CN115351814A - Remove three-dimensional storage device that collects - Google Patents

Remove three-dimensional storage device that collects Download PDF

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Publication number
CN115351814A
CN115351814A CN202210957124.3A CN202210957124A CN115351814A CN 115351814 A CN115351814 A CN 115351814A CN 202210957124 A CN202210957124 A CN 202210957124A CN 115351814 A CN115351814 A CN 115351814A
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Prior art keywords
subsystem
target
storage
collected
control
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CN202210957124.3A
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Chinese (zh)
Inventor
张凌云
宋艳礼
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Beijing Institute of Computer Technology and Applications
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Beijing Institute of Computer Technology and Applications
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Application filed by Beijing Institute of Computer Technology and Applications filed Critical Beijing Institute of Computer Technology and Applications
Priority to CN202210957124.3A priority Critical patent/CN115351814A/en
Publication of CN115351814A publication Critical patent/CN115351814A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • 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
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B62D63/025—Modular vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B62D63/04—Component parts or accessories
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a mobile stereo collecting and storing device, which comprises: the system comprises a visual identification subsystem, an end effector collecting subsystem, a storage subsystem, a transportation subsystem and a control subsystem; the visual identification subsystem, the end effector collection subsystem, the storage subsystem and the control subsystem are all carried on the transportation subsystem; the visual identification subsystem is used for acquiring a three-dimensional image of the target to be collected in real time, calculating the volume envelope size of the target to be collected and determining the coordinates of the grabbing point under the control of the control subsystem; the control subsystem is used for controlling the picking end of the end effector collecting subsystem to move to the coordinate position of the grabbing point and picking the target to be collected to the specified position of the storage subsystem; the transportation subsystem is used for conveying the targets to be collected to the appointed place under the control of the control subsystem. The invention can quickly and automatically collect specific targets in a large range, reduce the working strength and improve the working efficiency.

Description

Mobile three-dimensional collecting and storing equipment
Technical Field
The invention relates to the technical field of collecting equipment, in particular to mobile three-dimensional collecting and storing equipment.
Background
At present, when targets (such as sharing bicycles and the like) with dispersed distribution ranges and relatively long collection distances are collected, manual carrying and transportation modes are often adopted, time and labor are wasted, and the working efficiency is relatively poor.
Therefore, how to provide a mobile stereo collection and storage device capable of rapidly and automatically collecting specific targets in a wide range and having high working efficiency is a technical problem that needs to be solved by those skilled in the art.
Disclosure of Invention
In view of this, the present invention provides a mobile stereo collecting and storing device, which can perform fast and automatic collection on specific targets in a large range, reduce the working strength, and improve the working efficiency.
In order to achieve the purpose, the invention adopts the following technical scheme:
a mobile stereoscopic collection and storage device comprising: the system comprises a visual identification subsystem, an end effector collection subsystem, a storage subsystem, a transportation subsystem and a control subsystem; the visual identification subsystem, the end effector collection subsystem, the storage subsystem and the control subsystem are all carried on the transportation subsystem;
the visual recognition subsystem is used for acquiring a three-dimensional image of the target to be collected in real time, calculating the volume envelope size of the target to be collected and determining the coordinates of the grabbing point under the control of the control subsystem;
the control subsystem is used for controlling the picking end of the end effector collecting subsystem to move to the coordinate position of the picking point and picking the target to be collected to the specified position of the storage subsystem;
and the transportation subsystem is used for conveying the target to be collected to a specified place under the control of the control subsystem.
Further, in the above-mentioned mobile stereo collection and storage device, the visual recognition subsystem includes: the device comprises a vision acquisition device and a first movable support, wherein the vision acquisition device is installed at the movable end of the first movable support, is composed of a 3D camera or a distance sensor and a 2D vision camera, and is embedded with a vision industrial personal computer and vision software;
the first movable support drives the vision acquisition device to move to the position above a target to be acquired under the control of the control subsystem;
the visual acquisition device is used for acquiring point cloud images of the target to be collected, constructing a three-dimensional model for the point cloud images, calculating the volume envelope size of the target to be collected according to the three-dimensional model, analyzing the shape, the volume envelope size and the position of the target to be collected, and determining the grabbing point of the target to be collected and the coordinates of the grabbing point.
Further, in the above mobile stereo collection and storage device, the end effector collection subsystem includes: an end effector and a second moving support; the end effector is arranged at the moving end of the second moving bracket;
the second movable support drives the end effector to move to a grabbing point position of an object to be collected under the control of the control subsystem;
the end effector is used for picking up the target to be collected under the control of the control subsystem;
the second movable support is also used for storing the target to be collected to the appointed position of the storage subsystem under the control of the control subsystem after the end effector picks up the target to be collected.
Further, in the above mobile stereo collecting and storing device, the second mobile rack includes: a movable cantilever, a vertical movement sling and a driving motor; the driving motor and the end effector are respectively electrically connected with the control subsystem; the end effector is mounted on the vertical motion sling;
and the driving motor drives the movable cantilever to move right above the grabbing point of the target to be collected under the control of the control subsystem, and drives the vertical movement sling to move to the grabbing point position of the target to be collected.
Further, in the above mobile stereo collecting and storing device, the first mobile support and the second mobile support are combined into a general support; the vision collection device and the end picking device are respectively arranged at different positions of the movable end of the main support.
Further, in the above mobile stereo collection and storage device, the end effector collection subsystem further includes: a first weight sensor; the first weight sensor is electrically connected with the control subsystem; the control subsystem is used for judging whether the end effector successfully picks up or puts down the target to be collected according to the change condition of the weight signal acquired by the first weight sensor, and controlling the second movable support to move to a corresponding position according to the picking state of the end effector.
Further, in the mobile stereo collection and storage device, the control subsystem includes: the device comprises a console, a controller and a display screen; the controller is a PLC controller or a single chip microcomputer; the controller is electrically connected with the console, the vision recognition subsystem, the end effector collection subsystem, the storage subsystem and the transportation subsystem respectively; the console is used for a worker to send a corresponding instruction to the controller, so that the appointed control on the working states of the visual recognition subsystem, the end effector collecting subsystem, the storage subsystem and the transportation subsystem is realized; the display screen is used for displaying a control interface of the visual recognition subsystem, the motion coordinate of the end picking device collection subsystem and the storage position of the picked target in the storage subsystem in real time.
Further, in the above mobile three-dimensional collecting and storing device, the storage subsystem is a box-type container, and an automatic door is installed on the box-type container, and the automatic door is electrically connected to the control subsystem.
Further, in the above mobile stereo collection and storage device, the control subsystem is further configured to preset a coordinate origin and a storage volume inside the storage subsystem, calculate the number of targets to be collected that can be stored in the storage subsystem according to the storage volume inside the storage subsystem and the volume envelope size of the targets to be collected, and calculate the position of the storage coordinate point of the current target to be collected by using the coordinate origin and the storage coordinate point of the target on the upper wheel as reference points.
Further, in the mobile stereo collection and storage device, the storage subsystem has a plurality of target storage areas inside; a second weight sensor is arranged on the bottom surface of each target storage area; the control subsystem is used for calculating the difference between the weight of the target stored in each target storage area and a threshold value according to the weight signal acquired by each second weight sensor, judging that the current target storage area is full when the difference reaches a preset range, and controlling the end effector collecting subsystem to place the picked target in other target storage areas which are not full.
According to the technical scheme, compared with the prior art, the invention discloses a mobile three-dimensional collecting and storing device, after the device arrives at a designated place, a control subsystem is manually operated to control a visual identification subsystem to identify a three-dimensional image of a target to be collected and determine the position coordinates of a grabbing point; under the guidance of position coordinates of a grabbing point, the control end effector collecting subsystem moves to a position near a target to be collected, the target is accurately picked, after the target is picked, the target returns to the storage subsystem, the target is placed at a designated position, the whole process does not need manual carrying, the operation is simple, the specific target in a large range is rapidly collected and transported, and labor and time cost are greatly saved.
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, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a block diagram of a mobile stereo collection and storage device according to the present invention;
FIG. 2 is a schematic view of the overall structure of a mobile stereo collection and storage device provided by the present invention;
fig. 3 is a flowchart of picking up an object by the mobile stereo collecting and storing device provided by the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1-3, an embodiment of the present invention discloses a mobile stereo collection and storage device, including: the system comprises a visual identification subsystem 1, an end effector collection subsystem 2, a storage subsystem 3, a transportation subsystem 4 and a control subsystem 5; the visual recognition subsystem 1, the end effector collection subsystem 2, the storage subsystem 3 and the control subsystem 5 are all carried on the transportation subsystem 4;
the visual recognition subsystem 1 is used for acquiring a three-dimensional image of a target to be collected in real time, calculating the volume envelope size of the target to be collected and determining the coordinates of a grabbing point under the control of the control subsystem 5;
the control subsystem 5 is used for controlling the picking end of the end effector collecting subsystem 2 to move to the coordinate position of the grabbing point and picking the object to be collected to the specified position of the storage subsystem 3;
the transport subsystem 4 is used for transporting the targets to be collected to a designated place under the control of the control subsystem 5.
In this embodiment, the control subsystem 5 is installed in the storage subsystem, and in other embodiments, the control subsystem 5 further includes a cockpit, and the cockpit is installed in the control subsystem.
In one embodiment, the control subsystem 5 is further configured to preset a coordinate origin and a storage volume inside the storage subsystem 3, calculate the number of the targets to be collected that can be stored in the storage subsystem 3 according to the storage volume inside the storage subsystem 3 and the volume envelope size of the targets to be collected, and calculate the position of the storage coordinate point of the current target to be collected with the coordinate origin and the storage coordinate point of the target on the previous wheel as reference points.
When the target is initially stored, an initial storage coordinate point of the target is determined according to the coordinate origin, and when the target is stored again, the storage volume which is established according to the length, the width and the height of the storage subsystem is divided by the volume envelope size of the target, the quantity of the targets which can be stored in the storage system is calculated according to the storage volume which is established by the storage subsystem, and the storage wheel collection result of the target is determined according to the coordinate origin, and the target collection position is calculated according to the coordinate origin. And if the target is not successfully picked, returning to re-identify the coordinates of the grabbing points of the target to be collected.
The carrying process of the target does not need manual physical consumption, only the control subsystem is operated to enable the vision system to move to the visual field range capable of detecting the picked target, and the rest picking processes can be automatically completed.
In a particular embodiment, the visual recognition subsystem 1 comprises: the device comprises a vision acquisition device and a first movable support, wherein the vision acquisition device is installed at the movable end of the first movable support, is composed of a 3D camera or a distance sensor and a 2D vision camera, and is embedded with a vision industrial personal computer and vision software;
the first movable bracket drives the vision acquisition device to move to the position above the target to be acquired under the control of the control subsystem 5;
the visual acquisition device is used for acquiring point cloud images of the target to be collected, constructing a three-dimensional model for the point cloud images, calculating the volume envelope size of the target to be collected according to the three-dimensional model, analyzing the shape, the volume envelope size and the position of the target to be collected, and determining the grabbing point of the target to be collected and the coordinates of the grabbing point.
When the object to be collected is found, the transportation subsystem stops 4 beside the object to be collected, the visual recognition subsystem 1 needs to be capable of covering the object to be collected, and the manual operation control subsystem 5 executes a program for picking up the object to be collected. The cabin door of the storage subsystem 3 is opened, the first movable support of the visual recognition subsystem 1 extends out, and the visual acquisition device is manually moved to a position where the target to be collected can be clearly positioned by operating the first movable support.
The 3D camera starts to work, point clouds of targets to be collected are read and uploaded to vision software, the vision software calculates the volume envelope size of the targets to be picked and the coordinate points which can be picked according to a vision algorithm, and the coordinate points are transmitted to the control subsystem through the vision industrial personal computer.
In one embodiment, the end effector collection subsystem 2 includes: an end effector and a second moving support; the end effector is arranged at the moving end of the second moving bracket;
the second moving bracket drives the end effector to move to the position of a grabbing point of the target to be collected under the control of the control subsystem 5;
the end effector is used for picking up the target to be collected under the control of the control subsystem 5;
the second moving support is also used for storing the target to be collected to the designated position of the storage subsystem under the control of the control subsystem 5 after the end effector picks up the target to be collected.
Specifically, the second movable support includes: the device comprises a movable cantilever, a vertical movement sling and a driving motor; the driving motor and the end effector are respectively electrically connected with the control subsystem 5; the end effector is arranged on the vertical movement sling;
the driving motor drives the movable cantilever to move right above the target grabbing point to be collected under the control of the control subsystem 5, and drives the vertical movement sling to move to the target grabbing point position to be collected.
The driving motor drives the movable cantilever to move to a coordinate point position given by the control subsystem, the vertical movement sling drives the motor to move up and down, the driving end pickup reaches a target position to be collected to pick up a target, after the end pickup picks up the target, the driving motor drives the vertical movement sling to ascend under the control of the control subsystem 5, the driving movable cantilever moves to an appointed coordinate point inside the three-dimensional storage system, the end pickup loosens, and the picked target is placed at an appointed position inside the storage subsystem.
In one embodiment, the first moving support and the second moving support are combined into one overall support; the vision acquisition device and the end picking device are respectively arranged at different positions of the movable end of the main bracket. For example, the first movable support is not arranged, only the second movable support is arranged, the vision acquisition device is arranged at the end part of the movable cantilever, the end picking device is arranged at the end part of the vertical movement sling, and therefore the vision acquisition and target picking function can be completed by one support.
In a further advantageous embodiment, the end effector collection subsystem 2 further comprises: a first weight sensor; the first weight sensor is electrically connected with the control subsystem 5; the control subsystem 5 is used for judging whether the end effector successfully picks up or puts down the target to be collected according to the change condition of the weight signal collected by the first weight sensor, and controlling the second movable support to move to a corresponding position according to the picking state of the end effector.
According to the embodiment of the invention, by arranging the first weight sensor, the control subsystem 5 can determine whether the target is successfully picked up according to the signal change condition of the first weight sensor, and after the target is successfully picked up, the second movable support is controlled to move to the specified position of the storage subsystem 3 to put down the target, and after the target is put down, the second movable support is controlled to move to the next target position to carry out a new round of picking action. And if the targets to be collected in the current place are all picked up completely, the control subsystem 5 controls the second movable support to move to the initial position after the last target is successfully put down.
If the object is not successfully picked up in the picking process, the control subsystem 5 controls the vision recognition subsystem 1 to re-acquire the object image and coordinate positioning, and restarts the vision recognition and picking procedure.
In one embodiment, the control subsystem 5 includes: the device comprises a console, a controller and a display screen; the controller is a PLC controller or a singlechip; the controller is respectively electrically connected with the console, the visual recognition subsystem 1, the end effector collecting subsystem 2, the storage subsystem 3 and the transportation subsystem 4; the console is used for sending corresponding instructions to the controller by workers, and appointed control over the working states of the visual recognition subsystem 1, the end effector collecting subsystem 2, the storage subsystem 3 and the transportation subsystem 4 is achieved; the display screen is used for displaying a control interface of the visual recognition subsystem 1, the motion coordinate of the end-effector collection subsystem 2 and the storage position of the picked-up object in the storage subsystem 3 in real time.
In the embodiment of the invention, a worker can actively control the real-time working states of the vision recognition subsystem 1 and the end effector collecting subsystem 2 through the console, and control the running states of the transportation subsystem 4, such as forward, backward, turning, stopping and the like. The display screen is used for displaying an operation data interface in real time in different operation processes, and after the whole process of picking and storing is identified, the storage condition of a picked object in the storage subsystem 3 can be displayed in real time by the display screen. The operator can control the end effector collecting subsystem 2 to move the target to a specified position according to the screen information.
And an automatic program can be adopted, namely after the vision recognition subsystem 1 is manually controlled to move to the position near the target to be collected for recognition, the subsequent picking action and placing action of the target are automatically completed according to a preset program.
In one embodiment, the storage subsystem 3 is a box container, and an automatic door is mounted on the box container and electrically connected to the control subsystem 5.
In other embodiments, the storage subsystem 3 may be divided into a plurality of target storage areas, the control subsystem 5 is further configured to determine coordinate points of the target storage areas in advance and number the coordinate points in sequence, and after the end effector collection subsystem picks up a target to be collected each time, the end effector collection subsystem is controlled to place the picked-up target in the corresponding target storage area in sequence according to the numbering sequence. The embodiment of the invention sequentially numbers the target storage areas, each target storage area corresponds to a coordinate, the control subsystem controls the end effector collecting subsystem to sequentially place the targets in the corresponding target storage areas according to the number sequence and the coordinate positions, after one layer of targets are placed in all the target storage areas corresponding to the numbers, a new round of storage is started, the second layer of targets are placed according to the number sequence, and the control subsystem also sets the corresponding storage layers according to the target types, so that the automatic picking and recycling process of the targets is realized.
In another embodiment, each target storage area has a second weight sensor mounted on a bottom surface thereof; the control subsystem is used for calculating the difference between the weight of the target stored in each target storage area and the threshold value according to the weight signal acquired by each second weight sensor, judging that the current target storage area is full when the difference reaches a preset range, and controlling the end effector collecting subsystem to place the picked target in other target storage areas which are not full. According to the embodiment of the invention, the second weight sensor is used for acquiring the bearing information of each target storage area in real time, determining whether the current target storage area is full according to the difference value between the current bearing information and the target threshold value, and storing the target of the next round to other target storage areas which are not full after the current target storage area is full, so that the whole process does not need manual participation, and the automation degree is high.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. A mobile stereoscopic collection and storage device, comprising: the system comprises a visual identification subsystem, an end effector collection subsystem, a storage subsystem, a transportation subsystem and a control subsystem; the visual identification subsystem, the end effector collection subsystem, the storage subsystem and the control subsystem are all carried on the transportation subsystem;
the visual recognition subsystem is used for acquiring a three-dimensional image of the target to be collected in real time, calculating the volume envelope size of the target to be collected and determining the coordinates of the grabbing point under the control of the control subsystem;
the control subsystem is used for controlling the picking end of the end effector collecting subsystem to move to the coordinate position of the picking point and picking the target to be collected to the specified position of the storage subsystem;
and the transportation subsystem is used for conveying the target to be collected to a specified place under the control of the control subsystem.
2. The mobile stereo gathering and storing device of claim 1, wherein the visual recognition subsystem comprises: the device comprises a vision acquisition device and a first movable support, wherein the vision acquisition device is installed at the movable end of the first movable support, is composed of a 3D camera or a distance sensor and a 2D vision camera, and is embedded with a vision industrial personal computer and vision software;
the first movable support drives the vision acquisition device to move to the position above a target to be acquired under the control of the control subsystem;
the visual acquisition device is used for acquiring point cloud images of the target to be collected, constructing a three-dimensional model for the point cloud images, calculating the volume envelope size of the target to be collected according to the three-dimensional model, analyzing the shape, the volume envelope size and the position of the target to be collected, and determining the grabbing point of the target to be collected and the coordinates of the grabbing point.
3. The mobile volumetric collection storage device of claim 2, wherein the end effector collection subsystem comprises: an end effector and a second moving support; the end effector is arranged at the moving end of the second moving bracket;
the second moving bracket drives the end effector to move to a grabbing point position of an object to be collected under the control of the control subsystem;
the end effector is used for picking up a target to be collected under the control of the control subsystem;
the second movable support is also used for storing the target to be collected to the appointed position of the storage subsystem under the control of the control subsystem after the end effector picks up the target to be collected.
4. The mobile volumetric collection storage device of claim 3, wherein the second mobile carriage comprises: a movable cantilever, a vertical movement sling and a driving motor; the driving motor and the end effector are respectively electrically connected with the control subsystem; the end effector is mounted on the vertical motion sling;
the driving motor drives the movable cantilever to move right above the target grabbing point to be collected under the control of the control subsystem, and drives the vertical movement sling to move to the position of the target grabbing point to be collected.
5. The mobile stereo collection and storage device of claim 3, wherein the first mobile support and the second mobile support are combined into a single general support; the vision collection device and the end picking device are respectively arranged at different positions of the movable end of the main support.
6. The mobile volumetric collection storage device of claim 3, wherein the end effector collection subsystem further comprises: a first weight sensor; the first weight sensor is electrically connected with the control subsystem; the control subsystem is used for judging whether the end effector successfully picks up or puts down the target to be collected according to the change condition of the weight signal acquired by the first weight sensor, and controlling the second movable support to move to a corresponding position according to the picking state of the end effector.
7. The mobile volumetric collection and storage device of claim 1, wherein the control subsystem comprises: the device comprises a console, a controller and a display screen; the controller is a PLC controller or a single chip microcomputer; the controller is electrically connected with the console, the vision recognition subsystem, the end effector collecting subsystem, the storage subsystem and the transportation subsystem respectively; the console is used for a worker to send a corresponding instruction to the controller, so that the appointed control on the working states of the visual recognition subsystem, the end effector collecting subsystem, the storage subsystem and the transportation subsystem is realized; the display screen is used for displaying a control interface of the visual recognition subsystem, the motion coordinate of the end picking device collection subsystem and the storage position of the picked target in the storage subsystem in real time.
8. The mobile volumetric collection and storage device of claim 1, wherein the storage subsystem is a box container, and an automatic door is mounted on the box container and electrically connected to the control subsystem.
9. The mobile stereo collection and storage device according to claim 1, wherein the control subsystem is further configured to preset an origin of coordinates and a storage volume inside the storage subsystem, calculate a number of targets to be collected that can be stored in the storage subsystem according to the storage volume inside the storage subsystem and a volume envelope size of the targets to be collected, and calculate a position of a storage coordinate point of a current target to be collected with the origin of coordinates and the storage coordinate point of the target on the upper wheel as reference points.
10. The mobile stereo gathering and storing device as claimed in claim 1, wherein the storage subsystem has a plurality of target storage areas therein; a second weight sensor is arranged on the bottom surface of each target storage area; the control subsystem is used for calculating the difference value between the weight of the target stored in each target storage area and a threshold value according to the weight signal collected by each second weight sensor, judging that the current target storage area is full when the difference value reaches a preset range, and controlling the end effector collecting subsystem to place the picked target in other target storage areas which are not full.
CN202210957124.3A 2022-08-10 2022-08-10 Remove three-dimensional storage device that collects Pending CN115351814A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117445019A (en) * 2023-12-26 2024-01-26 江苏汉峰智慧工业装备有限公司 Grabbing device of industrial robot convenient to adjust

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117445019A (en) * 2023-12-26 2024-01-26 江苏汉峰智慧工业装备有限公司 Grabbing device of industrial robot convenient to adjust

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