CN215438381U

CN215438381U - Parcel transfer device based on global vision

Info

Publication number: CN215438381U
Application number: CN202121533656.1U
Authority: CN
Inventors: 谢巍; 刘彦汝; 杨启帆; 杨奕斌; 廉胤东; 周雅静
Original assignee: South China University of Technology SCUT
Current assignee: South China University of Technology SCUT
Priority date: 2021-07-06
Filing date: 2021-07-06
Publication date: 2022-01-07
Anticipated expiration: 2031-07-06

Abstract

The utility model discloses a package transfer device based on global vision, which comprises a computer for centralized control, a conveyor belt, an industrial camera connected with the computer and storage AGV equipment, wherein the conveyor belt is arranged on the computer; the industrial camera is arranged above the conveyor belt through a bracket; the computer is connected with the mechanical arm, a vacuum clamp is installed on the mechanical arm, and an RFID recognition device is installed on the vacuum clamp. According to the vacuum clamp, the RFID read-write equipment and the mechanical arm are combined, package information is recognized through the RFID technology and then clamped, global vision is utilized to control the multiple AGV to move to reach the range of the operation area of the mechanical arm, then the track of the mechanical arm is planned, and the packages are transferred to the AGV, so that the conveying belt, the RFID technology, the mechanical arm and the multiple AGV devices are dynamically integrated, and the operation efficiency and the intelligent degree of the storage device are improved.

Description

Parcel transfer device based on global vision

Technical Field

The utility model belongs to the field of intelligent warehouse logistics, and particularly relates to a package transfer device based on global vision.

Background

With the rapid development of the electronic commerce industry in China in recent years, the market scale of the logistics industry in China is continuously enlarged, and the warehousing industry rapidly rises due to the huge market demand. However, the improvement of the requirement on the production level naturally brings the change of the production mode, the traditional storage system relying on manual work is eliminated, the strategic position of intelligent storage is continuously strengthened, and the market demand on the intelligent storage is further released in the future.

The conventional package transfer method is to transport the goods to a designated location by using a conveyor belt and then to manually handle the goods. However, this method is time-consuming and labor-consuming, and the flexibility of the system is insufficient. Thus, a multiple AGV Warehouse system that can flexibly sort and transport packages is created, and through Multi-objective scheduling and navigation algorithms, the system can Control the AGVs To transport the goods To any place in the Warehouse (X.Yan, C.Zhang and M.Qi, "Multi-AGVs Collision-Avoidence and delay-Control for Item-To-Human Automated route," 2017International reference on Industrial Engineering, Management Science and Application (ICIMSA),2017, pp.1-5, doi: 10.1109/MSA.2017.7985596.). The multiple AGV system not only has the characteristics of high transportation efficiency and strong flexibility, but also has lower operation cost. However, the situation that the AGV can run in a single scene is still common, which causes the situation that the interaction among various logistics transportation devices depends on manual work, and the automation degree of the warehousing industry still needs to be improved. With the development of mechanical arm technology, many warehousing systems employ mechanical arms to Pick up packages (S.D. Han, S.W. Feng and J.Yu, "powered Fast and optical Robotic Pick-and-plane on a Moving Container," in IEEE Robotics and Automation Letters, vol.5, No.2, pp.446-453, April 2020, doi: 10.1109/LRA.2019.2961605), but because the trajectory of a mechanical arm is relatively simple, the trajectory re-planning is dependent on the positional information of the AGV, so that in the absence of AGV information, a cargo area is fixed, and after the AGV travels to a specified location, the mechanical arm again grabs the cargo along a fixed trajectory and places the cargo on the AGV (H.F. Rahman, M.N.Janaldan and P.Nielsen. integrated cargo for use: automatic system J. 219, Assembly J.234). In large storage systems, the fixed cargo area is often congested due to the large number of AGVs.

With the rapid development of the internet of things, the RFID (radio frequency identification) technology is gradually popularized, has the characteristics of high safety, large information capacity, good anti-interference performance and the like, can be widely applied to the fields of retail, logistics, traffic and the like, and greatly improves the management efficiency. There are precedents to apply RFID technology in the field of logistics warehousing in combination with robots (f. bernardin, a. motroni, p. nepa, a. buffi and b. tellini, "SAR-based Localization of UHF-RFID Tags in Smart waters," 20205 th International Conference on Smart and susatable Technologies (spread technology), 2020, pp.1-6, doi: 10.23919/spread technology 49282.2020.9243755.), but they all only stay on parcel information acquisition and are rarely combined with other logistics transportation devices.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a package transfer device based on global vision, which mainly aims to overcome the defects and shortcomings of the prior art, wherein a vacuum clamp combines RFID read-write equipment with a mechanical arm, clamps package information after the package information is identified through an RFID technology, controls multiple AGV motions by using the global vision to enable the multiple AGV to reach the range of an operation area of the mechanical arm, plans the track of the mechanical arm, transfers packages to the AGV, and accordingly dynamically integrates a conveying belt, the RFID technology, the mechanical arm and the multiple AGV devices together, and improves the operation efficiency and the intelligent degree of a storage device.

The utility model is realized by at least one of the following technical schemes.

A parcel transfer device based on global vision comprises a computer for centralized control, a conveyor belt, an industrial camera connected with the computer and storage AGV equipment; the industrial camera is arranged above the conveyor belt through a bracket; the computer is connected with the mechanical arm, a vacuum clamp is installed on the mechanical arm, and an RFID recognition device is installed on the vacuum clamp.

Preferably, the vacuum clamp comprises a sucker fixing base, a sucker, an air pipe joint, an air escape valve, a vacuum pump, an adjuster and an RFID (radio frequency identification) device;

the sucker fixing base is fixed at the tail end of the mechanical arm, the sucker is fixed on the sucker fixing base, and the sucker is connected with a gas pipe connector; each air pipe joint is provided with at least two interfaces, the air pipe joints are connected end to end through air pipes, two suckers which are close to the lower part of the sucker fixing base and far away from the RFID identification device are not connected with each other, and the interfaces of the two suckers which are not connected through the air pipes are respectively connected with an air escape valve and a vacuum pump; the adjuster is installed on the extension plate of the sucker fixing base.

Preferably, the storage AGV equipment comprises a storage AGV, a goods tray and a two-dimensional code; the goods tray is installed at storage AGV automobile body top, the two-dimensional code is pasted on the goods tray.

Preferably, the warehousing AGV comprises an EAI robot chassis, wheels, a vehicle body supporting frame arranged on the surface of the EAI robot chassis, a laser radar and a supporting column for supporting the goods tray; the wheel is located between the EAI robot chassis and the vehicle body supporting frame, the laser radar is arranged on the edge of the top of the vehicle body supporting frame, and the surface of the vehicle body supporting frame is provided with an industrial personal computer.

Preferably, the industrial camera shooting erection position is perpendicular to the long edge of the conveyor belt, the distance from the center of the conveyor belt is at least 640mm, and the erection height is at least 1600mm above the conveyor belt.

Preferably, the mechanical arm comprises 6 rotary joints including a shoulder, an elbow, a base and 3 wrist joints, namely, the mechanical arm with 6 degrees of freedom, and the mechanical arm is positioned on one side of the long edge of the conveying belt and is 340 mm and 440mm away from the center of the conveying belt in the direction perpendicular to the running direction of the conveying belt.

Preferably, the RFID device comprises an RFID reader, an array antenna and an RFID tag; the RFID reader-writer is arranged on the adjuster of the sucker, the array antenna is positioned above the conveyor belt, and the RFID label is adhered to a package conveyed by the conveyor belt.

Preferably, the adjuster comprises two independent triangular structures, and the upper edge and the lower edge of each triangular structure are respectively fixed with the RFID reader-writer and the extension plate of the sucker fixing base.

Preferably, the code system of the two-dimensional code adopts QR code coding, and information coded by the QR code is ID of the storage AGV and is used for positioning the pose of each storage AGV.

Preferably, the computer adopts Intel (R) core (TM) i7 CPU 1.80GHz, 8G memory, hard disk space above 10G, Windows 10-64bit operating system and Ubuntu operating system, and DELL-430-E5-2603v3 data storage server.

Compared with the prior art, the utility model has the following advantages and beneficial effects:

1. according to the vacuum clamp, the conveyor belt, the RFID technology, the mechanical arm and the multiple AGV devices are fused through global vision, the moving track of the mechanical arm is planned by combining the package information acquired through the RFID technology and the pose information of the AGV acquired through the global camera and acquiring the global image, so that the functions of quick sorting and autonomous transportation of packages are realized, and the package transferring efficiency of the logistics storage device is greatly improved.

2. According to the utility model, the global images shot by the global camera are used for integrally scheduling the AGV, and each AGV does not need to sense the surrounding environment by using a sensor, so that the calculated amount of the AGV vehicle-mounted controller is reduced, the information interaction amount is reduced, and meanwhile, the configuration cost of the AGV is also saved.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the construction of the vacuum chuck of the present invention;

FIG. 3 is a schematic diagram of a warehousing AGV device of the present invention;

FIG. 4 is a schematic flow chart of an embodiment of the present invention;

the reference numbers illustrate: 1-a conveyor belt; 2, a mechanical arm; 3-vacuum clamp; 4-an industrial camera; 5-an RFID reader; 6-a scaffold; 7-a cargo pallet; 8-two-dimensional code; 9-a computer; 10-a data storage server; 11-storage AGV; 12-an RFID tag; 13-a regulator; 14-a suction cup fixing base; 15-a sucker; 16-a gas pipe joint; 17-a chassis; 18-a wheel; 19-a vehicle body support frame; 20-an industrial personal computer; 21-laser radar; 22-support column.

Detailed Description

The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.

Example 1

As shown in fig. 1, the package transferring device based on global vision of the embodiment is characterized by comprising a computer 9 for centralized control, a conveyor belt 1, an industrial camera 4 connected with the computer 9, and a storage AGV device; the industrial camera 4 is arranged above the conveyor belt 1 through a bracket 6; the computer 9 is connected with the mechanical arm 2, the vacuum clamp 3 is installed on the mechanical arm 2, and the RFID identification device is installed on the vacuum clamp 3. The bracket 6 may be an aluminum alloy.

In this embodiment, the industrial camera 4 adopts jhme 806GM, and is installed perpendicular to the long side of the conveyor belt 1 and at least 640mm away from the center of the conveyor belt 1, and at least 1600mm above the conveyor belt 1.

The mechanical arm 2 comprises 6 rotary joints including a shoulder, an elbow, a base and 3 wrist joints, namely the mechanical arm with 6 degrees of freedom, and the mechanical arm 2 is positioned on the middle side of the long edge of the transmission belt and is 340-440mm away from the center of the transmission belt 1 in the direction perpendicular to the running direction of the transmission belt 1.

As shown in fig. 2, the vacuum chuck 3 includes a suction cup fixing base 14, a suction cup 15, an air pipe joint 16, a release valve, a vacuum pump, an adjuster 13, and an RFID recognition device. 15 unable adjustment base of sucking disc passes through the screw fixation at 2 ends of arm, the sucking disc is total four, is vacuum chuck, through the screw fixation on sucking disc unable adjustment base 14 to there is trachea joint 16, and every trachea joint all has two interfaces, the trachea joint passes through trachea end to end, and two sucking discs that are close to sucking disc unable adjustment base below (keep away from RFID recognition device party) are not interconnect to connect release valve and vacuum pump respectively with the trachea interface that two sucking discs are not connected through the trachea, adjuster 13 is installed on sucking disc unable adjustment base's extension board.

The RFID device includes an RFID reader/writer 5, an array antenna, and an RFID tag 12. The RFID reader-writer 5 is fixed on an adjuster 13 of a vacuum chuck, the array antenna is positioned above the conveyor belt 1, and the RFID tag 12 is adhered to a package conveyed by the conveyor belt 1.

The adjuster 13 comprises two independent triangular structures, the upper edge and the lower edge of each triangular structure are respectively fixed with the RFID reader-writer 5 and the sucker fixing base extension plate through screws, the RFID reader-writer 5 is fixed on the vacuum sucker, and the distance between the two triangular structures can be adjusted to adapt to different RFID reader-writers.

As shown in fig. 3, the storage AGV device includes a storage AGV11, a pallet 7, and a two-dimensional code 8; the warehousing AGV11 comprises a chassis 17, wheels 18, a vehicle body supporting frame 19, an industrial personal computer 20, a laser radar 21 and a supporting column 22; the central point at storage AGV automobile body top is installed to the goods tray puts, the two-dimensional code is pasted in the central point of goods tray and is put. The chassis 17 selects an EAI robot chassis; the wheels 18 are connected with the chassis 17 and symmetrically distributed on the surface of the chassis 17; the chassis is connected with a vehicle body support frame 19; the laser radar 21 is arranged on the edge of the top of the vehicle body support frame 19, and the industrial personal computer 20 is arranged in the center of the top of the vehicle body support frame 19; the support posts 22 are located at the top of the vehicle body for supporting the cargo pallet 7. The two-dimensional code QR code is adopted in the code system of two-dimensional code, and the information of QR code is storage AGV's ID for fix a position every storage AGV's position appearance.

The computer adopts Intel (R) core (TM) i7 CPU 1.80GHz, 8G memory, hard disk space above 10G, Windows 10-64bit operating system and Ubuntu operating system, and DELL-430-E5-2603v3 data storage server 10.

When the embodiment works, as shown in fig. 4, after a package enters the transfer device through the conveyor belt 1, the RFID reader located on the mechanical arm 2 reads the RFID tag 12 on the package, and information returned by the antenna is combined to achieve information acquisition and positioning of the package. Meanwhile, the industrial camera 4 carries out overall visual monitoring, after the pose of the AGV is acquired through the two-dimensional code on the AGV goods tray through overall visual recognition, the computer can work out the running track of the mechanical arm 2 according to the coordinates of the package and the stored AGV, and the mechanical arm 2 is controlled to clamp the package on the conveying belt 1 and then place the package on the conveying belt into the goods tray at the top of the AGV. After the package is loaded, the computer continuously sends instructions to the AGV according to the AGV information acquired by the global vision, and then the functions of multi-target scheduling, path planning, positioning and autonomous obstacle avoidance are completed.

Example 2

In some package transfer devices based on global vision, if the application scene of the device is not the traditional warehouse logistics package transfer environment, the device is an industrial environment such as machine tool processing, mechanical manufacturing and the like. In order to solve the problem, the vacuum clamp 3 at the tail end of the mechanical arm can be replaced by a mechanical arm suitable for the current industrial environment, so that the operations such as feeding and discharging can be carried out. The trays on the warehousing AGV can be replaced with loading tools that match the current industrial environment.

The structure of the remaining global vision based parcel transfer apparatus is in accordance with example 1. Through the improvement, the parcel transfer device based on the global vision can be applied to application scenes of industrial machine tool machining, spare part assembly and the like, namely, the vacuum clamp 3 at the tail end of the mechanical arm is replaced by a mechanical arm or other similar clamps, and the method can still effectively finish transfer work.

Example 3

In some package transfer devices based on global vision, if the application scene of the device is not the traditional warehouse logistics package transfer environment, the device is used for traffic scenes such as airport security check and the like. For this case, the conveyor belt may be modified to a security check machine. After the luggage or the goods pass through the security inspection machine, the mechanical arm clamps the luggage or the goods and places the luggage or the goods on the AGV, and the AGV transports the luggage or the goods to a specified place.

The structure of the remaining global vision based parcel transfer apparatus is in accordance with example 1. Through the improvement, the parcel transfer device based on the global vision can be applied to scenes such as airport luggage inspection, namely, a conveyor belt is replaced by a security inspection machine, and the method can still effectively finish transfer work.

Example 4

In some package transfer devices based on global vision, if the application scene of the device is not the traditional warehouse logistics package transfer environment, but a modern warehouse environment such as clothes, stereoscopic warehouses of e-commerce and the like. For this case, the conveyor belt is changed to a warehouse rack and the robot arm is placed on a lifting platform. Before the AGV transports the packages or the goods to the appointed goods shelf, the mechanical arm clamps the packages or the goods and places the packages or the goods on the goods shelf or takes the packages or the goods out of the goods shelf and places the packages or the goods on the AGV, and the AGV transports the packages or the goods to the appointed position.

The structure of the remaining global vision based parcel transfer apparatus is in accordance with example 1. Through the improvement, the parcel transfer device based on the global vision can be applied to modern warehouse scenes such as clothing or e-commerce warehouses, namely, a conveyor belt is changed into a three-dimensional goods shelf, and the method can still effectively finish the transfer work.

It should also be noted that in this specification, terms such as "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. The package transfer device based on the global vision is characterized by comprising a computer for centralized control, a conveyor belt, an industrial camera connected with the computer and storage AGV equipment; the industrial camera is arranged above the conveyor belt through a bracket; the computer is connected with the mechanical arm, a vacuum clamp is installed on the mechanical arm, and an RFID recognition device is installed on the vacuum clamp.

2. The global vision based package transfer device of claim 1, wherein the vacuum clamp comprises a suction cup fixing base, a suction cup, an air pipe joint, an air release valve, a vacuum pump, an adjuster and an RFID identification device;

3. The global vision based package transfer device according to claim 2, wherein the storage AGV equipment comprises a storage AGV, a goods tray, and a two-dimensional code; the goods tray is installed at storage AGV automobile body top, the two-dimensional code is pasted on the goods tray.

4. The global vision based package transfer device of claim 3, wherein the storage AGV comprises an EAI robot chassis, wheels, a vehicle body support frame arranged on the surface of the EAI robot chassis, a laser radar and a support column for supporting a goods tray; the wheel is located between the EAI robot chassis and the vehicle body supporting frame, the laser radar is arranged on the edge of the top of the vehicle body supporting frame, and the surface of the vehicle body supporting frame is provided with an industrial personal computer.

5. The global vision based package transfer device of claim 4, wherein the industrial camera mounting position is perpendicular to the long side of the conveyor belt and at least 640mm away from the center of the conveyor belt, and the mounting height is at least 1600mm above the conveyor belt.

6. The global vision based package transfer device of claim 5, wherein the robot arm comprises 6 rotation joints including shoulder, elbow, base and 3 wrist joints, namely a 6-degree-of-freedom robot arm, and is located on one side of the long side of the conveyor belt and is 340 mm away from the center of the conveyor belt in a direction perpendicular to the running direction of the conveyor belt.

7. The global vision based package transfer device of claim 6, wherein the RFID device comprises an RFID reader, an array antenna and an RFID tag; the RFID reader-writer is arranged on the adjuster of the sucker, the array antenna is positioned above the conveyor belt, and the RFID label is adhered to a package conveyed by the conveyor belt.

8. The global vision based package transfer device of claim 7, wherein the adjuster comprises two independent triangular structures, and the upper and lower sides of the two triangular structures are respectively fixed with the RFID reader and the extension board of the sucker fixing base.

9. The package transfer device based on the global vision as claimed in claim 8, wherein the two-dimensional code is encoded by a QR code, and information encoded by the QR code is ID of the storage AGVs for positioning pose of each storage AGV.

10. The global vision based package transfer device of claim 9, wherein the computer uses intel (r) core (tm) i7 CPU 1.80GHz, 8G memory, hard disk space above 10G, Windows 10-64bit operating system and Ubuntu operating system, and DELL-430-E5-2603v3 data storage server.