1. An intelligent loading and unloading robot comprises a vehicle body, a mechanical arm, a power supply, wheels and a driving system, wherein the mechanical arm, the power supply, the wheels and the driving system are arranged on the vehicle body; the mechanical arm comprises a holder, an arm and a claw which are connected in sequence, the mechanical arm is installed on the vehicle body through the holder, and the holder rotates under the control of the steering engine, so that the visual angle of the visual sensor is changed.

2. The intelligent handling robot of claim 1, wherein an RFID reader is disposed on the body, the RFID reader being electrically connected to the master control unit; the RFID reader is used for reading RFID label information on the container and transmitting the RFID label information to the main control unit; and the main control unit uploads the read RFID label information to a warehouse management system through the wireless communication module.

3. The intelligent handling robot of claim 1, wherein the vision sensor is a 3D vision camera.

4. The intelligent handling robot of claim 1, wherein the master control unit is further electrically connected to a plurality of radars, the plurality of radars are disposed around the body of the vehicle, and the radars are used for detecting obstacles.

5. The intelligent handling robot of claim 1, wherein the wireless communication module employs Wifi and/or ZigBee protocols.

6. The intelligent handling robot of claim 1, wherein a conveyor belt is disposed above the body, the conveyor belt being controlled by the master control unit.

7. The intelligent handling robot of claim 1, wherein the vision sensor is located on an arm on which the gripper is mounted, and a vision angle of the vision sensor is consistent with a gripping direction of the gripper.

8. The intelligent handling robot of claim 1, wherein the gripper is a suction cup gripper.

Background

The warehouse management system is a management system which comprehensively utilizes the functions of warehousing business, ex-warehouse business, warehouse allocation, inventory allocation, virtual warehouse management and the like, integrates the functions of batch management, material correspondence, inventory checking, quality inspection management, virtual warehouse management, instant inventory management and the like, effectively controls and tracks the whole process of logistics and cost management of the warehouse business, and realizes perfect enterprise warehouse information management. All the conventional stereoscopic warehouses need equipment and information systems for cooperation, and the personnel mainly comprise truck drivers, goods receiving personnel, order printing personnel, forklift drivers, goods picking and supplementing personnel, packing personnel, express company personnel and the like; the equipment mainly comprises a truck, a forklift, a conveying production line, a storage shelf, a goods picking cart, a computer system, a printer, weighing equipment, a sorting production line and the like; an information system: WMS warehouse management system; a WMS device management system; an OMS order management system; PDA display terminal, computer display terminal, etc.

And the robot scheduling system is responsible for task management, scheduling and operation maintenance of the unmanned loading and unloading robot. The running state and the task execution condition of the monitoring robot are calculated in real time through vehicle positioning, path planning, reasonable arrangement and coordination work of multiple robots. The energy heat degree and the alarm information of the robot are analyzed and recorded, the robot is arranged to be automatically charged in time, and operation and maintenance personnel are informed to handle the emergency situation, so that the reliable operation of the whole system is guaranteed.

At present, in a traditional manufacturing factory with low automation and informatization degrees, after products are produced, warehousing, ex-warehouse, inventory allocation, inventory checking, batch management, quality inspection management, instant inventory management and the like of the products are finished manually, and loading, unloading and other actions outside a warehouse are finished by driving a forklift by personnel. For example, in a polyester staple fiber production factory and a production workshop, 4 forklifts are required to manually convey goods to a finished product warehouse when production is completed, 1 warehouse pipe is used for registration when warehousing is carried out, but only the quantity can be registered, accurate management of warehousing product information cannot be carried out, and the goods are directly stacked on the ground. When the goods need to be delivered or received, 4 forklifts are needed to load or unload, 1 commander dispatches on the truck, and 1 warehouse manages to carry out quantity registration. The warehouse entry and exit and the loading and unloading of the whole warehouse require a great deal of manual participation, the automation degree is very low, and the efficiency is low.

Disclosure of Invention

The invention aims to provide an intelligent loading and unloading robot, which solves the problem of low unloading efficiency of the existing warehouse management system.

In order to achieve the purpose, the invention adopts the following technical scheme:

the invention provides an intelligent loading and unloading robot, which comprises a vehicle body, a mechanical arm, a power supply, wheels and a driving system, wherein the mechanical arm, the power supply, the wheels and the driving system are arranged on the vehicle body; the mechanical arm comprises a holder, an arm and a claw which are connected in sequence, the mechanical arm is installed on the vehicle body through the holder, and the holder rotates under the control of the steering engine, so that the visual angle of the visual sensor is changed.

According to the technology, the mechanical arm is provided with the visual sensor which is used for scanning a current visual angle picture and analyzing the visual angle picture through the main control unit so as to control the positioning and the movement of the loading and unloading robot; the mechanical arm comprises a cloud deck, the cloud deck rotates under the control of a third steering engine, so that the visual angle of the visual sensor is changed, compared with the traditional loading and unloading robot, the visual sensor is positioned on the mechanical arm, the mechanical arm can rotate through the cloud deck, the 270-degree visual range of the robot can be realized, in the repeated path of the robot, the front visual angle and the rear visual angle of the robot are switched through rotating the cloud deck, the robot can be directly controlled to advance or retreat, the visual range of the robot is improved, and the control efficiency is improved; the whole process realizes unmanned high-efficiency automatic loading and unloading of goods, and solves the problem of low loading and unloading efficiency of the existing warehouse management system.

In one possible design, an RFID reader is arranged on the vehicle body, the RFID reader is electrically connected with the main control unit, and the RFID reader is used for reading RFID tag information on the container and transmitting the RFID tag information to the main control unit; and the main control unit uploads the read RFID label information to a warehouse management system through the wireless communication module. The RFID reader is used for reading the RFID label information along with the box, the RFID label information can contain goods related information, such as goods types, goods quantity, goods total mass, goods date and the like, and the reading is quick and convenient through the RFID label and the RFID reader.

In one possible design, the vision sensor is a 3D vision camera.

In a possible design, the main control unit is also electrically connected with a plurality of radars, and is a plurality of the radars are arranged around the vehicle body and used for detecting obstacles. The robot is guided by machine vision to grab the goods, the goods are stacked in the container, and the goods are stacked according to radar and 3D vision; the loading and unloading robot automatically calculates the position and the space, and realizes accurate automatic space position induction.

In one possible design, the wireless communication module employs Wifi and/or ZigBee protocols.

In one possible design, the main control unit controls the motor and the steering engine, so that the motor can realize forward and reverse rotation, braking and stopping functions, control the rotation angle, speed and torque of the steering engine, and read feedback data of the steering engine.

In one possible embodiment, a conveyor belt is arranged above the vehicle body and is controlled by a main control unit. Through setting up the conveyer belt, can avoid the arm of robot to snatch the goods always, the problem that the in-process goods dropped easily walks, the arm snatchs or puts the goods on the conveyer belt after the goods, delivers the goods to next node device through the conveying, and the use of less arm can accomplish to practice thrift the electric energy, and the life of extension arm is long when the standby of extension robot.

In one possible design, the vision sensor is located on an arm for mounting the gripper, and the vision angle of the vision sensor is consistent with the gripping direction of the gripper.

In one possible design, the gripper is a suction cup gripper.

Has the advantages that:

1. according to the intelligent loading and unloading robot, the visual sensor is arranged on the mechanical arm and used for scanning a current visual angle picture and analyzing the visual angle picture through the main control unit, so that the positioning and the movement of the loading and unloading robot are controlled; the mechanical arm comprises a cloud deck, the cloud deck rotates under the control of a third steering engine, so that the visual angle of the visual sensor is changed, compared with the traditional loading and unloading robot, the visual sensor is positioned on the mechanical arm, the mechanical arm can rotate through the cloud deck, the 270-degree visual range of the robot can be realized, in the repeated path of the robot, the front visual angle and the rear visual angle of the robot are switched through rotating the cloud deck, the robot can be directly controlled to advance or retreat, the visual range of the robot is improved, and the control efficiency is improved; unmanned high-efficiency automatic loading and unloading of goods are realized in the whole process, and the problem of low loading and unloading efficiency of the existing warehouse management system is solved;

2. according to the intelligent loading and unloading robot provided by the invention, the RFID tag information of the container is read through the RFID reader, the RFID tag information can contain goods related information such as goods types, goods quantity, total goods quality, goods date and the like, and the reading is fast and convenient through the RFID tag and the RFID reader; the robot is guided by machine vision to grab the goods, the goods are stacked in the container, and the goods are stacked according to radar and 3D vision; the loading and unloading robot automatically calculates the position and the space, and realizes accurate automatic space position induction;

3. according to the intelligent loading and unloading robot, the problem that goods are easy to drop off when the robot arm of the robot constantly grabs the goods and the goods are easy to drop off in the walking process can be solved by arranging the conveyor belt, the goods are placed on the conveyor belt after the robot arm grabs or the goods are delivered to the next node device through conveying, the use of the robot arm is reduced, electric energy can be saved, the service life of the robot arm is prolonged, and the standby time of the robot is prolonged.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below.

FIG. 1 is a schematic three-dimensional structure diagram of an intelligent loading and unloading robot provided by the invention;

fig. 2 is a left-view structural schematic diagram of the intelligent loading and unloading robot provided by the invention.

The reference numbers in the figures are:

1-vehicle body, 2-control cabinet, 3-wheels, 4-cradle head, 5-arm, 6-gripper, 7-vision sensor, 8-conveyor belt and 9-radar.

Detailed Description

The invention is further described with reference to the following figures and specific embodiments. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. It will be understood that, although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of example embodiments of the present invention.

As shown in fig. 1 and 2, the intelligent loading and unloading robot provided by the first aspect of the present invention includes a vehicle body 1, a mechanical arm, a power supply, wheels 3 and a motor, the vehicle body is provided with a main control unit, the mechanical arm is provided with a vision sensor 7, the vision sensor is configured to scan a current view angle picture, and analyze the view angle picture through the main control unit, so as to control the positioning and moving of the loading and unloading robot; the mechanical arm comprises a holder 4, an arm 5 and a claw tool 6 which are connected in sequence, the mechanical arm is installed on the vehicle body through the holder, and the holder rotates under the control of the steering engine, so that the visual angle of the visual sensor is changed. During specific implementation, the mechanical arm adopts six mechanical arms, increases the flexibility of mechanical arm. In specific implementation, the main control unit is arranged in the control cabinet 2. When the mechanical arm is specifically implemented, the main control unit controls a driving motor of the driving system to enable the motor to realize forward and reverse rotation, braking and stopping functions, controls the rotation angle, the speed and the torque of the steering engine of the mechanical arm and reads feedback data of the steering engine.

In one possible embodiment, an RFID reader is arranged on the vehicle body and used for reading RFID label information on a container and transmitting the RFID label information to a main control unit; and the main control unit uploads the read RFID label information to a warehouse management system through the wireless communication module.

In one possible embodiment, the vision sensor is a 3D vision camera.

In a possible implementation mode, the main control unit is further electrically connected with a plurality of radars 9, the radars are arranged on the periphery of the vehicle body, and the radars are used for detecting obstacles.

In one possible implementation, the wireless communication module adopts Wifi and/or ZigBee protocols.

In a possible embodiment, a conveyor belt is arranged above the vehicle body, and the conveyor belt is controlled by a main control unit. As an example, a weighing device may be provided in the conveyor belt, the weighing device being electrically connected to the active unit; a container measuring device and an automatic labeling device can also be arranged. The individual weight of the goods can be obtained by providing the weighing device. The intelligent packing box is characterized in that a labeling device is arranged on the car body and electrically connected with a main control unit, the main control unit matches weighing information and packing box measuring information with corresponding bar codes and controls the labeling device to print the bar codes and then to be attached to the packing boxes, and meanwhile, the main control unit uploads the weighing information, the packing box measuring information and the matched corresponding bar code numbers to a warehouse management system. Through setting up subsides mark device, print and put up the goods information through the bar code, make things convenient for next node to read goods weight and volume information, volume information can be measured through vision and radar installations, improves the practicality.

In a possible embodiment, the vision sensor is located on an arm for mounting the gripper, and the vision angle of the vision sensor is consistent with the gripping direction of the gripper.

In one possible embodiment, the gripper is a suction-cup gripper.

Specifically, the implementation process comprises a discharge process and an inventory process, wherein the discharge process comprises the following steps:

the container is close to the platform; the truck driver opens the rear door of the container and fixes the door;

a truck driver starts the intelligent loading and unloading robot; inputting a platform number of a container to be unloaded;

the robot automatically navigates to the platform number and automatically calibrates the orientation parameters of the container;

the robot reads the data on the RFID system of the accompanying box;

the machine vision scans the goods storage stacking state in the container and guides the unmanned vehicle to run to a proper distance; the guiding manipulator extracts the goods; the extracted goods are stored on a production line, the production line conveys the goods to a rear-section labeling machine for measurement, weighing and bar code labeling;

the machine vision continuously scans to guide the unmanned vehicle to enter the container to carry out goods taking operation of one goods;

and after the goods taking is finished, the goods taking data is automatically compared with the read RFID data, and the information is uploaded to the WCS system.

And finishing the goods taking.

The specific stock flow is as follows:

the automatic loading and unloading robot walks to the foremost position in the container; the specific position is guided by a radar and a 3D vision camera on the unmanned vehicle;

the goods are conveyed to the foremost position on the loading and unloading robot by the conveyor from the automatic labeling machine; meanwhile, cargo information is transmitted to the robot through a wireless information system; the robot is guided by machine vision to grab the goods, the goods are stacked in the container, and the goods are stacked according to radar and 3D vision; the loading and unloading robot automatically calculates the position and the space;

the unmanned vehicles retreat while stacking, and sound and light alarm and wireless transmission are carried out to the truck driver compartment after stacking; synchronizing all the operation data to the RFID data card installed in the container;

the inventory is completed.

In summary, according to the intelligent loading and unloading robot provided by the invention, the mechanical arm is provided with the visual sensor, the visual sensor is used for scanning the current visual angle picture, and the visual angle picture is analyzed through the main control unit, so that the positioning and the movement of the loading and unloading robot are controlled; the mechanical arm comprises a cloud deck, the cloud deck rotates under the control of a third steering engine, so that the visual angle of the visual sensor is changed, compared with the traditional loading and unloading robot, the visual sensor is positioned on the mechanical arm, the mechanical arm can rotate through the cloud deck, the 270-degree visual range of the robot can be realized, in the repeated path of the robot, the front visual angle and the rear visual angle of the robot are switched through rotating the cloud deck, the robot can be directly controlled to advance or retreat, the visual range of the robot is improved, and the control efficiency is improved; unmanned high-efficiency automatic loading and unloading of goods are realized in the whole process, and the problem of low loading and unloading efficiency of the existing warehouse management system is solved; the RFID reader is used for reading the RFID label information of the container, the RFID label information can contain goods related information such as goods types, goods quantity, goods total mass, goods date and the like, and the reading is quick and convenient through the RFID label and the RFID reader; the robot is guided by machine vision to grab the goods, the goods are stacked in the container, and the goods are stacked according to radar and 3D vision; the loading and unloading robot automatically calculates the position and the space, and realizes accurate automatic space position induction; the conveying belt is arranged, so that the problem that the goods are easy to fall off when the goods are always grabbed by the mechanical arm of the robot in the walking process can be solved, the goods are placed on the conveying belt after the mechanical arm grabs or the goods are placed, the goods are delivered to the next node device through conveying, the use of the mechanical arm is reduced, the electric energy can be saved, the service life of the mechanical arm is prolonged, and the standby time of the robot is prolonged; through setting up subsides mark device, print and put up the goods information through the bar code, make things convenient for next node to read goods weight and volume information, volume information can be measured through vision and radar installations, improves the practicality.

As an example, in unmanned warehouse management; including an inventory operation and a shipping operation, wherein the inventory operation includes the steps of:

receiving warehouse reservation information of a manufacturer of the manufactured goods through an order management system OMS; calculating a storage position according to the warehouse reservation information; allocating storage positions through a warehouse management system WMS system;

the container truck transports goods to a specified warehouse platform, an automatic loading and unloading robot is called through a PDA system arranged at the door of the warehouse, the robot enters the truck to carry out unloading operation, the robot carries out photographing, code scanning, weighing and volume measuring operations on the goods when unloading, and the obtained corresponding information is uploaded to the WMS system;

the telescopic assembly line is connected with the AGV trolley, and the goods are conveyed to the AGV trolley; the AGV trolley travels to a butt joint position of an entrance and an exit of the elevator, and the AGV trolley and a production line on the cargo carrying platform of the elevator are used for carrying out cargo interaction, so that cargos enter the elevator; the lifter is lifted to a storage position layer of a designated goods shelf according to the WCS instruction to wait for receiving goods by the shuttle car;

the shuttle car arrives at the butt joint of the lifter according to the WCS instruction, goods are interacted through a flow line of the shuttle car and the lifter, the goods enter the interior of the shuttle car, after the shuttle car arrives at a designated storage position in operation, the shuttle car transports the goods from the shuttle car to the goods shelf through the automatic truck, and the goods fork returns to the original position after the goods are placed; completing the stock;

the shipping job includes the steps of:

receiving order information through the OMS, then sending the order information to the WMS, and sending the position of the goods needing to be delivered to the WCS; the shuttle car runs according to the instruction of the storage control system WCS, reaches the specified storage position opening, extends out of the fork, takes down the goods and stores the goods in the shuttle car; the shuttle car walks to send the goods to the butt joint position of the lifter, the shuttle car conveys the goods to the goods carrying platform of the lifter through the pipeline, the lifter descends and waits for the butt joint of the AGV trolley;

the AGV trolley receives goods from the elevator cargo platform, travels to a position opening of the automatic labeling machine and conveys the goods to the automatic labeling machine through a production line;

the automatic labeling machine reads the bar code on the goods, the WMS produces customer order information according to the order information, and the WMS automatically prints out a list and then automatically sticks the list to the box of the goods to finish labeling; the pipeline sends goods to DWS system equipment at the rear section, and a camera photographs the box, reads a bar code on the box body, measures the volume of the box body and uploads related information to a WCS system;

the sorting machine distinguishes the routes of the packages according to the information uploaded by the DWS, and after the packages arrive at the designated container route, the packages are interacted with the goods by the assembly line and the loading and unloading robot; the loading and unloading robot calculates the storage mode of the goods in the container according to the information uploaded by the DWS, and the robot stores the goods into the container.

Finally, it should be noted that the above-mentioned embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.