CN115991359B - Automatic finished product picking and placing and automatic warehousing system and method - Google Patents
Automatic finished product picking and placing and automatic warehousing system and method Download PDFInfo
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- CN115991359B CN115991359B CN202310285508.XA CN202310285508A CN115991359B CN 115991359 B CN115991359 B CN 115991359B CN 202310285508 A CN202310285508 A CN 202310285508A CN 115991359 B CN115991359 B CN 115991359B
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Abstract
The invention discloses a system and a method for automatically taking and putting finished products into goods and automatically warehousing, wherein S1: the goods to be transported are placed on the mobile platform, and when the visual calling system identifies that the goods exist on the mobile platform, a goods taking instruction of the mobile robot is triggered; s2: the mobile robot enters the bottom of the goods, lifts the goods to leave the mobile platform and exits, and transports the goods to a warehouse gate; s3: the code reader automatically reads the bar code on the goods, feeds information back to the robot system, and compares the robot system with the factory management system to determine the placing position of the goods; s4: the sensor automatically senses whether goods exist in the warehouse, and automatically distributes the goods placing position of the mobile robot through the robot management system; s5: the movable robot enters the bottom of the fixed platform, and places and withdraws goods on the fixed platform.
Description
Technical Field
The invention relates to the technical field of warehouse logistics, in particular to a system and a method for automatically taking and placing finished products and automatically warehousing the finished products.
Background
With the development of industrial automation and intellectualization, automatic Guided Vehicles (AGVs) are increasingly used in the field of logistics transportation. AGVs can replace the manual work to accomplish a large amount of materials handling work, also can realize 24 hours continuous operation simultaneously, effectively reduces the cost of labor of enterprise. However, the existing product warehouse entry mode of the factory is as follows: the manual trolley for loading the products is manually hung on the magnetic stripe AGVs and conveyed to the warehouse by the magnetic stripe AGVs, warehouse staff uses the code scanner to scan the bar codes of the products to finish the warehouse entry work, and meanwhile, the products are unloaded from the trolley by using a forklift. However, the production line off-line mode has low automation degree, occupies more production lines and warehouse personnel, and cannot realize intelligent production. Therefore, there is an urgent need to develop a system and a method for automatically picking, placing and automatically warehousing finished products to solve the above technical problems.
In view of this, the present invention has been made.
Disclosure of Invention
The invention aims to provide a system and a method for automatically taking and putting goods into a warehouse and automatically putting the finished products into the warehouse, wherein the automatic degree of the production line in an off-line mode is high, the occupied production line and warehouse personnel are few, the intelligent production is realized, the manpower and material resources are greatly saved, the production cost is reduced, and the system and the method have wide application prospects and are beneficial to popularization and application.
In order to achieve the above purpose, the invention provides an automatic picking, placing and automatic warehousing system for finished products, which comprises a mobile platform for bearing goods to be transported, a fixed platform arranged at the bottom of a goods shelf, and a mobile robot capable of independently planning a moving path and butting the mobile platform with the fixed platform to finish goods exchange and transportation, wherein a robot system is arranged in the mobile robot, a task instruction of a robot management system is received by the robot system to execute tasks, a visual calling system is interacted with the robot management system to finish automatic calling, and a code reader and a factory management system are interacted with the robot system to finish automatic warehousing.
Preferably, the front of mobile robot is equipped with laser radar, and the robot chassis top is equipped with climbing mechanism, and climbing mechanism both sides are equipped with the loading board, and the robot chassis below is equipped with removes wheel one, climbing mechanism is fixed in on the robot chassis through the installation base, climbing mechanism's center department is equipped with electric putter, electric putter's both ends are connected with the connecting rod respectively, the both ends of connecting rod are connected with respectively and cut fork mechanism, electric putter passes through the both sides connecting rod and drives four sets of fork mechanisms of cutting, and electric putter stretches out, and the connecting rod moves to keeping away from electric putter direction, cuts fork mechanism and closes, and the shell that drives climbing mechanism through the installation piece rises, realizes the jacking, and descending motion is then rather than the contrary. The structure is symmetrical, the stress is uniform, and the operation stability of the jacking mechanism 7 is obviously improved.
Preferably, a second movable wheel is arranged at the bottom of the movable platform, a first butt joint characteristic plate for identifying the position of the movable platform by the movable robot is symmetrically arranged on two sides of the movable platform, and a limiting block for limiting the placement position of goods to be transported is arranged at the top of the movable platform.
Preferably, each group of fixed platforms comprises two warehouse positions, two butt joint characteristic plates II used for the mobile robots to identify the positions of the fixed platforms are symmetrically arranged on two sides, a sensor is arranged at the top of each warehouse position, each sensor corresponds to a goods placing position and is used for sensing the empty and full state of the warehouse position and feeding the empty and full state of the warehouse position back to the robot management system, the robot management system generates goods placing positions in task instructions according to sensor signals and sends the goods placing positions to the robot system, and the distribution of the goods placing warehouse positions is completed through information interaction of the sensors, the robot management system and the robot system.
Preferably, the vision calling system comprises a plurality of cameras, each camera corresponds to a goods taking position, a task instruction is triggered according to goods identified by the camera, the robot management system is submitted, and the robot management system generates the goods taking position in the task instruction according to the camera position and then sends the goods taking position to the robot system.
Preferably, the robot system comprises a navigation planner and a task manager, the task manager receives an instruction sent by the robot management system and sends the target site coordinates to the navigation planner, the navigation planner generates a running path according to the current position coordinates, the target site coordinates and environmental information, the mobile robot reaches the target site along the running path, and the task manager manages lifting actions, docking strategies and the like of a jacking mechanism of the mobile robot according to instruction content, so that automatic picking and placing is completed. The environment information comprises information scanned by sensors such as a laser radar and a camera of a mobile robot chassis in real time and a preset map. The docking strategy includes, but is not limited to, a leading docking entry, a trailing docking entry, a leading exit, a trailing exit, and docking left-right deviation parameters.
Preferably, the robot management system comprises a warehouse management system and a dispatch management system, wherein the warehouse management system receives an instruction triggered by the vision calling system, determines a goods taking site according to site coordinates identified by the vision calling system, is in communication connection with a sensor system, senses the empty state of the warehouse and sends the empty state to the warehouse management system, the warehouse management system selects the empty warehouse as a goods placing site, generates a transport instruction according to the goods taking position and the goods placing site information, sends the transport instruction to the dispatch management system, and is in communication connection with the robot system, and sends the transport instruction to a mobile robot with the optimal state according to the feedback state of the robot system, such as idle state, busy state, position coordinates, electric quantity and the like.
Preferably, the visual call system further comprises a target recognition and detection module, a data processing module and an encryption communication module, wherein the target recognition and detection module comprises an input part, a backbone network part, a multi-feature fusion network part and an output part; the data processing module comprises two parts, wherein one part is the multi-linear concurrency and cross-thread interaction of the target recognition algorithm, and the other part is the filtering interference target; the visual call system and the robot management system are communicated by adopting an encryption communication module for data transmission, and the encryption communication module adopts TSL1.2 and a self-defined frame structure double encryption technology.
The invention provides a finished product automatic picking and placing and automatic warehousing method, which comprises the following steps:
s1: the goods to be transported are placed on the movable platform at the production line end, and when the visual calling system recognizes that the goods exist on the movable platform, a goods taking instruction of the movable robot is triggered;
s2: after the laser radar of the mobile robot recognizes a first docking feature board of the mobile platform, matching is carried out according to the recognized first outline of the docking feature board with a preset mobile platform model, if matching is successful, the position coordinates of the mobile platform are determined, a path from the current coordinates of the mobile robot to the mobile platform is planned according to the coordinates of the mobile platform, if not successful, the mobile robot rotates in situ, the characteristics of the first docking feature board are searched until matching is successful, then the mobile robot enters the bottom of the mobile platform to dock with the mobile platform, after the jacking mechanism jacks up goods to be transported, the mobile robot exits the mobile platform, the jacking mechanism descends to move the goods to be transported to a bearing panel, and then the planned path goes to a target site warehouse;
s3: the warehouse is provided with a code scanning point, the code reader automatically reads the bar code on the goods, information is fed back to the robot system, the robot system is compared with the factory management system, and the placing position of the goods is determined according to the information fed back by the system;
s4: at the warehouse end, a fixed platform is arranged at the bottom of the goods shelf, whether goods exist in the warehouse position or not is automatically sensed by a sensor on the fixed platform, and a goods placing position is automatically distributed to the mobile robot by a robot management system;
s5: after the laser radar of the mobile robot recognizes a second docking feature board of the fixed platform, matching is carried out according to the recognized outline of the second docking feature board with a preset fixed platform model, if matching is successful, the position coordinates of the fixed platform are determined, a path from the current position to the fixed platform is planned according to the fixed platform coordinates, if matching is unsuccessful, the mobile robot rotates in situ, the characteristics of the second docking feature board are searched until matching is successful, then the mobile robot rises to jack up goods before reaching the fixed platform, the goods enter the bottom of the fixed platform to dock with the fixed platform, the jacking mechanism descends to place the goods on the fixed platform, and the mobile robot exits the fixed platform.
Preferably, in the step S3, after the mobile robot 3 lifts the goods and reaches the code scanning point, the robot system requests the dispatching management system to scan the codes, the dispatching management system starts the code reader to automatically read the bar code information on the goods to obtain the code scanning result, the dispatching management system writes the code scanning information into the warehouse-in detection module of the factory management system, the factory management system verifies the code scanning information and writes the verification result into the warehouse-in detection module, the dispatching management system obtains the verification result and sends the verification result to the robot system, and the robot system places the warehouse-in goods at the corresponding placement position according to the verification result.
1. The automatic goods taking and placing system has the advantages that the automatic degree of the production line off-line mode is high, goods can be automatically identified, automatic goods taking and automatic goods placing are completed, automatic code scanning and warehousing are realized, the traditional manual code scanning mode is replaced, the occupied production line and warehouse personnel are fewer, intelligent production is realized, manpower and material resources are greatly saved, the production cost is reduced, and the automatic goods taking and placing system has a wide application prospect and is beneficial to popularization and application.
2. The visual calling system is based on image recognition of deep learning, performs model training by collecting various forms of cargoes, determines proper model parameters by model training by using YOLO5, and improves recognition accuracy. After the camera collects goods, the information is sent to the warehouse management system, and after the feedback of the warehouse management system is received, the collection is stopped, so that repeated calling of the video can be effectively prevented.
Drawings
Fig. 1 is a schematic structural view of a mobile robot;
FIG. 2 is a schematic diagram of a lifting mechanism of a mobile robot;
FIG. 3 is a schematic diagram of a mobile dock;
FIG. 4 is a schematic diagram of a mobile dock pick and place;
FIG. 5 is a schematic view of a fixed dock;
FIG. 6 is a schematic diagram of a fixed dock pick and place;
fig. 7 is a flowchart of the operation of the visual call system.
In the figure:
1. goods to be transported 2, mobile platform 3, mobile robot 4, limiting block 5, docking feature plate one 6, sensor 7, lifting mechanism 8, bearing panel 9, robot chassis 10, mounting block 11, connecting rod 12, electric push rod 13, scissor mechanism 14, mounting base 15, laser radar 16, mobile wheel one 17, docking feature plate two 18, mobile wheel two 19, fixed platform.
Detailed Description
The invention will be further described with reference to specific examples and figures to aid in the understanding of the invention.
The invention provides an automatic finished product picking, placing and automatic warehousing system which comprises a mobile robot 3, a mobile platform 2, a fixed platform 19, a robot management system, a visual calling system, a code reader and a factory management system. The mobile robot 3 is internally provided with a robot system, and a task instruction of the robot management system is received by the robot system to execute tasks. And finishing automatic calling through information interaction between the visual calling system and the robot management system. And the automatic warehousing is completed through the information interaction of the code reader, the factory management system and the robot system.
As shown in fig. 1-2, the structure of the mobile robot and the lifting mechanism thereof are respectively shown. The bottom of the mobile robot 3 is provided with a robot chassis 9, a mobile wheel I16 is arranged below the robot chassis 9, a jacking mechanism 7 is arranged above the robot chassis 9, and two sides of the mobile robot 3 are provided with bearing panels 8. During operation, the goods 1 to be transported are placed on the shovel plate, the width of the mobile robot 3 is 600mm, the width of the shovel plate is 800mm, and in order to place the goods on the mobile robot 3 in the transportation process, the energy sources of the mobile robot 3 are saved, so that the bearing panel 8 is designed. The front of mobile robot 3 is equipped with laser radar 15, climbing mechanism 7 passes through installation base 14 and installs on robot chassis 9, climbing mechanism 7's center department is equipped with electric putter 12, electric putter 12's both ends are connected with connecting rod 11 respectively, connecting rod 11's both ends are connected with respectively and cut fork mechanism 13, electric putter 12 drives four group through both sides connecting rod 11 and cuts fork mechanism 13, and electric putter 12 stretches out, and connecting rod 11 moves to keeping away from electric putter 12 direction, cuts fork mechanism 13 and closes and rise, and the shell that drives climbing mechanism 7 through installation piece 10 rises, realizes the jacking, and the decline motion is then rather than it. The structure is symmetrical, the stress is uniform, and the operation stability of the jacking mechanism 7 is obviously improved.
As shown in fig. 3-4, the structure of the mobile platform and the picking and placing of the mobile platform are respectively shown. The bottom of the movable platform 2 is provided with a movable wheel two 18, two sides of the movable platform are symmetrically provided with a butt joint characteristic board one 5, the butt joint characteristic board one 5 is used for the movable robot 3 to identify the position of the movable platform 2, two sides of the top of the movable platform 2 are symmetrically provided with limiting blocks 4, and the limiting blocks 4 are used for limiting the placing position of the goods 1 to be transported. Preferably, the number of the limiting blocks 4 is four, and two limiting blocks are respectively arranged on the left side and the right side.
Fig. 5 to 6 show a schematic structure of the fixed dock and a schematic picking and placing of the fixed dock. The fixed platform 19 is installed in the goods shelves bottom, and every group of fixed platform 19 contains two storehouse positions, and the bottom bilateral symmetry of every group of fixed platform 19 is equipped with dock feature board two 17, dock feature board two 17 is used for moving the position of fixed platform 19 of robot 3 discernment, every storehouse position top of fixed platform 19 is equipped with a sensor 6, and every sensor 6 corresponds a put goods position, sensor 6 is used for the empty full state of response storehouse position, and feedback gives robot management system, and robot management system generates the put goods position in the task instruction according to sensor 6 signal, sends to robot system, through sensor 6, robot management system, robot system information interaction, accomplishes the distribution of putting goods storehouse position.
The visual calling system comprises a plurality of cameras, each camera corresponds to a goods taking position, a task instruction is triggered according to goods identified by the camera, the goods taking positions in the task instruction are generated by the robot management system according to the camera positions, and the goods taking positions are sent to the robot system. The workflow diagram of the visual call system is shown in fig. 7. After the camera collects goods, the information is sent to the warehouse management system, and after the feedback of the warehouse management system is received, the collection is stopped, so that repeated calling of the video can be effectively prevented.
The robot system comprises a navigation planner and a task manager, the task manager receives instructions sent by the robot management system and sends target site coordinates to the navigation planner, the navigation planner generates a running path according to the current position coordinates, the target site coordinates and environment information, the mobile robot 3 reaches the target site along the running path, and the task manager manages lifting actions, docking strategies and the like of the lifting mechanism of the mobile robot 3 according to instruction content, so that automatic picking and placing is completed. The environment information comprises a preset map and information scanned by sensors such as a laser radar and a camera of a chassis of the mobile robot 3 in real time. The docking strategy includes, but is not limited to, a leading docking entry, a trailing docking entry, a leading exit, a trailing exit, and docking left-right deviation parameters.
The robot management system comprises a warehouse management system and a dispatch management system, wherein the warehouse management system receives an instruction triggered by the vision calling system, a goods taking site is determined according to site coordinates identified by the vision calling system, the warehouse management system is in communication connection with a sensor system, the sensor system senses the empty state of the warehouse and sends the empty state to the warehouse management system, the warehouse management system selects the empty warehouse as a goods placing site, generates a transportation instruction according to the goods taking position and the goods placing site information and sends the transportation instruction to the dispatch management system, the dispatch management system is in communication connection with the robot system, and the dispatch management system sends the transportation instruction to the mobile robot 3 with the optimal state according to the feedback state of the robot system, such as idle state, busy state, position coordinates, electric quantity and the like.
The visual calling system further comprises a target identification and detection module, a data processing module and an encryption communication module, the real-time production condition of the production line is continuously read through the camera, different products on the production line are detected in real time, the visual calling system is automatically communicated with the robot management system, and the mobile robot 3 is actively called to carry the products of the production line to a designated warehouse. The visual calling system realizes 100% of target detection precision of the production line, the real-time processing speed of the production line reaches the second level to meet the production speed, and the information communication meets the communication encryption requirement.
The target recognition and detection model consists of four parts, including an input part, a backbone network part, a multi-feature fusion network part and an output part;
the input part performs data enhancement processing by randomly scaling, cutting and rotating the images, then randomly selecting a certain number of images to be spliced together, so as to improve the diversity of a data set and the robustness of a detection method, three priori anchor frames are initially arranged in the input part, and simultaneously, the input images are scaled by adopting a self-adaptive filling method, so that the detection algorithm requirement is met;
the main network part firstly carries out slicing processing on the image through a Focus structure, so as to improve the network training speed, and the core part of the main network is CSPDarknet-53 based on CNN for carrying out feature extraction;
the multi-feature fusion network part adopts a path aggregation network as a detection neck, aggregates the features of different trunk layers, and enhances the expression capability of the features;
the output part comprises three different detection scale outputs, for each scale of head output, anchors with different scales can be defined, a complete intersection is used as a regression loss function to predict a boundary box, a target score of each boundary is predicted by using logistic regression, and a category of each boundary box is predicted by using multi-label classification;
the final loss function includes three parts: prediction frame category loss, prediction frame positioning loss and prediction frame confidence loss, wherein the prediction frame category loss and the prediction frame confidence loss both adopt binary cross entropy functions, the prediction frame positioning loss adopts complete intersection CIOU_loss, and the formalized representation is as follows:
wherein the method comprises the steps of
Representing the cross-ratio loss of the prediction frame and the labeling frame; />
For characterizing the Euclidean distance between the center point of the prediction frame and the label frame, wherein +.>
Representing the center point of the prediction frame and the annotation frame, < >>
Representing the Euclidean distance between two rectangular boxes, < >>
A distance representing a diagonal of the closure areas of the two rectangular boxes; />
For penalizing the case that the predicted frame shape is inconsistent with the labeled frame shape,/for the case that the predicted frame shape is inconsistent with the labeled frame shape>
For measuring the consistency of the relative proportions of two rectangular boxes,/->
Representing the weight coefficient, i.e->
(2)
Wherein, the liquid crystal display device comprises a liquid crystal display device,
representing the width of the label frame +.>
Representing the height of the annotation box +.>
Representing the width of the predicted rectangular box,/-, for>
Representing the height of the predicted rectangular box.
The data processing module comprises two parts, wherein one part is the multi-linear concurrency and cross-thread interaction of the target recognition algorithm, and the other part is the filtering interference target;
multithreading concurrently interacts with cross-threads: for a plurality of production lines of an intelligent factory, a data processing module needs to perform target identification and detection in a multithreading mode and cross-thread interaction needs to be completed, so that a plurality of cameras can work simultaneously, when a production line breaks down within a certain camera range, the work of other production lines is not influenced, and meanwhile, the target identification and detection of the whole production line is guaranteed to be completed within a second range;
filtering interference targets: by setting the average position threshold of the prediction frame, the interference target in the camera range is filtered out, and false detection is prevented.
When the vision calling system and the robot management system are in communication, the encryption communication module is used for data transmission so as to ensure the safety of data, and the encryption communication module adopts a TSL1.2 and self-defined frame structure double encryption technology.
The visual calling system is based on image recognition of deep learning, performs model training by collecting various forms of cargoes, determines proper model parameters by model training by using YOLO5, and improves recognition accuracy.
The invention also provides a finished product automatic picking, placing and automatic warehousing method, which comprises the following steps:
s1: the goods 1 to be transported is placed on the movable platform 2 at the production line end, and when the visual calling system recognizes that the goods exist on the movable platform 2, a goods taking instruction of the movable robot 3 is triggered;
s2: after the laser radar 15 of the mobile robot 3 recognizes the first docking feature board 5 of the mobile platform 2, matching is carried out according to the recognized outline of the first docking feature board 5 with a preset model of the mobile platform 2, if matching is successful, the position coordinates of the mobile platform 2 are determined, a path from the current coordinates of the mobile robot 3 to the mobile platform 2 is planned according to the coordinates of the mobile platform 2, if not successful, the mobile robot 3 rotates in situ, the characteristics of the first docking feature board 5 are searched until matching is successful, then the mobile robot 3 enters the bottom of the mobile platform 2 to dock with the mobile platform 2, after the lifting mechanism 7 lifts up the goods 1 to be transported, the mobile robot 3 exits the mobile platform 2, the lifting mechanism 7 descends to move the goods 1 to be transported to the bearing panel 8, and then the planned path goes to the target site warehouse;
s3: the warehouse is provided with a code scanning point, the code reader automatically reads the bar code on the goods, information is fed back to the robot system, the robot system is compared with the factory management system, and the placing position of the goods is determined according to the information fed back by the system. Specifically, whether the goods are genuine products, samples or errors is obtained, if yes, the goods are transported to the corresponding stations, and if yes, the goods are transported to the warehouse fixed platform 19;
s4: at the warehouse end, a fixed platform 19 is arranged at the bottom of the goods shelf, whether goods exist in the warehouse position or not is automatically sensed by a sensor 6 on the fixed platform 19, and the goods placing position is automatically distributed to the mobile robot 3 by a robot management system;
s5: after the laser radar 15 of the mobile robot 3 recognizes the second docking feature plate 17 of the fixed platform 19, matching is performed according to the recognized outline of the second docking feature plate 17 with a preset fixed platform 19 model, if matching is successful, the position coordinates of the fixed platform 19 are determined, a path from the current position to the fixed platform 19 is planned according to the coordinates of the fixed platform 19, if matching is unsuccessful, the mobile robot 3 rotates in situ, the characteristics of the second docking feature plate 17 are searched until matching is successful, then before the mobile robot 3 reaches the fixed platform 19, the jacking mechanism 7 ascends to jack up goods, the bottom of the fixed platform 19 is docked with the fixed platform 19, the jacking mechanism 7 descends to place the goods on the fixed platform 19, and the mobile robot 3 exits the fixed platform 19.
Specifically, when the goods to be transported 1 is placed on the mobile platform 2 during operation, when the camera recognizes that the goods exist on the mobile platform 2, the site coordinates of the goods positions are used as goods taking sites and sent to the warehouse management system, the warehouse management system designates an empty warehouse as a goods placing site according to the empty and full state recognized by the sensing system, a transport instruction is generated and sent to the dispatching management system, the dispatching management system sends the transport instruction to the optimal mobile robot 3 according to the state of the robot, and the robot system receives the transport instruction. The robot system comprises a navigation planner and a task manager, the task manager receives instructions sent by the robot management system, the target site coordinates are sent to the navigation planner, the navigation planner generates a running path according to the current position coordinates, the target site coordinates and environment information (including information scanned by sensors such as a preset map, a laser radar of a robot chassis, a camera and the like in real time), the robot reaches a goods taking station along the running path, the laser radar identifies a docking feature board I5 of the mobile platform 2, the actual position of the mobile platform 2 is identified, the mobile robot 3 adjusts the pose in real time, the mobile robot enters the bottom of goods, the goods are lifted to leave the mobile platform 2 and exit, the goods are placed on a carrying panel 8 on the mobile robot 3, and the goods are transported to a code scanning point. After the mobile robot 3 lifts the goods to reach the code scanning point, the robot system requests a dispatching management system to scan the codes, the dispatching management system starts a code reader to automatically read the bar code information on the goods to obtain a code scanning result, the dispatching management system writes the code scanning information into a warehousing detection module of a factory management system, the factory management system verifies the code scanning information and writes the verification result into the warehousing detection module, the dispatching management system obtains the verification result and sends the verification result to the robot system, and the robot system places the warehoused goods at the corresponding goods placing position according to the verification result. The mobile robot 3 arrives at the goods placing site, the goods are lifted, the laser radar identifies the butt joint characteristic board II 17 of the fixed platform 19, then the actual position of the fixed platform 19 is identified, the mobile robot 3 adjusts the pose in real time, the goods enter the bottom of the fixed platform 19, the mobile robot 3 places the goods on the fixed platform 19, the goods are withdrawn, and the goods placing is completed.
The production line off-line mode has high automation degree, occupies fewer production lines and warehouse personnel, realizes intelligent production, greatly saves manpower and material resources, reduces production cost, has wide application prospect, and is beneficial to popularization and application.
Specific examples are set forth herein to illustrate the invention in detail, and the description of the above examples is only for the purpose of aiding in understanding the core concept of the invention. It should be noted that any obvious modifications, equivalents, or other improvements to those skilled in the art without departing from the inventive concept are intended to be included in the scope of the present invention.
Claims (6)
1. The automatic picking, placing and automatic warehousing system for finished products is characterized by comprising a mobile platform for bearing goods to be transported, a fixed platform arranged at the bottom of a goods shelf, and a mobile robot capable of independently planning a moving path to be butted with the mobile platform and the fixed platform to finish goods exchange and transportation, wherein a first butting characteristic board for the mobile robot to identify the position of the mobile platform is symmetrically arranged at two sides of the mobile platform, a robot system is arranged in the mobile robot, a task instruction of a robot management system is received through the robot system to execute tasks, information interaction is carried out through a visual calling system and the robot management system to finish automatic calling, information interaction is carried out through a code reader, a factory management system and the robot system to finish automatic warehousing, a laser radar is arranged in front of the mobile robot, a jacking mechanism is arranged above the robot chassis, bearing panels are arranged at two sides of the jacking mechanism, the jacking mechanism is fixed on the robot chassis through a mounting base, an electric push rod is arranged at the center of the jacking mechanism, connecting rods are respectively connected to two ends of the electric push rod, a shearing fork mechanism is respectively connected to two ends of the connecting rods, the electric push rod drives four groups of shearing fork mechanisms through connecting rods at two sides, the electric push rod stretches out, the connecting rods move away from the electric push rod, the shearing fork mechanisms are combined, a shell of the jacking mechanism is driven to lift through a mounting block to realize jacking, the descending movement is opposite to the lifting movement, each group of fixed platforms comprises two storage positions, two sides of the fixed platforms are symmetrically provided with a butt joint characteristic plate II for moving the robot to identify the position of the fixed platform, the top of each storage position is provided with a sensor, each sensor corresponds to one goods placing position and is used for sensing the empty state of the storage positions and feeding back to the robot management system, the robot management system generates a goods taking position in a task instruction according to a sensor signal, sends the goods taking position to the robot system, completes distribution of goods taking positions through information interaction of the sensor, the robot management system and the robot system, the vision calling system comprises a plurality of cameras, each camera corresponds to one goods taking position, triggers the task instruction according to goods recognized by the camera, submits the robot management system, the robot management system generates the goods taking position in the task instruction according to the camera position and sends the goods taking position to the robot system, the robot management system comprises a position management system and a dispatching management system, the position management system receives an instruction triggered by the vision calling system, determines goods taking positions according to site coordinates recognized by the vision calling system, the position management system is in communication connection with the sensor system, the sensor system senses the empty state of the positions and sends the empty positions to the position management system, the position management system selects the empty positions as goods taking positions, triggers the task instruction according to goods taking positions and sends the goods taking position information to the robot management system, the robot management system generates a transport instruction according to the goods taking positions, and sends the dispatching management system to the dispatching management system, and sends the dispatching management system to the robot system to the optimal state, and sends the robot system to the robot system.
2. The automatic picking, placing and automatic warehousing system for finished products according to claim 1, wherein a second moving wheel is arranged at the bottom of the moving platform, and a limiting block for limiting the placing position of the goods to be transported is arranged at the top of the moving platform.
3. The automatic picking and placing and automatic warehousing system for finished products according to claim 1, wherein the robot system comprises a navigation planner and a task manager, the task manager receives instructions sent by the robot management system and sends target site coordinates to the navigation planner, the navigation planner generates a running path according to the current position coordinates, the target site coordinates and environmental information, the mobile robot reaches the target site along the running path, and the task manager manages lifting actions and docking strategies of a jacking mechanism of the mobile robot according to instruction content, so that automatic picking and placing is completed.
4. The automatic picking, placing and automatic warehousing system of claim 1, wherein the visual calling system further comprises a target identification and detection module, a data processing module and an encryption communication module, wherein the target identification and detection module comprises an input part, a backbone network part, a multi-feature fusion network part and an output part; the data processing module comprises two parts, wherein one part is the multi-linear concurrency and cross-thread interaction of the target recognition algorithm, and the other part is the filtering interference target; the visual calling system and the robot management system are communicated by adopting an encryption communication module to carry out data transmission.
5. An automatic picking, placing and automatic warehousing method for finished products by adopting the automatic picking, placing and automatic warehousing system for finished products according to any one of claims 1 to 4, which is characterized by comprising the following steps:
s1: the goods to be transported are placed on the movable platform at the production line end, and when the visual calling system recognizes that the goods exist on the movable platform, a goods taking instruction of the movable robot is triggered;
s2: after the laser radar of the mobile robot recognizes a first docking feature board of the mobile platform, matching is carried out according to the recognized first outline of the docking feature board with a preset mobile platform model, if matching is successful, the position coordinates of the mobile platform are determined, a path from the current coordinates of the mobile robot to the mobile platform is planned according to the coordinates of the mobile platform, if not successful, the mobile robot rotates in situ, the characteristics of the first docking feature board are searched until matching is successful, then the mobile robot enters the bottom of the mobile platform to dock with the mobile platform, after the jacking mechanism jacks up goods to be transported, the mobile robot exits the mobile platform, the jacking mechanism descends to move the goods to be transported to a bearing panel, and then the planned path goes to a target site warehouse;
s3: the warehouse is provided with a code scanning point, the code reader automatically reads the bar code on the goods, information is fed back to the robot system, the robot system is compared with the factory management system, and the placing position of the goods is determined according to the information fed back by the system;
s4: at the warehouse end, a fixed platform is arranged at the bottom of the goods shelf, whether goods exist in the warehouse position or not is automatically sensed by a sensor on the fixed platform, and a goods placing position is automatically distributed to the mobile robot by a robot management system;
s5: after the laser radar of the mobile robot recognizes a second docking feature board of the fixed platform, matching is carried out according to the recognized outline of the second docking feature board with a preset fixed platform model, if matching is successful, the position coordinates of the fixed platform are determined, a path from the current position to the fixed platform is planned according to the fixed platform coordinates, if matching is unsuccessful, the mobile robot rotates in situ, the characteristics of the second docking feature board are searched until matching is successful, then the mobile robot rises to jack up goods before reaching the fixed platform, the goods enter the bottom of the fixed platform to dock with the fixed platform, the jacking mechanism descends to place the goods on the fixed platform, and the mobile robot exits the fixed platform.
6. The method according to claim 5, wherein in the step S3, after the mobile robot lifts the goods to reach the code scanning point, the robot system requests the dispatching management system to scan the codes, the dispatching management system starts the code reader to automatically read the bar code information on the goods to obtain the code scanning result, the dispatching management system writes the code scanning information into the warehouse detection module of the factory management system, the factory management system verifies the code scanning information and writes the verification result into the warehouse detection module, the dispatching management system obtains the verification result and sends the verification result to the robot system, and the robot system places the goods in the warehouse at the corresponding warehouse according to the verification result.
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| CN112478560A (en) * | 2020-12-21 | 2021-03-12 | 上海快仓智能科技有限公司 | Storage device and warehousing and ex-warehouse control method |
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