaced default between forward/backward operation equipment 2
Between, alternatively, same can wait to grasp to realize in the different target region placement operation equipment 2 on same region to be operated
Make the state for there are multiple operation equipment 2 to work at the same time on region, to improve operating effect.Of course, it is possible to each operation equipment 2 is put
Put on different regions to be operated, as shown in Figure 7 and Figure 8, it is of course also possible to place different numbers on different regions to be operated
The operation equipment 2 of amount, specifically can be depending on the spot degree in region 4 to be operated or the area in region to be operated.
On the basis of the respective embodiments described above, step " operation equipment 2 independently executes operation " is specially：
Operation equipment 2 enters mode of operation, and is moved according to predetermined registration operation path；When operation equipment 2 covers predetermined registration operation
Stop movement behind path, and stop place is sent to transporting equipment 1, operation equipment 2 is fetched with transfer device 1 to be shipped.
Being connected specifically, being communicated between operation equipment 2 and transporting equipment 1, operation equipment 2 can stop at an arbitrary position,
And stop place information is sent to transporting equipment 1, transporting equipment 1 according to the stop place information of the operation equipment 2 received,
Operation equipment 2 is fetched, this method need not set initial position and final position, and movement is more flexible, and operation is more convenient, fit
It is more extensive with scope and application field.
Preferably, predetermined registration operation path is specially：
The predetermined registration operation path planned in advance, i.e., the path planned in advance by controller, alternatively, operation equipment 2 according to work as
The predetermined registration operation path of preceding environmental parameter generation, specifically, current environment parameter can be region to be operated or area to be operated
The spot degree of domain array row, dimensional parameters, or the quantity of operation equipment 2, and the electricity of operation equipment 2, power etc..
Need exist for stressing, the movement of transporting equipment 1, can be by the controller on transporting equipment 1
Be controlled, i.e. transporting equipment 1 it is mobile when complete independently, the status information of equipment 2 is operated, if whether electricity is less than default
Electricity or whether complete operation etc. status information, can from positioned at operation equipment 2 on controller on transporting equipment 1
Controller sends signal, operates and connects the transmission for realizing signal by communicating between equipment 2 and transporting equipment 1, and both
Controller can individually corresponding machine work independently.
Specifically, mobile equipment includes a key step to operation equipment 2, place and capture, as shown in Figure 7 and Figure 8,
In installation course, specific embodiment can be：
Transporting equipment 1 is moved to the edge in the first region 4 to be operated, and first on carrier aircraft platform is operated equipment
2 are moved on the first region 4 to be operated, and the operation equipment 2 of control first operates equipment and independently executes operation；
Transporting equipment 1 is moved to the edge in the second region 4 to be operated, and second on carrier aircraft platform is operated equipment
2 are moved on the second region 4 to be operated, and the operation equipment 2 of control second operates equipment and independently executes operation；
Transporting equipment 1 is moved to the edge in N regions 4 to be operated, and the N on carrier aircraft platform is operated equipment 2
It is moved on N regions 4 to be operated, control N operation equipment 2 operates equipment and independently executes operation.
In above steps, respectively to an operation equipment 2 is respectively placed with N regions 4 to be operated, until transport is set
Operation equipment 2 on standby 1 all discharges, it is of course also possible to whole operation equipment 2 is not placed on region to be operated, i.e.,
At least one operation equipment is retained on transporting equipment 1 as spare, it is preferred that N regions 4 to be operated should be close to each other
N regions 4 to be operated, to reduce the mobile total distance of transporting equipment 1.
Explanation is needed exist for, the operation equipment gone out given in the present embodiment can be operation machine, paint spraying machine or patrol
Depending on machine etc., after transporting equipment will operate equipment conveying to designated position, transporting equipment and operation equipment can work independently, also,
One transporting equipment can correspond to an operation equipment, can also correspond at least two operation equipment.
During crawl, it can specifically include：
Transporting equipment 1 is back to the edge in the first region 4 to be operated, by the first behaviour on the first region 4 to be operated
Make equipment 2 to be moved on carrier aircraft platform, transporting equipment 1 is moved to the edge in N+1 regions 4 to be operated, and will put down positioned at carrier aircraft
The first operation equipment 2 on platform is moved on N+1 regions 4 to be operated, and the operation equipment 2 of control first operates equipment and independently executes
Operation；
Transporting equipment 1 is back to the edge in the second region 4 to be operated, by the second behaviour on the second region 4 to be operated
Make equipment 2 to be moved on carrier aircraft platform, transporting equipment 1 is moved to the edge in N+2 regions 4 to be operated, and will put down positioned at carrier aircraft
The second operation equipment 2 on platform is moved on N+2 regions 4 to be operated, and the operation equipment 2 of control second operates equipment and independently executes
Operation；
Transporting equipment 1 is back to the edge in N regions 4 to be operated, and the N operations on N regions 4 to be operated are set
Standby 2 are moved on carrier aircraft platform, and transporting equipment 1 is moved to the edge in N+N regions 4 to be operated, and will be located on carrier aircraft platform
N operation equipment 2 be moved on N+N regions 4 to be operated, control N operation equipment 2 operate equipment independently execute operation.
In above-mentioned steps, successively by the first region 4 to be operated, the second region 4 to be operated and N regions 4 to be operated
Each operation equipment 2, is transferred on N+1 regions 4 to be operated, N+ regions 4 to be operated and N+N regions 4 to be operated, most preferably
Scheme be, when transporting equipment 1 returns to the edge in the first region 4 to be operated, the operation equipment 2 on the first region 4 to be operated
Just complete work.
Explanation is needed exist for, at least one operation equipment 2 is installed, carrier aircraft is put down on the carrier aircraft platform of transporting equipment 1
Platform is specifically as follows female car with driving device, more operation equipment 2 can also be provided with a carrier aircraft platform, transport is set
Route, the female car 2 quantity N of operation equipment that 2 quantity of operation equipment of transfer, female car carry at the same time of standby 1 transfer, should be according to mother
The translational speed of car, the operating efficiency for operating equipment 2, the row of area array single file length to be operated and area array to be operated
The factors such as spacing, to calculate preferred plan, it is not limited to the parameter value given by the present embodiment.
The operating method on a transporting equipment 1 by placing one or more operation equipment 2 so that transporting equipment 1
Multiple operation equipment 2 can be transported at the same time, on the premise of not influencing one of operation equipment 2 and working, shift another behaviour
Make equipment 2 to other regions 4 to be operated, realize transfer of the single operation equipment 2 on different regions 4 to be operated, pass through one
To more modes, the operating efficiency for treating operating area 4 is effectively improved, also, can also be with transporting equipment 1 by operating equipment 2
Individually operated equipment independently executes work after separation, avoids transporting equipment 1 to operating the influence of equipment 2, operating effect is reliable,
Uniformly, meanwhile, more operation equipment 2 can be realized under the assistance of transporting equipment 1 region 4 to be operated in the ranks, string between etc. no
It can be shifted by between the target area that operation equipment 2 is directly moved to, applicability improves.
Aforesaid operations method, can be realized by separating the split robot device of operation, specifically, separable make
The split robot device of industry includes：
Transporting equipment 1, provides energy, each for driving operation equipment 2 to be moved to target area, and for operation equipment 2
At least one operation equipment 2 is provided with transporting equipment 1, i.e., at least one operation equipment is installed on each female car, transport is set
Standby 1 can also be that operation equipment 2 charges, to ensure to operate the energy expenditure after equipment 2 is separated with transporting equipment 1.
Equipment 2 is operated, for being moved on region 4 to be operated and region to be operated 4, operation equipment 2 can depart from transport
Equipment 1 works independently, and realizes the operation for treating operating area 4；
Handling system 3, for operation equipment 2 to be moved to region 4 to be operated from transporting equipment；
Control system, for obtaining each detecting element on transporting equipment 1, operation equipment 2 and handling system 3
Detection information, and control each executive component work on transporting equipment 1, operation equipment 2 and handling system 3.
Specifically, transporting equipment 1 has these following effects：1st, the carrying platform of equipment 2 is operated, can also be set to operation
Standby 2 online charging, certainly, online charge function is optional, and the concept to charge online is the energy supply element by transporting equipment 1 to behaviour
Make the energy supply element supplement electricity of equipment 2, if not with electrically driven (operated), other form of energy can also be fed；2nd, system is carried
The mounting platform of system 3, and energy supply element, need the energy consumed to be supplied from transporting equipment 1 when handling system 3 acts, when
So, handling system 3 can also be independently supplied energy consumption, unified to be supplied easy to optimization and implemented by transporting equipment 1；3rd, as the present invention
In " trunk " part, power core of the invention arrange on the portion, be responsible for it is in scheme thus dissipative cell energize；
4th, as main long-distance transportation equipment 1, " aircraft carrier " and " carrier-borne aircraft ", " ejector " are similar to the relation of other several parts
Relation Deng between；5th, the carrier as " control system ", is equipped with the functions such as the detection, transmission, computing of " control system "
Serial equipment.
Further, transporting equipment 1 includes mobile executive component, dynamical element, mobile detecting element and operation control element.
Wherein, mobile executive component refer to impartings " functional unit of the acquisition active space transfer ability of transporting equipment 1 ", it
Embodiment has mobile chassis 2-2, common such as truck mounted wheel undercarriage, crawler body；Can also be steamer waterborne, gas
Pad motor etc.；It can also be aircraft of aerial mobile etc., there is the vehicles for carrying driving force, unlimited implement scene；
Dynamical element is used for the output and supply consumed energy, and is specifically as follows fuel tank and combustion engine combination, storage battery and motor
Combination, nuclear energy and generating set or solar cell and motor combination etc., can provide energy, can also export the portion of power
Part, it is generally preferable to be storage battery and motor combination.
Mobile detecting element belongs to an element of control system so that transporting equipment 1 possesses autonomous function, is used for
Position the position of transporting equipment 1 itself and the position of target point.Common navigation mode has magnetic stripe navigation, two-dimension code navigation, 2D
Laser navigation, 3D laser navigations, GPS navigation, inertial navigation, mileage navigation etc., are normally applied leading with two or more
Boat mode is used in combination with, it is ensured that navigation accuracy and reliability.In addition a kind of mobile detecting element existing for safety
There is ultrasonic, safe laser, touch side, pull switch etc., the effect of these sensors is to detect the environment on 1 periphery of transporting equipment,
The inspections of these sensors is appeared on the travel route of transporting equipment 1 in other words if barrier or target object appear in
In the range of survey, with regard to that can obtain target information, target information feeds back to operation control element afterwards, carries out information processing, there is provided under
The action order of one step.The mobile detecting element of others realizes automatically controlling for mobile executive component mainly for coordinating, such as
Battery capacity detection, the detection of chassis translational speed, three-dimensional perspective change detection of chassis or fuselage etc..
Operation control element is one of the composition of " control system ", mainly by the hardware with calculation function, compiled
Software, each Parts Controller and I/O being controlled composition.Operation control element is receiving the letter of mobile detecting element feedback
After breath, handled by software according to the program set, draw corresponding instruction, the control to each component is exported by I/O
Device, is controlled by concrete operations of the controller to the executive component of each component, so as to fulfill control function.And controlling automatically
In the application of system, mobile detecting element can collect the operating result of mobile executive component toward contact, and feedback operation result is to fortune
Control element is calculated, by the contrast of embedded software, judges implementation status, if not meeting that control requires, the control tune of a new round
It is whole to export, until implementing result meets that control requires.
Specifically, operation equipment 2 mainly include operation executive component 2-1, mobile chassis 2-2, operation detecting element 2-3 and
Control element.
Wherein, operation executive component 2-1 refers to the structure for possessing operational capacity, and the active that cleaning structure has drive is cleaned
Mode, than as can the column roller brush rotated, the disc brush that can be rotated or the structure acted on dust suction.Certainly, cleaning member
Also there is the passive cleaning mode of not drive, thrust and pressure, mop formula cleaning mode, cleaning are provided by mobile chassis 2-2
Head can be the structure types such as the one or more bulks formed of the materials such as cloth, rubber, nylon, strip, hairbrush shape.Together
When, it is either exterior in operating head to be not excluded for adding to by operation surface sprinkling or the direct mode of moistening operative material, also may be used
The mode of apolegamy increase operation agent, it is similar with water spraying structure.In said structure, knot when operation equipment 2 is cleaning machine is referred specifically to
Structure, when operate equipment 2 for flush coater or patrol machine when other kinds of equipment when, operation executive component 2-1 is accordingly then
Nozzle or the first-class component of shooting.
Mobile chassis 2-2 is the wheeled or crawler type component with linear controlled motion ability, be by storage battery power supply,
It is motor-driven, due to applying on region to be operated, it is desirable to which surface pressure is small, small to minute surface abrasion, therefore selects track bottom
Disk, also, can realize that chassis is turned, turn around function by differential control.
Operation detecting element 2-3, which is mounted in, is responsible for the information for collecting mobile chassis 2-2 itself and surrounding enviroment on chassis,
Operation detecting element 2-3 is made of sensor group, and operation detecting element 2-3 is the important of mobile chassis 2-2 autonomous functions
Part.Operating detecting element 2-3 can be by ultrasound, laser, close switch, camera, 3D laser, odometer, speedometer etc.
One of which or several compositions.Guidance path identifies and car body state confirmation relies primarily on operation detecting element 2-3 and completes.
Control element is the top level control part for operating equipment 2, is mainly had with operational capability, compiling ability, driving energy
Controller and the driver composition of power, can receive the environmental information of operation detecting element 2-3 feedbacks and the state letter on chassis itself
Breath.According to compiled software flow, instructed for different feedback output is corresponding to the executive component for operating equipment 2, than
Such as operate the switch of executive component 2-1, acceleration and deceleration, rotating, the acceleration and deceleration of mobile chassis 2-2, turning, u-turn etc..
Specifically, control system is responsible for a whole set of human information processing of split machine and decision-making, be responsible for receiving operation, carry,
The respective detecting element feedack of mobile three digest journals, the letter that the software program according to built in controller inputs each system
Breath is handled, according to the strategy output set to operating, carrying, mobile three digest journals independent operation or compounding practice
Control instruction, the detecting element synthesis of controller of the control system including master controller and each system, driver and each system
Composition.
Handling system 3 includes gripper components and multiple degrees of freedom regulating member, and gripper components are used for grasping manipulation equipment 2, more
Free degree regulating member is used to drive gripper components to move.
The effect of the handling system 3 there is provided it is a kind of can autonomous classification be handled upside down the locus of object, coordinate control
Path is carried and placed to system-computed processed, and flexibility places the method for being handled upside down object.The goal of the invention of the system is to realize operation
The automatic transfer of equipment 2 or equipment.
The function of handling system 3 is divided into two parts：The gripper components of retractable operation equipment 2 and the multiple degrees of freedom of class mechanical arm
Regulating member, operation equipment 2 can be realized locus transfer, adjustment and flexibility by the collective effect of said one part
Pick and place.
Specifically, handling system 3 includes gripper components and auxiliary 3-1-2, stretched with what gripper components and auxiliary 3-1-2 were connected
Contracting component 3-1-1, for driving the revolution degree-of-freedom joint 3-2-1 of gripper components and auxiliary 3-1-2 rotations and driving crawl
The first cradle head 3-2-2, the second cradle head 3-2-3 and the 3rd cradle head 3-2-4 that component and auxiliary 3-1-2 are swung；
Gripper components and auxiliary 3-1-2, extensible member 3-1-1, revolution degree-of-freedom joint 3-2-1 and the first cradle head 3-2-2, the
The sensing of control detection corresponding angle and/or displacement information is equipped with two cradle head 3-2-3 and the 3rd cradle head 3-2-4
Device.
As shown in Figure 5, in handling system 3, multiple degrees of freedom regulating member has multiple frees degree, and each free degree can
The change of angle or displacement is realized under the driving of respective drive element, and the sensor installed in correspondence position can feed back angle
Degree or the changing value of displacement.Specifically, the effect of extensible member 3-1-1 is finely adjusted end gripping apparatus, including angle and
Displacement, can be the single free degree adjustment can also one degree of freedom adjust at the same time, depending on actual needs；Gripping apparatus end it is auxiliary
Part refers mainly to be crawled object, that is, operate equipment 2, position detecting element, the position by the position detecting element to target
The collection of information, feeds back to control system, by calculating and kinematic resolving, exports each joint-include multiple degrees of freedom tune
Save component-amount of exercise, which includes the variable quantity of angle and displacement, extensible member 3-1- is realized after completing corresponding control
The gripping apparatus of 1 end is corresponding with 2 relevant position of operation equipment.Specifically, mention multiple degrees of freedom regulating member each joint and
The relevant position of extensible member 3-1-1 is fitted with position sensor, can feed back the variable quantity of joint freedom degrees, position sensor
It has collected joint and perform positional information after the order of " control system ", feed back to " control system " and contrasted, confirming should
Whether in place the operation of adjust automatically, has thus been similarly formed a closed-loop control.Certainly, multiple degrees of freedom regulating member can also
For boom structure, as shown in Figure 6.
The main function of gripper components and auxiliary 3-1-2 are that operation equipment 2 is fixed on handling system 3, are with carrying
System 3 and transporting equipment 1 carry out space transfer, final to realize that operation equipment 2 replaces working region；And after working region is arrived at,
The needs release operation equipment 2 of gripper components.In an action of this " taking " and " putting ", gripper components are also equipped with basis and take
Ability outside playing function：
1st, extensible member 3-1-1 can compensate for the execution error of multiple degrees of freedom regulating member end；
2nd, revolution degree-of-freedom joint 3-2-1 can adjust position relationship of the operation equipment 2 relative to handling system 3, it is ensured that
Posture in placement operation equipment 2 is satisfactory.
Sensor at the gripping apparatus of end is capable of the position of inductive operation equipment 2, and secondary positioning is provided for grasping movement, its
In, positioning for the first time is that the visual servo operation of the multiple degrees of freedom regulating member of handling system 3 is realized, the sensing at the gripping apparatus of end
Device can notify pawl tool to open after target area is sensed, grasping manipulation, the end of gripper components are carried out to operation equipment 2
Pawl lamps structure can be other ways of realization, can fix operation equipment 2, it is not limited to given by the present embodiment
Structure.
The split robot that the present embodiment is provided, the method for work of its 1 couple of N are as follows：
First stage：Operation equipment is transferred to 4 surface of region to be operated from female car back；
Female car operates equipment with N platforms, under the navigation element of itself and the leading of control element, according to program setting,
4 row end of region to be operated in an array is stopped, after female car confirms that the position of oneself reaches setting position by navigation element,
Control system instruction handling system 3 starts；Position detecting element in handling system 3 detects first to be operated on female car back land
The position of equipment, positional information feed back to control system, and control system is exported to multiple degrees of freedom regulating member by calculating, under
Literary abbreviation mechanical arm, each joint action command, under the control of the instruction, the end of mechanical arm is moved to operation equipment
Near, the position from gripper components that mechanical arm tail end is installed structurally and operationally in equipment with the crawl position with gripper components
2-4 forms determine；Mechanical arm tail end in place after, gripper components start, and extensible member 3-1-1 actions, driving claw has to operation
The crawl position 2-4 of equipment is close, and position-detection sensor is provided with pawl tool, is arrived when pawl has position with capturing the distance of position 2-4
During up to setting position, sensor is triggered, and grasping movement starts, and pawl tool opens under the driving of crawl executive component, to certain
Behind position, the upper another location sensor of pawl tool is triggered, and grasping movement terminates, and operation equipment is fixed in gripper components；It
Extensible member 3-1-1 is acted afterwards, and operation equipment is moved away from female car back land, equally has position sensing on extensible member 3-1-1
Device, after pawl tool is acted to certain position with extensible member 3-1-1, sensor-triggered, the action of extensible member 3-1-1 stops
Only, this is arrived, the action of " taking " all terminates.
After the action for completing extract operation equipment, mechanical arm bottom is rotated to direction where area array to be operated, to be operated
Area array is the array of some region compositions to be operated, as shown in figure 3, turning 90 °, operation equipment is located at region to be operated battle array
The top at row row end, certainly, rotation angle is depending on position relationship of female car direction of travel with area array to be operated, general feelings
It is 90 ° under condition.Mechanical arm rotational angle equally has a Sensor monitoring, after rotational angle reaches setting position, stops operating.This
When mechanical arm on detecting system to operation equipment and the position relationship in region 4 to be operated be detected, testing result is fed back to
Control system, the gap of rear confirmation operation equipment current location and target area, calculates by control system, and output mechanical arm is each
The action command in joint is that these are acted the result is that being adjusted to operation equipment apart from the appropriate height in 4 surface of region to be operated
Position.Position after movement equally is completed to detect by the detection part on mechanical arm, is as a result transmitted to control system and is contrasted
Confirm, if not continuing to adjust in place, untill operation equipment reaches target area.The process is a closed loop control
System.After operating equipment arrival target area, extensible member 3-1-1 starts, and operation equipment is delayed drop, further towards area to be operated
4 surface of domain, contacts with 4 surface of region to be operated, operates the position sensor quilt of device bottom at this time completely until operating equipment
Triggering, notice control system operation equipment are put into position.The gripper components of pawl tool and auxiliary 3-1-2 start at this time, decontrol operation and set
Standby, extensible member 3-1-1 returns to initial position, and mechanical arm tail end returns to setting position, and so far, the action of " putting " is all tied
Beam.
As shown in fig. 7, putting the flow diagram of plate work for operation equipment, after operation equipment departs from gripper components, open
Beginning moves on region 4 to be operated, and start-up operation executive component 2-1, and operation executive component 2-1 is active, translator
The roller brush of driving, starts to work.The design for operating route should be according to the arrangement form and operation executive component in region 4 to be operated
The size setting of 2-1, is not further qualified herein.
Female car has placed operation equipment, and mechanical arm is returned to after setting position, and female car starts, according to navigation way, to
The movement of next target area, next target area is also the edge of 4 row of region to be operated, in place after, repeat taking above
Operation equipment, put operation equipment.The operation equipment on 4 surface of region to be operated is placed to also it has been observed that each starting area to be operated
The operation in domain.More than operation when go to area array surface to be operated at the same time operation operation number of devices reach setting
Value, female car return to the edge of area array row to be operated where the operation equipment that First is started to work, and preparation will complete single file
The operation equipment of work is transferred to 4 surface of region to be operated that other a line does not operate, as shown in figure 8, changing plate for operation equipment
The flow diagram of work, is exactly one of embodiment of this transfer process.
The present embodiment provides operation equipment 2, passes through transporting equipment 1, operation equipment 2, handling system 3 and control system
Set, it operates equipment and can be separated with female car, and N platforms operation equipment can be realized in area to be operated under the assistance of other parts
Domain array shifts between in the ranks, between string etc. cannot rely on the target area that is directly moved to of operation equipment, and operation equipment is being waited to grasp
Make structure type of the 4 surface movement of region independent of plate, it is possible to achieve independent navigation and operation；Transporting equipment 1 is not limited to
Mobile chassis 2-2, can be the aeroamphibious movement instrument of aircraft, steamer etc；It can be grabbing for mechanical arm type to carry part
Take structure or platform-type ferry-boat scheme；Operation equipment 2 works independently after being separated with transporting equipment 1, avoids fortune
Influence of the transfer device to operation equipment 2, operating effect is reliable, uniform, and applicability improves.
Robot manipulation's method that the present embodiment is provided, is mainly used in the operation of solar photovoltaic assembly, that is, waits to grasp
It can be photovoltaic panel region to be operated to make region 4, can be used for the operation of large-scale region glass roof to be operated, i.e., to be operated
Region 4 can also be glass roof region to be operated, belong to cleaning equipment field, compared to photovoltaic operation common on Vehicles Collected from Market
Equipment or minute surface operation equipment, the operating method is with its unmanned ability to work, full automatic workflow and intelligence
The characteristics of management, and belong to the field in intelligent robotics applied to cleaning industry.And pass through replacement operation accessory or operation
Flow, the robot that can be completely applied in unmanned moving operation, such as Robot Extinguishing Fire, producing line carry, are severe high-risk
Automatic detecting, operation and Intelligent logistics operation under environment, such as robot are delivered in express delivery field, it is, of course, also possible to using
In the fields such as spraying operation, inspection operation.
The operating method of split robot provided by the present invention is described in detail above.Tool used herein
Body example is set forth the principle of the present invention and embodiment, and the explanation of above example is only intended to help to understand this hair
Bright method and its core concept.It should be pointed out that for those skilled in the art, the present invention is not being departed from
On the premise of principle, some improvement and modification can also be carried out to the present invention, these are improved and modification also falls into right of the present invention
It is required that protection domain in.
Claims (10)
1. a kind of operating method of split robot, it is characterised in that comprise the following steps：
Transporting equipment is moved to the target area in region to be operated, and an operation equipment is at least placed with the transporting equipment；
Operation equipment on the transporting equipment is sequentially placed on the region to be operated, the operation equipment independently executes
Operation；
Operation equipment on the region to be operated is got back on the transporting equipment.
2. the operating method of split robot according to claim 1, it is characterised in that the step is " by the transport
Operation equipment in equipment is sequentially placed on the region to be operated, and the operation equipment independently executes operation " after, also wrap
Include：
Judge whether the operation equipment on the region to be operated is completed to operate, if it is, performing the step " by position
Got back in the operation equipment on the region to be operated on the transporting equipment ".
3. the operating method of split robot according to claim 2, it is characterised in that the step " will be located at described
Operation equipment on region to be operated is got back on the transporting equipment " further include afterwards：
Whether the electricity for judging to get back to the operation equipment on the transporting equipment is less than default electricity, if it is, being described
Operate equipment charge；
The operation equipment after charging is placed on region to be operated by the transporting equipment.
4. the operating method of split robot according to claim 1, it is characterised in that further include：
Whether monitoring completes the electricity of the operation equipment after operation less than default electricity, if it is, the operation by short of electricity
Equipment, which is got back on the transporting equipment, to charge；Alternatively, the operation equipment of short of electricity is got back on the transporting equipment, and
Control the transporting equipment to be moved to the operation equipment that juice point is the short of electricity to charge；Alternatively, the operation of control short of electricity
Equipment, which is moved at the edge charge port in the region to be operated, to charge.
5. the operating method of split robot according to claim 1, it is characterised in that further include：
The electricity of the transporting equipment is detected whether less than default electricity, if it is, the transporting equipment of short of electricity is autonomous mobile to
Juice point charges.
6. the operating method of split robot according to claim 1, it is characterised in that " transporting equipment moves the step
Move to the target area in region to be operated " be specially：
The transporting equipment is controlled to be moved to the region to be operated, when the carrier aircraft platform of the transporting equipment is moved to described treat
During the target area of operating area, stop movement.
7. the operating method of split robot according to claim 1, it is characterised in that the step is " by the transport
Operation equipment in equipment is sequentially placed on the region to be operated " be specially：
The positional information of the operation equipment on the transporting equipment is obtained, and according to the initial operation area in the region to be operated
Domain, obtaining the operation equipment needs mobile adjusting displacement and/or adjustment angle；
Carrying mechanism of the control on the transporting equipment starts, and according to the adjusting displacement and/or adjusts the angle institute
State the initial operation region that operation equipment is moved to the region to be operated.
8. the operating method of the split robot according to claim 1 to 7 any one, it is characterised in that the step
" the operation equipment on the transporting equipment is sequentially placed on the region to be operated " is specially：
Operation equipment on the transporting equipment is sequentially placed on identical or different region to be operated.
9. the operating method of the split robot according to claim 1 to 7 any one, it is characterised in that the step
" the operation equipment independently executes operation " is specially：
The operation equipment enters mode of operation, and is moved according to predetermined registration operation path；When it is described operation equipment cover it is described pre-
If stopping movement after courses of action, and stop place information is sent to the transporting equipment, to treat that the transporting equipment is fetched
The operation equipment.
10. the operating method of split robot according to claim 9, it is characterised in that the predetermined registration operation path tool
Body is：
The predetermined registration operation path planned in advance, alternatively, the predetermined registration operation road that the operation equipment is generated according to current environment parameter
Footpath.
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| CN201711183672.0A CN107932520B (en) | 2017-11-23 | 2017-11-23 | Operation method of split robot |
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|---|---|---|---|
| CN201711183672.0A CN107932520B (en) | 2017-11-23 | 2017-11-23 | Operation method of split robot |
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| CN107932520B CN107932520B (en) | 2020-11-06 |
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| CN112297018A (en) * | 2019-07-24 | 2021-02-02 | Abb瑞士股份公司 | Method and robot assembly for performing an operation on a target workpiece |
| CN113478480A (en) * | 2021-06-22 | 2021-10-08 | 中建三局集团有限公司 | Trajectory planning method for transverse arm material distributing machine |
| CN114193425A (en) * | 2022-02-18 | 2022-03-18 | 浙江博城机器人科技有限公司 | Inspection device and method based on visual detection |
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| CN107932520B (en) | 2020-11-06 |
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Address after: Room 30682, 3rd Floor, Building 1, No. 88 Puyan Road, Puyan Street, Binjiang District, Hangzhou City, Zhejiang Province 310000 (self declared) Patentee after: Zhejiang Guozi Robot Technology Co.,Ltd. Country or region after: China Address before: 310053 3 building, 2 six Binjiang District Road 309, Hangzhou, Zhejiang. Patentee before: ZHEJIANG GUOZI ROBOT TECHNOLOGY Co.,Ltd. Country or region before: China |
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Effective date of registration: 20240724 Address after: Room 701, 7th Floor, Building 2, No. 1555 Xiangbin Road, Wenyan Street, Xiaoshan District, Hangzhou City, Zhejiang Province 310000 Patentee after: Hangzhou Yunxiang Business Machine Co.,Ltd. Country or region after: China Address before: Room 30682, 3rd Floor, Building 1, No. 88 Puyan Road, Puyan Street, Binjiang District, Hangzhou City, Zhejiang Province 310000 (self declared) Patentee before: Zhejiang Guozi Robot Technology Co.,Ltd. Country or region before: China |