技术领域Technical Field
本发明涉及取送货装置技术领域，具体为一种智能货架用取送货装置。The present invention relates to the technical field of pick-up and delivery devices, and in particular to a pick-up and delivery device for smart shelves.
背景技术Background Art
货架是一种用于存储和展示物品的结构性设备，广泛应用于仓库、配送中心、商店、超市和家庭等场所，货架的主要功能是通过合理利用垂直空间来增加存储容量，方便物品的存取和管理，通过合理利用垂直空间，提高存储容量和管理效率，不同类型的货架适用于不同的应用场景，能够满足各种存储需求，保障物品的安全和管理的便捷。Shelves are structural equipment used to store and display items. They are widely used in warehouses, distribution centers, stores, supermarkets, homes and other places. The main function of shelves is to increase storage capacity by rationally utilizing vertical space, facilitate the access and management of items, and improve storage capacity and management efficiency by rationally utilizing vertical space. Different types of shelves are suitable for different application scenarios and can meet various storage needs, ensuring the safety of items and convenient management.
传统的货架进行取送货时通常需要人工进行搬运或人工控制夹持机器进行搬运，就会导致操作速度和效率受限于工人的体力和技能水平，人工操作受工作时间限制，无法实现24小时连续工作，导致仓库和配送中心的运营效率低下的问题。Traditional shelves usually require manual handling or manually controlled clamping machines for picking up and delivering goods, which means that the operation speed and efficiency are limited by the workers' physical strength and skill level. Manual operation is limited by working hours and cannot achieve 24-hour continuous work, resulting in low operating efficiency of warehouses and distribution centers.
发明内容Summary of the invention
针对现有技术的不足，本发明提供了一种智能货架用取送货装置，解决了传统的货架进行取送货时通常需要人工进行搬运或人工控制夹持机器进行搬运，导致仓库和配送中心的运营效率低下的问题。In view of the deficiencies in the prior art, the present invention provides a pick-up and delivery device for an intelligent shelf, which solves the problem that traditional shelves usually require manual transportation or manually controlled clamping machines for transportation when picking up and delivering goods, resulting in low operating efficiency of warehouses and distribution centers.
为实现以上目的，本发明通过以下技术方案予以实现：一种智能货架用取送货装置，包括移动平台、抓取机构、货物传送机构，所述移动平台负责在货架之间移动，定位到指定位置以进行取货或送货操作，配备多个轮子，轮子采用耐磨橡胶材料，确保在仓库地面上的平稳移动，轮子内部配有电机，提供移动平台的动力，底盘使用金属结构框架，支撑整个装置的重量和各种组件，用于在货架之间移动，定位到指定位置进行操作，配备避障传感器，避免碰撞和损坏，结合导航传感器和定位系统，实现高精度定位，所述抓取机构负责抓取货物并进行搬运，具备多自由度机械臂，提供灵活的操作范围，夹持器采用夹爪式，可以对不同类型的货物进行抓取，配备伺服电机用于驱动机械臂和夹持器的各个关节，确保精确控制，所述货物传送机构负责在装置内部传送货物，确保货物从抓取位置到存储位置的平稳移动，由橡胶或塑料材质的传送带，带动货物在装置内部移动，配备由金属或高强度塑料制成的用于支撑和驱动传送带的滚筒和驱动滚筒和传送带的电机，使用变频器调节速度，导轨确保传送带在指定路径上平稳移动，避免货物偏移。To achieve the above objectives, the present invention is implemented through the following technical solutions: a pick-up and delivery device for intelligent shelves, including a mobile platform, a grabbing mechanism, and a cargo conveying mechanism. The mobile platform is responsible for moving between shelves and positioning at a designated position for picking up or delivering goods. It is equipped with multiple wheels, and the wheels are made of wear-resistant rubber material to ensure smooth movement on the warehouse floor. The wheels are equipped with motors to provide power for the mobile platform. The chassis uses a metal structural frame to support the weight of the entire device and various components, and is used to move between shelves and position at a designated position for operation. It is equipped with obstacle avoidance sensors to avoid collision and damage, and is combined with navigation sensors and positioning systems to achieve high-precision positioning. The picking mechanism is responsible for grabbing the goods and moving them. It has a multi-degree-of-freedom robotic arm that provides a flexible operating range. The gripper adopts a claw type and can grab different types of goods. It is equipped with a servo motor to drive the various joints of the robotic arm and the gripper to ensure precise control. The cargo conveying mechanism is responsible for conveying the goods inside the device to ensure the smooth movement of the goods from the grabbing position to the storage position. The conveyor belt made of rubber or plastic drives the goods to move inside the device. It is equipped with rollers made of metal or high-strength plastic for supporting and driving the conveyor belt and motors for driving the rollers and conveyor belts. The speed is adjusted using a frequency converter, and the guide rails ensure that the conveyor belt moves smoothly on the specified path to avoid cargo deviation.
优选的，所述移动平台包括距离传感器，所述距离传感器负责测量装置与货架、货物之间的距离，防止碰撞和损坏，超声波传感器：通过发射和接收超声波，测量与物体之间的距离，所述距离传感器包括激光测距传感器，所述激光测距传感器使用激光束测量距离，提供更高的测量精度，所述距离传感器包括红外传感器。Preferably, the mobile platform includes a distance sensor, which is responsible for measuring the distance between the device and the shelves and goods to prevent collision and damage. An ultrasonic sensor measures the distance to an object by emitting and receiving ultrasonic waves. The distance sensor includes a laser ranging sensor, which uses a laser beam to measure the distance and provides higher measurement accuracy. The distance sensor includes an infrared sensor.
优选的，所述红外传感器通过红外线反射测量距离，适用于较短距离的检测，所述距离传感器的安装在移动平台的前、后、左、右四个方向，确保全方位监测，所述距离传感器安装在机械臂的末端，辅助抓取操作，所述距离传感器通过实时测量装置与周围物体的距离，防止碰撞和损坏，辅助导航系统，实现精确定位和移动，在机械臂末端测量货物距离，辅助抓取操作，确保安全和准确。Preferably, the infrared sensor measures distance by infrared reflection and is suitable for detection at shorter distances. The distance sensor is installed in the front, rear, left and right directions of the mobile platform to ensure all-round monitoring. The distance sensor is installed at the end of the robotic arm to assist in grasping operations. The distance sensor prevents collision and damage by measuring the distance between the device and surrounding objects in real time, assists the navigation system, achieves precise positioning and movement, measures the distance of the cargo at the end of the robotic arm, assists in grasping operations, and ensures safety and accuracy.
优选的，所述抓取机构包括视觉传感器，所述视觉传感器用于识别和定位货物，辅助抓取操作，所述视觉传感器包括摄像头，所述摄像头用于提供高分辨率图像，用于货物识别和定位，所述视觉传感器包括3D相机，所述3D相机通过深度传感技术，提供货物的三维信息，所述视觉传感器包括激光雷达，所述激光雷达用于扫描环境，构建三维地图，辅助导航和定位。Preferably, the grasping mechanism includes a visual sensor, which is used to identify and locate the goods and assist the grasping operation. The visual sensor includes a camera, which is used to provide high-resolution images for cargo identification and positioning. The visual sensor includes a 3D camera, which provides three-dimensional information of the goods through depth sensing technology. The visual sensor includes a lidar, which is used to scan the environment, build a three-dimensional map, and assist navigation and positioning.
优选的，所述视觉传感器安装在抓取机构附近，确保视野覆盖抓取区域，所述视觉传感器安装在移动平台上，实时监测周围环境，所述视觉传感器通过图像处理算法，识别货物的位置和形状，辅助抓取操作，实时监测装置周围环境，辅助导航和避障，提供高精度的定位信息，确保抓取和移动操作的准确性。Preferably, the visual sensor is installed near the grasping mechanism to ensure that the field of view covers the grasping area. The visual sensor is installed on a mobile platform to monitor the surrounding environment in real time. The visual sensor uses an image processing algorithm to identify the position and shape of the goods, assist in the grasping operation, monitor the environment around the device in real time, assist in navigation and obstacle avoidance, provide high-precision positioning information, and ensure the accuracy of grasping and moving operations.
优选的，所述货物传送机构包括重量传感器，所述重量传感器用于测量货物的重量，确保搬运的安全性，所述重量传感器包括电子秤，所述电子秤通过应变片或压力传感器测量货物重量，提供高精度的重量数据。Preferably, the cargo conveying mechanism includes a weight sensor, which is used to measure the weight of the cargo to ensure the safety of transportation. The weight sensor includes an electronic scale, which measures the weight of the cargo through a strain gauge or a pressure sensor to provide high-precision weight data.
优选的，所述重量传感器包括压力传感器，所述压力传感器实时监测货物的重量变化，所述重量传感器安装在货物传送机构上，确保传送过程中监测货物重量，所述重量传感器在货物传送过程中，监测重量变化，确保货物的安全传送，记录每次操作的货物重量，提供数据支持和可追溯性。Preferably, the weight sensor includes a pressure sensor, which monitors the weight change of the cargo in real time. The weight sensor is installed on the cargo conveying mechanism to ensure that the weight of the cargo is monitored during the conveying process. During the cargo conveying process, the weight sensor monitors the weight change to ensure the safe delivery of the cargo, records the weight of the cargo for each operation, and provides data support and traceability.
优选的，一种智能货架用取送货装置的使用方法，包括以下具体步骤：Preferably, a method for using a pick-up and delivery device for a smart shelf comprises the following specific steps:
S1：初始化设置，在中央控制器中输入仓库或配送中心的地图信息，包括货架位置、货物存放区域、通道等，生成环境地图，设置移动平台和机械臂的初始位置，确保设备启动时处于安全位置，对传感器、机械臂、传送系统等进行校准，确保其测量和操作的准确性；S1: Initialization settings: input the map information of the warehouse or distribution center into the central controller, including shelf locations, cargo storage areas, channels, etc., generate an environmental map, set the initial positions of the mobile platform and robotic arm, ensure that the equipment is in a safe position when it starts, and calibrate the sensors, robotic arms, conveyor systems, etc. to ensure the accuracy of their measurements and operations;
S2：操作指令接收，从仓库管理系统或企业资源计划系统接收取货或送货指令，指令包括货物的位置、目标位置、货物类型、数量等信息，中央控制器解析收到的指令，提取关键信息——货物位置、目标位置，根据指令信息，分配具体任务给移动平台和机械臂；S2: Operation instruction reception: receiving pickup or delivery instructions from the warehouse management system or enterprise resource planning system. The instructions include information such as the location, target location, type, and quantity of the goods. The central controller parses the received instructions and extracts key information - the location of the goods and the target location. According to the instruction information, it assigns specific tasks to the mobile platform and the robotic arm.
S3：导航与定位，中央控制器根据环境地图和指令信息，计算最佳路径，避免障碍物和拥堵区域，在移动过程中，实时监测环境变化，动态调整路径，确保顺利到达目标位置，利用激光雷达、超声波传感器、视觉传感器实时反馈的环境数据，辅助导航和避障，结合GPS、惯性导航系统和环境地图，确保移动平台精确定位到目标位置；S3: Navigation and positioning. The central controller calculates the best path based on the environmental map and command information to avoid obstacles and congested areas. During the movement, it monitors environmental changes in real time and dynamically adjusts the path to ensure smooth arrival at the target location. It uses environmental data fed back in real time by lidar, ultrasonic sensors, and visual sensors to assist in navigation and obstacle avoidance. It combines GPS, inertial navigation systems, and environmental maps to ensure that the mobile platform is accurately positioned at the target location.
S4：抓取与搬运，利用视觉传感器识别货物的位置和形状，确认货物状态，根据识别结果，校准机械臂和夹持器的位置，确保抓取操作准确，机械臂根据指令移动到货物位置，调整角度和距离，准备抓取，夹持器根据货物类型和大小，调整夹持力度和方式，确保安全抓取，抓取货物后，启动传送系统，将货物从抓取位置传送到指定位置，传送过程中，监测货物状态，确保货物平稳传送，避免掉落或损坏；S4: Grasping and handling, using visual sensors to identify the position and shape of the goods, confirm the state of the goods, calibrate the position of the robot arm and the gripper according to the recognition results, ensure the accuracy of the grasping operation, the robot arm moves to the position of the goods according to the instructions, adjusts the angle and distance, and prepares to grasp. The gripper adjusts the clamping force and method according to the type and size of the goods to ensure safe grasping. After grasping the goods, start the conveying system to convey the goods from the grasping position to the specified position. During the conveying process, monitor the state of the goods to ensure smooth conveying of the goods to avoid falling or damage;
S5：数据反馈与记录，完成抓取和搬运任务后，将操作结果反馈给仓库管理系统，包括任务完成状态、货物信息，如果操作过程中出现异常或故障，立即报告给管理系统，并记录详细信息以便事后分析，记录每次操作的详细信息，包括任务指令、路径规划、抓取和搬运操作、设备状态，记录货物的详细信息，包括货物类型、重量、位置、搬运次数，记录设备的维护和保养信息，包括校准、检修、部件更换等，确保设备的长期稳定运行。S5: Data feedback and recording. After completing the grabbing and handling tasks, the operation results will be fed back to the warehouse management system, including the task completion status and cargo information. If any abnormality or failure occurs during the operation, it will be reported to the management system immediately, and the detailed information will be recorded for subsequent analysis. The detailed information of each operation will be recorded, including task instructions, path planning, grabbing and handling operations, and equipment status. The detailed information of the cargo will be recorded, including cargo type, weight, location, and number of handling times. The maintenance and maintenance information of the equipment will be recorded, including calibration, inspection, and component replacement, to ensure the long-term stable operation of the equipment.
本发明提供了一种智能货架用取送货装置。具备以下有益效果：The present invention provides a pick-up and delivery device for a smart shelf. It has the following beneficial effects:
1、本发明通过先进的路径规划算法和导航系统，能够计算最优路径，减少移动距离和时间，实时避障和动态路径调整功能，确保设备在复杂环境中高效运行，自动化的取送货操作，减少了人工干预，从而可以达到提高货物处理的速度和效率的效果。1. The present invention uses advanced path planning algorithms and navigation systems to calculate the optimal path, reduce moving distance and time, and has real-time obstacle avoidance and dynamic path adjustment functions to ensure that the equipment can operate efficiently in complex environments. The automated pickup and delivery operations reduce manual intervention, thereby achieving the effect of improving the speed and efficiency of cargo handling.
2、本发明通过多种传感器的协同工作，实现高精度的货物定位和抓取，自动校准和误差补偿功能，确保货物处理的准确性，机械臂和夹持器的多自由度控制，实现灵活、精细的操作，适应不同形状和尺寸的货物，重量传感器实时监测货物重量，确保安全的搬运，从而可以达到提升货物处理精度的效果。2. The present invention realizes high-precision cargo positioning and grasping through the coordinated work of multiple sensors, automatic calibration and error compensation functions to ensure the accuracy of cargo handling, multi-degree-of-freedom control of the robotic arm and the gripper to achieve flexible and precise operation and adapt to cargo of different shapes and sizes. The weight sensor monitors the weight of the cargo in real time to ensure safe handling, thereby achieving the effect of improving the accuracy of cargo handling.
3、本发明通过传感器模块实时监测设备和环境状态，发现异常情况及时报警，防止事故发生，安全检查和维护记录功能，确保设备长期安全运行，距离传感器和视觉传感器实时检测周围环境，防止设备碰撞货架或其他物体，从而可以达到保护设备和货物安全的效果。3. The present invention uses sensor modules to monitor the status of equipment and the environment in real time, and promptly issues an alarm when an abnormal situation is found to prevent accidents. The safety inspection and maintenance record functions ensure the long-term safe operation of the equipment. The distance sensor and the visual sensor detect the surrounding environment in real time to prevent the equipment from colliding with shelves or other objects, thereby achieving the effect of protecting the safety of equipment and goods.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1为本发明的立体图；Fig. 1 is a perspective view of the present invention;
图2为本发明的视觉传感器示意图；FIG2 is a schematic diagram of a visual sensor of the present invention;
图3为本发明的导航传感器示意图；FIG3 is a schematic diagram of a navigation sensor of the present invention;
图4为本发明的抓取机构示意图；FIG4 is a schematic diagram of a grabbing mechanism of the present invention;
图5为本发明的货物传送机构示意图；FIG5 is a schematic diagram of a cargo conveying mechanism of the present invention;
图6为本发明的方法流程图。FIG6 is a flow chart of the method of the present invention.
其中，1、移动平台；2、抓取机构；3、货物传送机构；4、导航传感器；5、距离传感器；6、视觉传感器；7、重量传感器。Among them, 1. Mobile platform; 2. Grasping mechanism; 3. Cargo conveying mechanism; 4. Navigation sensor; 5. Distance sensor; 6. Visual sensor; 7. Weight sensor.
具体实施方式DETAILED DESCRIPTION
下面将结合本发明的附图，对本发明的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
请参阅附图1－附图6，本发明实施例提供一种智能货架用取送货装置，包括移动平台1、抓取机构2、货物传送机构3，移动平台1负责在货架之间移动，定位到指定位置以进行取货或送货操作，配备多个轮子，轮子采用耐磨橡胶材料，确保在仓库地面上的平稳移动，轮子内部配有电机，提供移动平台1的动力，底盘使用金属结构框架，支撑整个装置的重量和各种组件，用于在货架之间移动，定位到指定位置进行操作，配备避障传感器，避免碰撞和损坏，结合导航传感器4和定位系统，实现高精度定位，抓取机构2负责抓取货物并进行搬运，具备多自由度机械臂，提供灵活的操作范围，夹持器采用夹爪式，可以对不同类型的货物进行抓取，配备伺服电机用于驱动机械臂和夹持器的各个关节，确保精确控制，货物传送机构3负责在装置内部传送货物，确保货物从抓取位置到存储位置的平稳移动，由橡胶或塑料材质的传送带，带动货物在装置内部移动，配备由金属或高强度塑料制成的用于支撑和驱动传送带的滚筒和驱动滚筒和传送带的电机，使用变频器调节速度，导轨确保传送带在指定路径上平稳移动，避免货物偏移。Please refer to Figures 1 to 6. An embodiment of the present invention provides a delivery device for intelligent shelves, including a mobile platform 1, a grabbing mechanism 2, and a cargo conveying mechanism 3. The mobile platform 1 is responsible for moving between shelves and positioning at a designated position for picking up or delivering goods. It is equipped with multiple wheels, and the wheels are made of wear-resistant rubber material to ensure smooth movement on the warehouse floor. The wheels are equipped with motors to provide power for the mobile platform 1. The chassis uses a metal structure frame to support the weight of the entire device and various components, and is used to move between shelves and position at a designated position for operation. It is equipped with an obstacle avoidance sensor to avoid collision and damage. It is combined with a navigation sensor 4 and a positioning system to achieve high-precision positioning, grabbing, and other functions. Mechanism 2 is responsible for grabbing and moving goods. It has a multi-degree-of-freedom robotic arm that provides a flexible operating range. The gripper adopts a claw type and can grab different types of goods. It is equipped with a servo motor to drive the various joints of the robotic arm and the gripper to ensure precise control. The cargo conveying mechanism 3 is responsible for conveying the goods inside the device to ensure the smooth movement of the goods from the grabbing position to the storage position. The conveyor belt made of rubber or plastic drives the goods to move inside the device. It is equipped with rollers made of metal or high-strength plastic for supporting and driving the conveyor belt and motors for driving the rollers and conveyor belts. The speed is adjusted using a frequency converter, and the guide rails ensure that the conveyor belt moves smoothly on the specified path to avoid cargo deviation.
移动平台1包括距离传感器5，距离传感器5负责测量装置与货架、货物之间的距离，防止碰撞和损坏，超声波传感器：通过发射和接收超声波，测量与物体之间的距离，距离传感器5包括激光测距传感器，激光测距传感器使用激光束测量距离，提供更高的测量精度，距离传感器5包括红外传感器。The mobile platform 1 includes a distance sensor 5, which is responsible for measuring the distance between the device and the shelves and goods to prevent collision and damage. The ultrasonic sensor measures the distance to the object by emitting and receiving ultrasonic waves. The distance sensor 5 includes a laser ranging sensor, which uses a laser beam to measure the distance and provides higher measurement accuracy. The distance sensor 5 includes an infrared sensor.
红外传感器通过红外线反射测量距离，适用于较短距离的检测，距离传感器5安装在移动平台1的前、后、左、右四个方向，确保全方位监测，距离传感器5安装在机械臂的末端，辅助抓取操作，距离传感器5通过实时测量装置与周围物体的距离，防止碰撞和损坏，辅助导航系统，实现精确定位和移动，在机械臂末端测量货物距离，辅助抓取操作，确保安全和准确。The infrared sensor measures the distance by infrared reflection and is suitable for detection at a shorter distance. The distance sensor 5 is installed in the front, rear, left and right directions of the mobile platform 1 to ensure all-round monitoring. The distance sensor 5 is installed at the end of the robotic arm to assist in the grasping operation. The distance sensor 5 prevents collision and damage by measuring the distance between the device and surrounding objects in real time, assists the navigation system, realizes precise positioning and movement, measures the distance of the goods at the end of the robotic arm, assists in the grasping operation, and ensures safety and accuracy.
抓取机构2包括视觉传感器6，视觉传感器6用于识别和定位货物，辅助抓取操作，视觉传感器6包括摄像头，摄像头用于提供高分辨率图像，用于货物识别和定位，视觉传感器6包括3D相机，3D相机通过深度传感技术，提供货物的三维信息，视觉传感器6包括激光雷达，激光雷达用于扫描环境，构建三维地图，辅助导航和定位。The grasping mechanism 2 includes a visual sensor 6, which is used to identify and locate the goods and assist the grasping operation. The visual sensor 6 includes a camera, which is used to provide high-resolution images for cargo identification and positioning. The visual sensor 6 includes a 3D camera, which provides three-dimensional information of the goods through depth sensing technology. The visual sensor 6 includes a laser radar, which is used to scan the environment, build a three-dimensional map, and assist navigation and positioning.
视觉传感器6安装在抓取机构2附近，确保视野覆盖抓取区域，视觉传感器6安装在移动平台1上，实时监测周围环境，视觉传感器6通过图像处理算法，识别货物的位置和形状，辅助抓取操作，实时监测装置周围环境，辅助导航和避障，提供高精度的定位信息，确保抓取和移动操作的准确性。The visual sensor 6 is installed near the grasping mechanism 2 to ensure that the field of view covers the grasping area. The visual sensor 6 is installed on the mobile platform 1 to monitor the surrounding environment in real time. The visual sensor 6 uses image processing algorithms to identify the position and shape of the goods, assist in grasping operations, monitor the environment around the device in real time, assist in navigation and obstacle avoidance, provide high-precision positioning information, and ensure the accuracy of grasping and moving operations.
货物传送机构3包括重量传感器7，重量传感器7用于测量货物的重量，确保搬运的安全性，重量传感器7包括电子秤，电子秤通过应变片或压力传感器测量货物重量，提供高精度的重量数据。The cargo conveying mechanism 3 includes a weight sensor 7, which is used to measure the weight of the cargo to ensure the safety of transportation. The weight sensor 7 includes an electronic scale, which measures the weight of the cargo through a strain gauge or a pressure sensor to provide high-precision weight data.
重量传感器7包括压力传感器，压力传感器实时监测货物的重量变化，重量传感器7安装在货物传送机构3上，确保传送过程中监测货物重量，重量传感器7在货物传送过程中，监测重量变化，确保货物的安全传送，记录每次操作的货物重量，提供数据支持和可追溯性。The weight sensor 7 includes a pressure sensor, which monitors the weight change of the goods in real time. The weight sensor 7 is installed on the goods conveying mechanism 3 to ensure that the weight of the goods is monitored during the conveying process. The weight sensor 7 monitors the weight change during the conveying process of the goods to ensure the safe delivery of the goods, records the weight of the goods for each operation, and provides data support and traceability.
一种智能货架用取送货装置的使用方法，包括以下具体步骤：A method for using a delivery device for a smart shelf includes the following specific steps:
S1：初始化设置，在中央控制器中输入仓库或配送中心的地图信息，包括货架位置、货物存放区域、通道等，生成环境地图，设置移动平台1和机械臂的初始位置，确保设备启动时处于安全位置，对传感器、机械臂、传送系统等进行校准，确保其测量和操作的准确性；S1: Initialization settings, input the map information of the warehouse or distribution center into the central controller, including shelf locations, cargo storage areas, channels, etc., generate an environmental map, set the initial positions of the mobile platform 1 and the robotic arm, ensure that the equipment is in a safe position when it starts, calibrate the sensors, robotic arms, conveying systems, etc., and ensure the accuracy of their measurements and operations;
S2：操作指令接收，从仓库管理系统WMS或企业资源计划系统ERP接收取货或送货指令，指令包括货物的位置、目标位置、货物类型、数量等信息，中央控制器解析收到的指令，提取关键信息——货物位置、目标位置，根据指令信息，分配具体任务给移动平台1和机械臂；S2: Operation instruction reception, receiving pickup or delivery instructions from the warehouse management system WMS or enterprise resource planning system ERP. The instructions include information such as the location, target location, type, and quantity of the goods. The central controller parses the received instructions and extracts key information - the location of the goods and the target location. According to the instruction information, it assigns specific tasks to the mobile platform 1 and the robotic arm;
S3：导航与定位，中央控制器根据环境地图和指令信息，计算最佳路径，避免障碍物和拥堵区域，在移动过程中，实时监测环境变化，动态调整路径，确保顺利到达目标位置，利用激光雷达、超声波传感器、视觉传感器6实时反馈的环境数据，辅助导航和避障，结合GPS、惯性导航系统和环境地图，确保移动平台1精确定位到目标位置；S3: Navigation and positioning. The central controller calculates the best path based on the environmental map and command information to avoid obstacles and congested areas. During the movement, it monitors environmental changes in real time and dynamically adjusts the path to ensure smooth arrival at the target location. It uses the environmental data fed back in real time by the laser radar, ultrasonic sensor, and visual sensor 6 to assist in navigation and obstacle avoidance. It combines GPS, inertial navigation system, and environmental map to ensure that the mobile platform 1 is accurately positioned at the target location.
S4：抓取与搬运，利用视觉传感器6识别货物的位置和形状，确认货物状态，根据识别结果，校准机械臂和夹持器的位置，确保抓取操作准确，机械臂根据指令移动到货物位置，调整角度和距离，准备抓取，夹持器根据货物类型和大小，调整夹持力度和方式，确保安全抓取，抓取货物后，启动传送系统，将货物从抓取位置传送到指定位置，传送过程中，监测货物状态，确保货物平稳传送，避免掉落或损坏；S4: Grasping and handling, using the visual sensor 6 to identify the position and shape of the goods, confirm the state of the goods, calibrate the position of the robot arm and the gripper according to the recognition result, ensure the accuracy of the grasping operation, the robot arm moves to the position of the goods according to the instruction, adjusts the angle and distance, and prepares to grasp, the gripper adjusts the clamping force and method according to the type and size of the goods to ensure safe grasping, after grasping the goods, start the conveying system, and convey the goods from the grasping position to the specified position, during the conveying process, monitor the state of the goods to ensure the smooth conveying of the goods to avoid falling or damage;
S5：数据反馈与记录，完成抓取和搬运任务后，将操作结果反馈给仓库管理系统，包括任务完成状态、货物信息，如果操作过程中出现异常或故障，立即报告给管理系统，并记录详细信息以便事后分析，记录每次操作的详细信息，包括任务指令、路径规划、抓取和搬运操作、设备状态，记录货物的详细信息，包括货物类型、重量、位置、搬运次数，记录设备的维护和保养信息，包括校准、检修、部件更换等，确保设备的长期稳定运行。S5: Data feedback and recording. After completing the grabbing and handling tasks, the operation results will be fed back to the warehouse management system, including the task completion status and cargo information. If any abnormality or failure occurs during the operation, it will be reported to the management system immediately, and the detailed information will be recorded for subsequent analysis. The detailed information of each operation will be recorded, including task instructions, path planning, grabbing and handling operations, and equipment status. The detailed information of the cargo will be recorded, including cargo type, weight, location, and number of handling times. The maintenance and maintenance information of the equipment will be recorded, including calibration, inspection, and component replacement, to ensure the long-term stable operation of the equipment.
尽管已经示出和描述了本发明的实施例，对于本领域的普通技术人员而言，可以理解在不脱离本发明的原理和精神的情况下可以对这些实施例进行多种变化、修改、替换和变型，本发明的范围由所附权利要求及其等同物限定。Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.
| Application Number | Priority Date | Filing Date | Title |
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| CN202410920338.2ACN118723537A (en) | 2024-07-10 | 2024-07-10 | A pick-up and delivery device for smart shelves |
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| CN202410920338.2ACN118723537A (en) | 2024-07-10 | 2024-07-10 | A pick-up and delivery device for smart shelves |
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| CN119389646A (en)* | 2025-01-02 | 2025-02-07 | 中建材智能自动化研究院有限公司 | Cargo grabbing device and method |
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| CN119389646A (en)* | 2025-01-02 | 2025-02-07 | 中建材智能自动化研究院有限公司 | Cargo grabbing device and method |
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