CN117509220A - Container loading and unloading robot and loading and unloading method thereof - Google Patents
Container loading and unloading robot and loading and unloading method thereof Download PDFInfo
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- CN117509220A CN117509220A CN202311548332.9A CN202311548332A CN117509220A CN 117509220 A CN117509220 A CN 117509220A CN 202311548332 A CN202311548332 A CN 202311548332A CN 117509220 A CN117509220 A CN 117509220A
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 239000012636 effector Substances 0.000 claims abstract description 24
- 238000001179 sorption measurement Methods 0.000 claims abstract description 19
- 230000033001 locomotion Effects 0.000 claims abstract description 18
- 239000000463 material Substances 0.000 claims abstract description 11
- 230000005540 biological transmission Effects 0.000 claims description 12
- 238000004891 communication Methods 0.000 claims description 6
- 210000001503 joint Anatomy 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 abstract description 5
- 238000004519 manufacturing process Methods 0.000 description 6
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000013461 design Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0216—Codes or marks on the article
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0233—Position of the article
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
Abstract
The invention discloses a container loading and unloading robot, which comprises: robot body main part, arm, end effector, vacuum adsorption module, camera module, laser radar module, drive module, power module, controller module and display. The robot for the container loading and unloading truck and the loading and unloading method thereof can be used for loading and unloading cargoes in the container, have the functions of autonomous navigation, autonomous motion planning, visual identification, grabbing and stacking and the like, can flexibly execute various complex carrying and stacking tasks, can improve the efficiency compared with a manual loading and unloading truck, can simultaneously have the functions of loading and unloading, has the functions of unstacking and stacking, can be suitable for loading and unloading various containers and materials, and has better universality.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a container loading and unloading robot and a loading and unloading method thereof.
Background
In recent years, with the rapid development of the fields of automation technology and artificial intelligence, robots are widely applied to various manufacturing fields, and the efficiency is greatly improved in the production and manufacturing process due to the advantages of reduced manual operation, reduced labor intensity, accurate positioning and the like of the robots. For example, the mobile robot AGV is used for carrying and moving articles in production, and the industrial mechanical arm can be used for loading and unloading in production.
In manufacturing industry and warehouse logistics, goods are often required to be fetched, placed and piled at a designated place, such as material transferring and loading and unloading vehicles in factories, and the like, and the tasks are more complicated. Taking material loading as an example, goods in a warehouse need to be carried into containers and stacked, the containers may be parked at different positions, and material stacking needs to be performed inside the containers. Aiming at complex picking and placing tasks, manual operation is usually adopted, so that the working intensity is high and the efficiency is low. It is difficult for a single kind of robot to accomplish the above. The existing compound robot is generally small in load and cannot be applied to a goods taking and placing scene in the warehouse logistics industry.
Disclosure of Invention
The invention aims to overcome the problems in the prior art, and provides a container loading and unloading robot and a loading and unloading method thereof, which can be used for taking and placing cargoes in a container and stacking the cargoes, wherein the robot has the functions of autonomous navigation, autonomous motion planning, visual identification, grabbing and stacking and the like, can flexibly execute various complex carrying and stacking tasks, and can improve the efficiency compared with a manual loading and unloading vehicle.
In order to achieve the technical purpose and the technical effect, the invention is realized by the following technical scheme:
in a first aspect, the present invention provides a container loading and unloading robot comprising:
the robot body comprises a base bracket and a body arranged at the top of the base bracket;
the mechanical arm is arranged at the movable end of the machine body, and is provided with a transmission part for the movement of the mechanical arm;
the end effector is arranged at the tail end of the mechanical arm and is used for taking and placing articles in the container;
the vacuum adsorption module comprises a vacuum generator and a plurality of vacuum chucks communicated with the vacuum generator, the vacuum generator is arranged on the base bracket, and the vacuum chucks are arranged on the end effector;
the camera module comprises a plurality of depth cameras which are respectively arranged at the tail end of the mechanical arm and on the robot body, and the camera module is used for identifying the goods stacking condition and the goods position in the container and acquiring the goods information in the container;
the laser radar module comprises a plurality of laser radars which are uniformly distributed outside a robot body main body and used for capturing surrounding environment information of the robot and also used for autonomous navigation of the robot and obstacle avoidance;
the driving module is arranged at the bottom of the base bracket and used for driving the robot to walk and bearing the robot;
the power module is arranged at the edge of the base bracket and is used for supplying power to the robot;
the controller module is arranged at the top edge of the base bracket, and is respectively in butt joint with the transmission part, the end effector, the vacuum adsorption module, the camera module, the laser radar module, the driving module and the power module of the mechanical arm, wherein the power module provides power for the controller module, and the controller module is used for receiving a task instruction of the upper computer and feeding back a feedback task state to the upper computer;
and the controller module is also provided with a display for displaying the robot data information.
Further, the vacuum generator is mounted on the base support.
Further, the driving module comprises a plurality of driving wheels and a plurality of driven wheels, wherein the driving wheels are used for driving and steering the robot, and the driven wheels are used for assisting the driving wheels to drive;
and the driving wheel and the driven wheel are respectively provided with a brake for keeping stable when the driving wheel and the driven wheel stop.
Further, the robot still includes automatically controlled lower margin, automatically controlled lower margin installs in the bottom of robot body main part for the during operation of robot stretches out, contacts with ground, promotes overall stability.
Further, the power module comprises a battery and a charging plate, wherein the battery is arranged at the edge of the base bracket and is used for providing power for the mechanical arm, the end effector, the vacuum adsorption module, the camera module, the laser radar module and the driving module;
the charging plate is arranged at the edge of the base bracket and is used for charging the battery.
Further, the controller module is in communication connection with the transmission part, the end effector and the vacuum adsorption module on the mechanical arm, and is used for controlling the movement path and the target position of the mechanical arm, and is also used for controlling the end effector and the vacuum adsorption module to grasp and place cargoes.
Further, the camera module sends the in-box cargo information to a controller module;
the laser radar module sends the surrounding environment information to a controller module;
and the controller module processes and analyzes the cargo information in the box and the surrounding environment information to acquire environment and material real-time information.
Further, the controller module is in communication connection with the driving module and is used for controlling the running and steering of the robot.
Further, a mechanical arm controller is further installed on the base support and used for monitoring motion information of the transmission part, the end effector and the vacuum adsorption module of the mechanical arm in real time and feeding back the motion information to the controller module.
In a second aspect, the invention provides a loading and unloading method of a container loading and unloading robot, the method comprises loading and unloading steps, wherein:
the loading step specifically comprises the following steps:
s11: the controller module receives a task instruction of the upper computer to acquire a goods taking point coordinate and a container goods placing coordinate, controls the driving module to move into the goods taking point coordinate, and automatically identifies and positions a goods taking target through an algorithm to take goods;
s12: after the robot grabs the goods, the robot moves to the goods placing coordinates of the container through the driving module, enters the container, recognizes the goods placing condition and the goods position in the container through the camera module, obtains the goods information in the container, judges the goods placing position according to the goods information in the container, determines the goods placing coordinates, places the goods in the goods placing coordinates, completes one-time goods placing, and records the goods placing information;
s13: the controller module stores the goods stacking information and feeds the goods stacking information back to the upper computer in real time;
the unloading step specifically comprises the following steps:
s21: the controller module receives a task instruction of the upper computer to acquire a container goods taking coordinate and a container goods placing point coordinate, and controls the driving module to move to the container goods taking coordinate, so that the robot enters the container;
s22: the robot enters the container, the goods stacking condition and the goods position in the container are identified through the camera module, the goods information in the container is obtained, the controller module judges the goods stacking position according to the goods information in the container, the goods stacking coordinates are determined, and the robot moves into the goods stacking coordinates through the driving module to grab the goods;
s23: after the robot grabs the goods, the controller module controls the driving module to move to the coordinates of the goods placing point, the goods are placed down, one-time goods unloading is completed, and the goods unloading information is recorded;
s24: and the controller module stores the cargo unloading information and feeds the cargo stacking information back to the upper computer in real time.
Compared with the prior art, the invention has the beneficial effects that:
1. the robot for the container loading and unloading truck can be used for taking and placing cargoes in the container and stacking the cargoes, has the functions of autonomous navigation, autonomous motion planning, visual identification, grabbing and stacking and the like, can flexibly execute various complex carrying and stacking tasks, and can improve the efficiency compared with a manual loading and unloading truck.
2. The container loading and unloading robot provided by the invention can enter the container through autonomous navigation, can navigate in the container to reach a designated position, can autonomously judge the position of the material to be grabbed, can autonomously judge the position and the space to be stacked, can judge the size of the inner space of the container, and can plan the movement path of the mechanical arm, so that collision is avoided, and the container loading and unloading robot is safer and more intelligent.
3. The container loading and unloading robot provided by the invention can remotely receive the task instruction of the upper computer and can feed back the task progress.
4. The invention also provides a loading and unloading method of the container loading and unloading robot, and the container loading and unloading robot is suitable for different automatic loading and unloading scenes by the design of the method, so that the container loading and unloading robot has higher universality.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:
FIG. 1 is a schematic view of a container loading and unloading robot provided by the invention;
fig. 2 is a schematic working diagram of the container loading and unloading robot provided by the invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the terms "open," "upper," "lower," "thickness," "top," "middle," "length," "inner," "peripheral," and the like indicate orientation or positional relationships, merely for convenience in describing the present invention and to simplify the description, and do not indicate or imply that the components or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
Example 1
As shown in fig. 1 to 2, the present embodiment provides a container loading and unloading robot, the robot including:
the robot body main body 1 comprises a base bracket 11 and a body 12, wherein the body 12 is arranged at the top of the base bracket 11;
the robot body main body 1 is used for installing each module and keeping the robot work stable;
the mechanical arm 2 is arranged at the movable end of the machine body 12, and a transmission part is arranged on the mechanical arm 2 and used for the movement of the mechanical arm 2;
the end effector 3 is arranged at the tail end of the mechanical arm 2 and is used for taking and placing articles in the container;
the robot can be carried with different types of end effectors 3 for grabbing different types of goods;
the vacuum adsorption module 4 comprises a vacuum generator and a plurality of vacuum chucks communicated with the vacuum generator, the plurality of vacuum chucks are arranged on the end effector 3, the vacuum chucks are arranged on the end effector 3 and can be used for adsorbing and grabbing articles, so that the articles are transported;
wherein, the vacuum generator is arranged on the base bracket 11;
the camera module 5 comprises a plurality of depth cameras, the depth cameras are respectively arranged at the tail end of the mechanical arm 2 and on the robot body main body 1, and the camera module 5 is used for identifying the goods stacking condition and the goods position in the container and acquiring the goods information in the container;
the goods stacking condition in the container comprises goods stacking coordinates and goods stacking heights in the corresponding goods stacking coordinates;
the laser radar module 6 comprises a plurality of laser radars 61, wherein the plurality of laser radars 61 are uniformly distributed outside the robot body main body 1 and are used for capturing surrounding environment information of the robot and also used for autonomous navigation of the robot and obstacle avoidance;
the plurality of laser radars 61 are distributed outside the robot body main body 1 and can cover a 360-degree scanning range, wherein the plurality of laser radars 61 can be divided into an external navigation radar and an internal navigation radar which are respectively used for navigation of the external environment of the container and navigation of the internal environment of the container, and the laser radars 61 also have an obstacle avoidance function;
the driving module is arranged at the bottom of the base bracket 11 and used for driving the robot to walk and bearing the robot;
the driving module comprises a plurality of driving wheels 7 and a plurality of driven wheels 8, wherein the driving wheels 7 are used for running and steering of the robot, and the driven wheels 8 are used for assisting the driving wheels 7 in running;
the driving wheel 7 and the driven wheel 8 are respectively provided with a brake, and the brakes are used for keeping stability when the driving wheel 7 and the driven wheel 8 stop and cannot slide due to external force or inertial force when the driven wheel works;
the power module 20 is arranged at the edge of the base bracket 11 and is used for supplying power to the robot;
the power module 20 comprises a battery 201 and a charging plate 202, wherein the battery 201 is arranged at the edge of the base bracket 11 and is used for providing power for the mechanical arm 2, the end effector 3, the vacuum adsorption module 4, the camera module 5, the laser radar module 6 and the driving module;
the charging plate 202 is mounted to an edge of the base frame 11 for charging the battery 201;
when the battery 201 in the robot is insufficient, the robot can automatically move to the charging pile for charging through the controller module 30;
the controller module 30 is arranged at the top edge of the base bracket 11, the controller module 30 is respectively in butt joint with the transmission part of the mechanical arm 2, the end effector 3, the vacuum adsorption module 4, the camera module 5, the laser radar module 6, the driving module and the power module 20, the power module 20 provides power for the controller module 30, and the controller module 30 is used for receiving a task instruction of an upper computer and feeding back a feedback task state to the upper computer;
the controller module 30 is also provided with a display 40 for displaying robot data information;
the controller module 30 is in communication connection with the transmission component on the mechanical arm 2, the end effector 3 and the vacuum adsorption module 4, and the controller module 30 is used for controlling the movement path and the target position of the mechanical arm 2 and also used for controlling the end effector 3 and the vacuum adsorption module 4 to grab and place cargoes;
the camera module 5 sends the in-box cargo information to the controller module 30;
the lidar module 6 sends the surrounding information to the controller module 30;
the controller module 30 processes and analyzes the cargo information in the box and the surrounding environment information to acquire environment and material real-time information;
the controller module 30 is in communication connection with the driving module and is used for controlling the running and steering of the robot;
the base bracket 11 is also provided with a mechanical arm controller 9 for monitoring the motion information of the transmission part of the mechanical arm 2, the end effector 3 and the vacuum adsorption module 4 in real time and feeding back the motion information to the controller module 30;
the robot further comprises an electric control foot 10, wherein the electric control foot 10 is arranged at the bottom of the robot body main body 1 and is used for extending out when the robot works and contacting with the ground, so that the overall stability is improved; when the robot runs, the electric control feet 10 are retracted, and running is not affected.
The container loading and unloading vehicle robot provided by the embodiment has the functions of autonomous navigation, autonomous motion planning, visual identification, grabbing and stacking and the like, and can flexibly execute various complex carrying and stacking tasks.
Example 2
The embodiment provides a loading and unloading method of a container loading and unloading robot, which comprises loading and unloading steps;
wherein, the loading step specifically includes the following steps:
s11: the controller module 30 receives a task instruction of the upper computer to acquire a goods taking point coordinate and a container goods placing coordinate, and the controller module 30 controls the driving module to move into the goods taking point coordinate, and autonomously identifies and positions a goods taking target through an algorithm to take goods;
s12: after the robot grabs the goods, the robot moves to the goods placing coordinates of the container through the driving module, enters the container, recognizes the goods placing condition and the goods position in the container through the camera module 5, obtains the goods information in the container, judges the goods placing position according to the goods information in the container, determines the goods placing coordinates, places the goods in the goods placing coordinates, completes one-time goods placing, and records the goods placing information;
s13: the controller module 30 stores the goods stacking information and feeds back the goods stacking information to the upper computer in real time.
The unloading step specifically comprises the following steps:
s21: the controller module 30 receives a task instruction of the upper computer to acquire a container goods taking coordinate and a container goods placing point coordinate, the controller module 30 controls the driving module to move to the container goods taking coordinate, and the robot enters the container;
s22: the robot enters the container, the goods stacking condition and the goods position in the container are identified through the camera module 5, the goods information in the container is obtained, the controller module 30 judges the goods stacking position according to the goods information in the container, the goods stacking coordinates are determined, the robot moves into the goods stacking coordinates through the driving module, and the goods at the uppermost layer in the goods stacking coordinates are grabbed;
s23: after the robot grabs the goods, the controller module 30 controls the driving module to move to the coordinates of the goods placing point, the goods are placed down, one-time goods unloading is completed, and goods unloading information is recorded;
s24: the controller module 30 stores the cargo unloading information and feeds back the cargo stacking information to the host computer in real time.
In the embodiment, through the loading and unloading method of the container loading and unloading truck robot, various complex carrying and stacking tasks can be flexibly executed, and the method is suitable for being used in multiple scenes.
Example 3
The embodiment provides a loading and unloading method of a container loading and unloading robot, which comprises loading and unloading steps, wherein:
the loading step specifically comprises the following steps:
s11: the controller module 30 receives a task instruction of the upper computer to acquire a goods taking point coordinate and a container goods placing coordinate, and the controller module 30 controls the driving module to move into the goods taking point coordinate, autonomously identifies and positions a goods taking target through an algorithm, and pulls a goods conveying line;
s12: the robot pulls the goods conveying line to move to the goods placing coordinates of the container, the robot enters the container, the goods placing condition and the goods position in the container are identified through the camera module 5, the goods information in the container is obtained, the controller module 30 judges the goods placing position according to the goods information in the container, the goods placing space is determined, the goods on the goods conveying line are placed in the goods placing space, the goods placing is completed, and the goods placing information is recorded;
s13: the controller module 30 stores the goods stacking information and feeds back the goods stacking information to the upper computer in real time.
The unloading step specifically comprises the following steps:
s21: the controller module 30 receives a task instruction of the upper computer to acquire a container goods taking coordinate and a container goods placing point coordinate, the controller module 30 controls the driving module to move to the container goods taking coordinate, and the robot enters the container;
s22: the robot enters the container, the goods stacking condition and the goods position in the container are identified through the camera module 5, the goods information in the container is obtained, the controller module 30 judges the goods stacking position according to the goods information in the container, the goods stacking coordinates are determined, and the robot moves into the goods stacking coordinates through the driving module to grab the goods;
s23: after the robot grabs the goods, the controller module 30 controls the driving module to move to the coordinates of the goods placing point, the goods are placed on the goods conveying line to flow out, one-time goods unloading is completed, and the goods unloading information is recorded;
s24: the controller module 30 stores the cargo unloading information and feeds back the cargo stacking information to the host computer in real time.
In the embodiment, a method for loading and unloading cargoes on a cargo conveying line by a container loading and unloading robot is provided, the same equipment is used for completing the unstacking and stacking of cargoes, links in logistics are simplified, the operation efficiency is improved, and the number of the equipment is reduced.
The robot has the functions of autonomous navigation, autonomous motion planning, visual identification, grabbing and stacking, and the like, can flexibly execute various complex carrying and stacking tasks, can improve the efficiency compared with a manual loading and unloading vehicle, has two functions of loading and unloading, has two functions of unstacking and stacking, is suitable for loading and unloading various containers and materials, and has better universality.
In the description of the present specification, the descriptions of the terms "one embodiment," "example," "specific example," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims.
Claims (10)
1. A container loading and unloading robot, the robot comprising:
the robot body (1) comprises a base bracket (11) and a body (12) arranged at the top of the base bracket (11);
the mechanical arm (2) is arranged at the movable end of the machine body (12), and a transmission part is arranged on the mechanical arm (2) and used for the movement of the mechanical arm (2);
the end effector (3) is arranged at the tail end of the mechanical arm (2) and is used for taking and placing articles in the container;
the vacuum adsorption module (4) comprises a vacuum generator and a plurality of vacuum chucks communicated with the vacuum generator, and the vacuum chucks are arranged on the end effector (3);
the camera module (5) comprises a plurality of depth cameras, the depth cameras are respectively arranged at the tail end of the mechanical arm (2) and on the robot body main body (1), and the camera module (5) is used for identifying goods stacking conditions and goods positions in the container and acquiring goods information in the container;
the laser radar module (6) comprises a plurality of laser radars (61), wherein the laser radars (61) are uniformly distributed outside the robot body main body (1) and are used for capturing surrounding environment information of the robot and also used for autonomous navigation and obstacle avoidance of the robot;
the driving module is arranged at the bottom of the base bracket (11) and used for driving the robot to walk and bearing the robot;
the power supply module (20) is arranged at the edge of the base bracket (11) and is used for supplying power to the robot;
the controller module (30) is arranged at the top edge of the base bracket (11), the controller module (30) is respectively in butt joint with a transmission part, an end effector (3), a vacuum adsorption module (4), a camera module (5), a laser radar module (6), a driving module and a power module (20) of the mechanical arm (2), the power module (20) provides power for the controller module (30), and the controller module (30) is used for receiving a task instruction of an upper computer and feeding back a feedback task state to the upper computer;
the controller module (30) is also provided with a display (40) for displaying robot data information.
2. A container loading truck robot as recited in claim 1, wherein: the vacuum generator is arranged on the base bracket (11).
3. A container loading truck robot as recited in claim 1, wherein: the driving module comprises a plurality of driving wheels (7) and a plurality of driven wheels (8), wherein the driving wheels (7) are used for running and steering of the robot, and the driven wheels (8) are used for assisting the driving wheels (7) in running;
and the driving wheel (7) and the driven wheel (8) are respectively provided with a brake, and the brakes are used for keeping stability when the driving wheel (7) and the driven wheel (8) stop.
4. A container loading truck robot as recited in claim 1, wherein: the robot further comprises an electric control foot (10), wherein the electric control foot (10) is arranged at the bottom of the robot body main body (1) and used for extending out when the robot works and contacting with the ground, so that the overall stability is improved.
5. A container loading truck robot as recited in claim 1, wherein: the power module (20) comprises a battery (201) and a charging plate (202), wherein the battery (201) is arranged at the edge of the base bracket (11) and is used for providing power for the mechanical arm (2), the end effector (3), the vacuum adsorption module (4), the camera module (5), the laser radar module (6) and the driving module;
the charging plate (202) is mounted on the edge of the base bracket (11) and is used for charging the battery (201).
6. A container loading truck robot as recited in claim 1, wherein: the controller module (30) is in communication connection with a transmission part, an end effector (3) and the vacuum adsorption module (4) on the mechanical arm (2), and the controller module (30) is used for controlling a movement path and a target position of the mechanical arm (2) and is also used for controlling the end effector (3) and the vacuum adsorption module (4) to grasp and place cargoes.
7. A container loading truck robot as recited in claim 1, wherein: the camera module (5) sends the in-box cargo information to a controller module (30);
the lidar module (6) sends the ambient information to a controller module (30);
the controller module (30) processes and analyzes the cargo information in the box and the surrounding environment information to acquire environment and material real-time information.
8. A container loading truck robot as recited in claim 1, wherein: the controller module (30) is in communication connection with the driving module and is used for controlling the running and steering of the robot.
9. A container loading truck robot as recited in claim 1, wherein: and the base bracket (11) is also provided with a mechanical arm controller (9) for monitoring the motion information of the transmission part, the end effector (3) and the vacuum adsorption module (4) of the mechanical arm (2) in real time and feeding back the motion information to the controller module (30).
10. A method of loading and unloading a container loading and unloading robot according to claims 1-9, characterized in that the method comprises loading and unloading steps, wherein:
the loading step specifically comprises the following steps:
s11: the controller module (30) receives a task instruction of the upper computer to acquire a goods taking point coordinate and a container goods placing coordinate, and the controller module (30) controls the driving module to move into the goods taking point coordinate, and autonomously identifies and positions a goods taking target through an algorithm to grasp goods;
s12: after the robot grabs the goods, the robot moves to the goods placing coordinates of the container through the driving module, enters the container, recognizes the goods placing condition and the goods position in the container through the camera module (5), obtains the goods information in the container, judges the goods placing position according to the goods information in the container, determines the goods placing coordinates, places the goods in the goods placing coordinates, completes one-time goods placing, and records the goods placing information;
s13: the controller module (30) stores the goods stacking information and feeds the goods stacking information back to the upper computer in real time;
the unloading step specifically comprises the following steps:
s21: the controller module (30) receives a task instruction of the upper computer to acquire a container goods taking coordinate and a container goods placing point coordinate, the controller module (30) controls the driving module to move to the container goods taking coordinate, and the robot enters the container;
s22: the robot enters the container, the goods stacking condition and the goods position in the container are identified through the camera module (5), the goods information in the container is obtained, the controller module (30) judges the goods stacking position according to the goods information in the container, the goods stacking coordinates are determined, and the robot moves into the goods stacking coordinates through the driving module to grab the goods;
s23: after the robot grabs the goods, the controller module (30) controls the driving module to move to the coordinates of the goods placing point, the goods are placed down, one-time goods unloading is completed, and goods unloading information is recorded;
s24: the controller module (30) stores the cargo unloading information and feeds the cargo stacking information back to the upper computer in real time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311548332.9A CN117509220A (en) | 2023-11-20 | 2023-11-20 | Container loading and unloading robot and loading and unloading method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311548332.9A CN117509220A (en) | 2023-11-20 | 2023-11-20 | Container loading and unloading robot and loading and unloading method thereof |
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| Publication Number | Publication Date |
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| CN117509220A true CN117509220A (en) | 2024-02-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202311548332.9A Pending CN117509220A (en) | 2023-11-20 | 2023-11-20 | Container loading and unloading robot and loading and unloading method thereof |
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| Country | Link |
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| CN (1) | CN117509220A (en) |
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