CN211890846U - Robot is picked up to intelligence based on machine vision - Google Patents
Robot is picked up to intelligence based on machine vision Download PDFInfo
- Publication number
- CN211890846U CN211890846U CN202021280621.7U CN202021280621U CN211890846U CN 211890846 U CN211890846 U CN 211890846U CN 202021280621 U CN202021280621 U CN 202021280621U CN 211890846 U CN211890846 U CN 211890846U
- Authority
- CN
- China
- Prior art keywords
- module
- base
- robot
- lifting
- machine vision
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses an intelligent picking robot based on machine vision, relating to the field of intelligent storage, and aiming at the problem of low efficiency of the current storage logistics robot, providing the following technical proposal which comprises a base, a driving module, a lifting mechanism, a picking mechanism and a host, the host is connected with a storage module, a communication module and a positioning module, the driving module is connected with the base, the top of the base is connected with the picking mechanism through a lifting mechanism, the lifting mechanism is provided with a height detection module, the picking mechanism comprises a rotating platform, a mechanical arm and a mechanical claw which are connected in sequence, the host is also connected with an image recognition module, the image recognition module comprises an acquisition module, a matching module, a processing module and a decision-making module which are sequentially connected, wherein the acquisition module at least comprises an RGB (red, green and blue) camera arranged on the pickup mechanism.
Description
Technical Field
The utility model relates to an intelligent storage field especially relates to an intelligence picks up robot based on machine vision.
Background
The sorting of goods is a key ring in the warehouse logistics, and traditional goods sorting mode is for the staff to push the dolly that is equipped with the form container, finds corresponding article one by one in the storehouse according to the form and puts into corresponding form container, and obviously, along with the rapid development of electronic commerce, traditional goods sorting mode can't satisfy current needs already.
Therefore, the intelligent warehousing system who adopts the storage logistics robot to replace the manual work to carry out goods letter sorting and transport takes place of, present intelligent warehousing system sets up multiple goods shelves in the warehouse, storage logistics robot gets to the assigned position according to the instruction of host computer and puts and carry the goods shelves at place, this kind of storage logistics robot can only carry whole goods shelves promptly, and still need the staff to take off the goods from goods shelves or put goods shelves on by oneself, especially when the staff has the requirement to the number of goods, this kind of storage logistics robot can't satisfy staff's needs, the holistic efficiency of storage logistics has been reduced to a certain extent.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a main aim at provides an intelligence picks up robot based on machine vision, aims at solving the not high problem of present storage logistics robot efficiency.
In order to achieve the above purpose, the utility model provides a following technical scheme: the utility model provides an intelligence picks up robot based on machine vision, includes base, drive module, lifting mechanism, picks up mechanism and host computer, the host computer is connected with storage module, communication module and orientation module, drive module with the base is connected, the top of base with lifting mechanism connects, lifting mechanism keeps away from the one end at the top of base with pick up the mechanism and connect, its characterized in that, it includes revolving stage, arm and the gripper that connects gradually to pick up the mechanism, the host computer still is connected with image recognition module, image recognition module is including the collection module, matching module, processing module and the decision-making module that connect gradually, collection module is at least including locating the RGB camera who picks up on the mechanism.
In an embodiment of this application, drive module is including being located 4 driving motor of base inner chamber and being located the outside 4 of base and removing the wheel, 4 driving motor's output through the pivot with 4 remove the wheel and correspond and be connected.
In an embodiment of the present application, the storage module stores at least a map in the pickup area.
In one embodiment of the present application, the lifting mechanism comprises a lifting platform, a lifting frame and a hydraulic cylinder; the lifting frame comprises at least one telescopic unit, the telescopic unit comprises two support plates which are hinged in a crossed manner, hinge holes used for being hinged with adjacent telescopic units are formed in two ends of each support plate, the support plate, closest to the base, of the lifting frame is hinged with the base, and the support plate, closest to the lifting platform, of the lifting frame is hinged with the lifting platform; the hydraulic cylinder is connected with the host, and two ends of the hydraulic cylinder are respectively connected with the telescopic unit closest to the base and the telescopic unit closest to the lifting platform.
In an embodiment of the application, the height detection module is an infrared distance measurement sensor, and the infrared distance measurement sensor is arranged on the surface of the lifting platform close to the lifting frame.
In an embodiment of the application, the height detection module is an infrared distance measurement sensor, and the infrared distance measurement sensor is arranged on the surface of the lifting platform close to the lifting frame.
In an embodiment of the application, the host computer still is connected with keeps away the barrier module, keep away the barrier module and include along the ultrasonic sensor that base circumference set up.
In an embodiment of the application, the inner wall of the carrying box is provided with a buffer layer.
In an embodiment of the application, still be equipped with the thing case that can dismantle the connection on the lift platform, the bottom surface of carrying the thing case is equipped with weight sensor.
In an embodiment of the application, the host computer still is connected with the display screen, the display screen set up in on the base.
The utility model discloses following beneficial effect has:
1. the image recognition module is arranged to collect and process the image of the article to be picked up and is used for judging the position and the shape of the article to be picked up so as to accurately pick up the article;
2. through the matching of the lifting mechanism and the height detection module, the intelligent picking robot based on machine vision of the utility model can accurately pick up the articles on the higher shelf;
3. the weight sensor is arranged on the bottom surface of the carrying box, so that the condition that the intelligent picking robot based on machine vision is damaged due to overload is avoided;
4. the buffer layer is arranged on the inner wall of the carrying box, so that the condition that the object to be picked up is damaged when falling to the carrying box can be avoided to a certain extent;
5. through communication module with the utility model discloses an intelligence based on machine vision picks up the robot and carries out the communication to reach remote control's purpose.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be 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 exemplary embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without inventive work, wherein:
fig. 1 is a block diagram of an intelligent pick-up robot based on machine vision according to the present invention;
fig. 2 is the utility model discloses an intelligence picks up whole schematic diagram of robot based on machine vision.
The reference numerals include:
1 carrying box;
2, lifting the platform;
3, supporting plates;
4, displaying a screen;
5, a base;
6 moving wheels;
7, a mechanical arm;
8 RGB camera;
9, a bracket;
10 mechanical claw;
11 a rotating table;
12 infrared distance measuring sensor;
13 connecting the shaft;
14 hydraulic cylinders;
15 ultrasonic sensor.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described embodiments are only exemplary embodiments of the present invention, rather than the only embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
An intelligent picking robot based on machine vision is shown in fig. 1-2 and comprises a base 5, a driving module, a power supply module, a lifting mechanism, a picking mechanism and a host.
The drive module is including being located 4 driving motor of 5 inner chambers of base and being located 5 outside 4 of base and removing wheel 6, 4 driving motor's output through the pivot with 4 remove wheel 6 and correspond and be connected.
Power module is used for giving the utility model discloses an intelligence based on machine vision picks up the robot power supply.
The lifting mechanism comprises a lifting platform 2, a lifting frame and a hydraulic cylinder 14. The crane includes at least one flexible unit, and flexible unit includes two cross articulated extension boards 3, and extension board 3's both ends all are equipped with be used for with adjacent flexible unit articulated hinge hole, in this embodiment, a plurality of flexible units are followed the utility model discloses a direction of height that robot was picked up to intelligence based on machine vision is the symmetry setting, and the flexible unit of symmetry passes through connecting axle 13 and connects each other. The support plate 3 of the telescopic unit close to the base 5 is hinged to the base 5 through a hinge hole, and the support plate 3 of the telescopic unit close to the lifting platform 2 is hinged to the lifting platform 2 through a hinge hole. The both ends of pneumatic cylinder 14 are connected with the connecting axle 13 that is closest to base 5 and the connecting axle 13 that is closest to lift platform 2 respectively, and the host computer is connected with pneumatic cylinder 14 to the realization is through host computer control pneumatic cylinder 14, and control pneumatic cylinder 14 promptly uses the junction of being connected with the connecting axle 13 that is closest to base 5 to rotate as the rotation fulcrum, and then the extension or the shrink of control flexible unit, in order to realize lift platform 2.
The picking mechanism comprises a rotating platform 11, a mechanical arm 7 and a mechanical claw 10 which are connected in sequence. Revolving stage 11 and lift platform 2 fixed connection are equipped with the rotating electrical machines in the revolving stage 11, and arm 7 is connected with the rotating electrical machines in the revolving stage 11. The end of the mechanical arm 7 far away from the rotating platform 11 is detachably connected with the mechanical claw 10. The rotation of the rotary motor is controlled by the host computer to realize the rotation of the robot arm 7 and the gripper 10.
The host computer is connected with the image recognition module, and the image recognition module is including the collection module, matching module, processing module and the decision-making module that connect gradually, the collection module is including locating RGB camera 8 on picking up the mechanism at least, and RGB camera 8 detachably dress is on support 9, and support 9 is located on arm 7.
The host is also connected with an obstacle avoidance module, a weighing module and a height detection module, wherein the obstacle avoidance module comprises ultrasonic sensors 15 arranged along the circumferential direction of the base 5; the lifting platform 2 is provided with a detachably connected carrying box 1, and the bottom surface of the carrying box 1 is provided with a weight sensor; the height detection module is an infrared distance measurement sensor 12, and the infrared distance measurement sensor 12 is arranged on the surface of the lifting platform 2 close to the lifting frame. The inner wall of the loading box 1 is also provided with a buffer layer which is a sponge layer.
The host is connected with a communication module, a storage module, a positioning module, a display module and an alarm module. The storage module at least stores a map in the picking area, a position corresponding to the article to be picked and characteristic information of the article to be picked, wherein the characteristic information can be the color of the article to be picked and the like. The communication module can be a Bluetooth module, a 4G module, a 5G module or a WIFI module. The positioning module is a GPS positioner which is arranged on the lifting platform 2. The display module is a display screen 4, and the display screen 4 is arranged on the base 5. The alarm module is used for sending alarm signals to workers through the communication module when abnormal conditions occur, wherein the abnormal conditions comprise overload, incapability of moving and the like.
The utility model discloses a theory of operation that robot was picked up to intelligence based on machine vision:
the staff passes through mobile terminal or backstage to the utility model discloses an intelligence based on machine vision picks up robot cloth and picks up the task, or the staff picks up the task through the display module input, picks up the task and treats article type and the number of picking up and/or the concrete position of the article of waiting to pick up including the destination of carrying, target.
The utility model discloses an intelligence based on machine vision picks up robot is receiving the urban area task after, fixes a position current position through orientation module to map generation removal route in the predetermined picking area in the storage module, and remove to the position that the article place of waiting to pick up according to the removal route that generates.
Based on the height information corresponding to the article to be picked up preset in the storage module, the host drives the hydraulic cylinder 14 to work so as to control the lifting mechanism to lift, the infrared distance measuring sensor 12 measures the distance between the lifting platform 2 and the ground in real time, and when the distance measured by the infrared distance measuring sensor 12 reaches the height corresponding to the position of the article to be picked up, the host controls the hydraulic cylinder 14 and the lifting mechanism to stop moving.
When the hydraulic cylinder 14 and the lifting mechanism stop moving, the acquisition module, namely the RGB camera 8 acquires current image information in real time; the matching module matches the current image information acquired by the RGB camera 8 with the characteristic information of the article to be picked up preset in the storage module in real time; when the current image information acquired by the RGB camera 8 is successfully matched with the feature information of the article to be picked up preset in the storage module, that is, when the current article is judged to be the article to be picked up, the processing module processes the current image information to determine the shape and position of the article to be picked up; the decision module controls the gripper 10 to pick up the object to be picked up according to the shape and position of the object to be picked up obtained by the processing module.
After the gripper 10 picks up the object to be picked up, the robot arm 7 rotates via the rotating table 11, and the RGB camera 8 recognizes the carrier box 1, so that the gripper 10 puts the object to be picked up into the carrier box 1.
Work as the utility model discloses an intelligence based on machine vision picks up robot and will wait to pick up article and put into and carry thing case 1 back as required, according to picking up the task, will wait to pick up article and carry to the destination.
It is above only the utility model discloses a preferred embodiment, the utility model discloses a scope of protection does not only confine above-mentioned embodiment, the all belongs to the utility model discloses a technical scheme under the thinking all belongs to the utility model discloses a scope of protection. It should be noted that modifications and embellishments without departing from the principles of the present invention will occur to those skilled in the art, and are to be considered within the scope of the present invention.
Claims (9)
1. The utility model provides an intelligence picks up robot based on machine vision, includes base (5), drive module, lifting mechanism, picks up mechanism and host computer, the host computer is connected with storage module, communication module and orientation module, drive module with base (5) are connected, the top of base (5) is passed through lifting mechanism and is picked up the mechanism and be connected, a serial communication port, be equipped with high detection module in the lifting mechanism, it includes revolving stage (11), arm (7) and gripper (10) that connect gradually to pick up the mechanism, the host computer still is connected with image identification module, image identification module is including the collection module, matching module, processing module and the decision-making module that connect gradually, collection module is at least including locating RGB camera (8) of picking up on the mechanism.
2. The machine vision based intelligent pick-up robot as claimed in claim 1, wherein the driving module comprises 4 driving motors located in the inner cavity of the base (5) and 4 moving wheels (6) located outside the base (5), and the output ends of the 4 driving motors are correspondingly connected with the 4 moving wheels (6) through rotating shafts.
3. The machine-vision based intelligent pick-up robot of claim 1, wherein the storage module has stored therein at least a map within a pick-up area.
4. The machine-vision based intelligent pick-up robot according to claim 3, characterized in that the lifting mechanism comprises a lifting platform (2), a crane and a hydraulic cylinder (14); the lifting frame comprises at least one telescopic unit, the telescopic unit comprises two support plates (3) which are hinged in a crossed manner, hinge holes used for being hinged with adjacent telescopic units are formed in two ends of each support plate (3), the support plate (3) closest to the base (5) of the lifting frame is hinged with the base (5), and the support plate (3) closest to the lifting platform (2) of the lifting frame is hinged with the lifting platform (2); the hydraulic cylinder (14) is connected with the host, and two ends of the hydraulic cylinder (14) are respectively connected with the telescopic unit closest to the base (5) and the telescopic unit closest to the lifting platform (2).
5. The machine vision based intelligent pick-up robot as claimed in claim 4, wherein the height detection module is an infrared distance measurement sensor (12), and the infrared distance measurement sensor (12) is arranged on the surface of the lifting platform (2) close to the lifting frame.
6. The machine vision based intelligent pick-up robot as claimed in claim 1, wherein the host is further connected with an obstacle avoidance module comprising ultrasonic sensors (15) arranged circumferentially along the base (5).
7. The machine vision based intelligent picking robot is characterized in that the lifting platform (2) is further provided with a detachably connected carrying box (1), and the bottom surface of the carrying box (1) is provided with a weight sensor.
8. Machine vision based intelligent pick-up robot according to claim 7, characterized in that the inner wall of the carrier box (1) is provided with a buffer layer.
9. The machine-vision-based intelligent pick-up robot as claimed in claim 1, wherein a display screen (4) is further connected to the host, the display screen (4) being disposed on the base (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021280621.7U CN211890846U (en) | 2020-07-02 | 2020-07-02 | Robot is picked up to intelligence based on machine vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021280621.7U CN211890846U (en) | 2020-07-02 | 2020-07-02 | Robot is picked up to intelligence based on machine vision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211890846U true CN211890846U (en) | 2020-11-10 |
Family
ID=73265686
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021280621.7U Active CN211890846U (en) | 2020-07-02 | 2020-07-02 | Robot is picked up to intelligence based on machine vision |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211890846U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114012758A (en) * | 2021-12-03 | 2022-02-08 | 中国水产科学研究院渔业机械仪器研究所 | Novel aquaculture water environment intelligent monitoring robot |
| CN114600797A (en) * | 2022-03-31 | 2022-06-10 | 中国农业大学 | Egg pickup device |
-
2020
- 2020-07-02 CN CN202021280621.7U patent/CN211890846U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114012758A (en) * | 2021-12-03 | 2022-02-08 | 中国水产科学研究院渔业机械仪器研究所 | Novel aquaculture water environment intelligent monitoring robot |
| CN114600797A (en) * | 2022-03-31 | 2022-06-10 | 中国农业大学 | Egg pickup device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN211890846U (en) | Robot is picked up to intelligence based on machine vision | |
| WO2020135460A1 (en) | Transfer robot, warehouse logistics system and article transferring method | |
| JP7220293B2 (en) | Goods sorting system and goods sorting method | |
| WO2019061261A1 (en) | Automatic sorting system and automatic sorting robot | |
| CN205087427U (en) | Industrial robot automated storage system | |
| CN109969178B (en) | Multi-material autonomous carrying device and method based on multi-sensor | |
| CN109772718A (en) | Wrap up Address Recognition system, recognition methods and packages system, method for sorting | |
| CN108082891A (en) | A kind of automatic stacking system | |
| CN108146960B (en) | Automatic article storing and taking device | |
| CN109552793B (en) | Three-dimensional warehouse packing box delivery system and method | |
| CN111215343A (en) | Sorting robot control system on production line | |
| CN110404803B (en) | Parallel robot sorting system and sorting method based on vision | |
| CN108861514A (en) | Full-automatic Roll-material conveying AGV robot and its control method | |
| CN109205332A (en) | A kind of packaged type tire stacker crane tool hand and method | |
| CN209023815U (en) | A kind of flexible de-stacking robot palletizer system based on machine vision | |
| CN211802462U (en) | Movable intelligent cargo grabbing and transporting device | |
| CN212421308U (en) | Intelligent lifting device for material grabbing system and material grabbing system | |
| CN210910038U (en) | Classification robot is relayed to intelligence express delivery | |
| CN112917248A (en) | Flexible processing production line of retarber | |
| CN209740029U (en) | Multifunctional intelligent trolley | |
| CN109502225B (en) | Automatic aluminum template ex-warehouse packaging equipment and method | |
| CN214490611U (en) | Unmanned warehouse goods picking robot | |
| CN110667737A (en) | Automatic AGV dolly of loading and unloading material | |
| CN210437869U (en) | Stacking robot | |
| CN211909008U (en) | Intelligent transfer robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |