CN216735895U - Article handling system - Google Patents
Article handling system Download PDFInfo
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- CN216735895U CN216735895U CN202123315292.2U CN202123315292U CN216735895U CN 216735895 U CN216735895 U CN 216735895U CN 202123315292 U CN202123315292 U CN 202123315292U CN 216735895 U CN216735895 U CN 216735895U
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Abstract
The utility model discloses an article handling system, comprising: the first camera shooting components are used for identifying labels on articles in the storage space and generating first data information; the control equipment is in communication connection with the plurality of first camera shooting components and used for calculating the space coordinates of the article according to the first data information output by the first camera shooting components; and the grabbing equipment is in communication connection with the control equipment so as to grab the articles in the storage space according to the space coordinates output by the control equipment, and the grabbing equipment comprises a grabbing head and a driving device for driving the grabbing head to move. The utility model is beneficial to reducing the loading and unloading cost and improving the loading and unloading efficiency.
Description
Technical Field
The utility model relates to the technical field of logistics transportation, in particular to an article loading and unloading system.
Background
The warehousing system generally utilizes a certain space to place articles and has the functions of receiving, storing, taking and delivering goods. When the existing storage system transports articles, devices such as a forklift or a crane are generally manually driven to load and unload the articles, but the cost for manually realizing all-weather loading and unloading is high, and fatigue is easy to occur at night, so that the loading and unloading efficiency is low.
SUMMERY OF THE UTILITY MODEL
The present invention is directed to an article handling system to solve the problems set forth in the background art.
To achieve the above object, the present invention provides an article handling system comprising:
the first camera shooting components are used for identifying labels on articles in the storage space and generating first data information;
the control equipment is in communication connection with the plurality of first camera shooting components and used for calculating the space coordinates of the article according to the first data information output by the first camera shooting components;
and the grabbing equipment is in communication connection with the control equipment so as to grab the articles in the storage space according to the space coordinates output by the control equipment, and the grabbing equipment comprises a grabbing head and a driving device for driving the grabbing head to move.
Preferably, the identification areas of two adjacent first image pickup elements at least partially overlap.
Preferably, the first image pickup device is a telephoto camera.
Preferably, the grabbing head is of a clamping type or an adsorption type.
Preferably, the gripper head is provided with a second camera component in communication connection with the control device, the second camera component is used for identifying a label on an article and generating second data information, and the control device controls the driving device to adjust the position of the gripper head according to the second data information output by the second camera component.
Preferably, an attitude sensor in communication connection with the control device is further arranged on the gripper head, the attitude sensor is used for detecting attitude information of the gripper head, and the control device controls the second camera component according to the attitude information output by the attitude sensor.
Preferably, the gripping device further comprises a first distance sensor in communication with the control device, the first distance sensor being configured to detect a distance between the gripping head and a top surface of the article.
Preferably, the gripping head comprises a driving member and at least two clamping portions, and the driving member drives the at least two clamping portions to approach or separate from each other.
Preferably, a second distance sensor in communication connection with the control device is arranged on the clamping portion, and the second distance sensor is used for detecting the distance between the clamping portion and the side face of the article.
Preferably, the gripping device hoist is arranged at the top of the storage space.
According to the article handling system provided by the embodiment of the utility model, the first data information is generated after the first camera shooting component identifies the label on the article in the storage space, so that the control equipment can calculate the space coordinate of the article according to the first data information, and finally, the control equipment can be used for controlling the grabbing equipment to move to the space coordinate and grab the corresponding article, so that the article can be automatically handled in all weather, the handling cost can be reduced, and the handling efficiency can be improved.
Drawings
FIG. 1 is a schematic view of an embodiment of an article handling system according to the present invention;
FIG. 2 is a schematic structural view of the grasping apparatus shown in FIG. 1;
fig. 3 is a schematic structural view of the gripper head shown in fig. 1.
Description of the reference numerals
| Reference numerals | Name (R) | Reference numerals | Name (R) |
| 100 | First |
200 | |
| 300 | Grabbing |
310 | Grabbing |
| 311 | |
312 | Clamping |
| 313 | Second |
314 | |
| 315 | |
320 | |
| 330 | First distance sensor | 1 | |
| 2 | Article with a cover |
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all directional indicators (such as up, down, left, right, front, and back) in the embodiments of the present invention are only used to explain the relative position relationship between the components, the motion situation, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.
It will also be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The present invention proposes an article handling system, as shown in fig. 1 and 2, comprising:
a plurality of first image pickup devices 100 for recognizing a tag on an article 2 located in the storage space 1 and generating first data information;
a control device 200, wherein the control device 200 is in communication connection with a plurality of first image pickup parts 100 to calculate the space coordinates of the article 2 according to the first data information output by the first image pickup parts 100;
the grabbing device 300 is in communication connection with the control device 200 and is used for grabbing the object 2 in the storage space 1 according to the space coordinate output by the control device 200, and the grabbing device 300 comprises a grabbing head 310 and a driving device 320 for driving the grabbing head 310 to move.
The storage space 1 is preferably formed by an internal space of an existing building, the inside or the outside of the storage space 1 is preferably provided with a feeding and discharging point, so that the grabbing device 300 can grab the articles 2 in the storage space 1 to the feeding and discharging point or grab the articles 2 at the feeding and discharging point to a specific area in the storage space 1, and the label on the articles 2 can be in the form of one or more combinations of one-dimensional codes, two-dimensional codes, figures, characters and the like. The number of the first imaging components 100 is set according to the size of the storage space 1, so that the identification area of the first imaging components 100 covers the whole storage space 1, so that the tags on the articles 2 in the corresponding area can be respectively identified by each first imaging component 100 and the first data information can be generated. In this case, it is preferable that the label is provided on each side surface of the article 2, and the first image pickup device 100 can acquire the first data information on the article 2 regardless of how the article 2 is placed in the storage space 1. The control apparatus 200 may be a server that sets different levels according to needs so as to process the first data information generated by the first image pickup device 100, that is, the first data information may be information including an outline picture of the article 2, text content and a two-dimensional code on the article 2, and a position of the first image pickup device 100 itself, and so on, so as to facilitate the control apparatus 200 to calculate spatial coordinates of the article 2 according to the information and also to automatically identify the category of the article 2 by the outline picture of the article 2, the text content or the two-dimensional code on the article 2. Of course, the control apparatus 200 may be a function that performs only data exchange and storage, and the first image pickup section 100 and the grasping apparatus 300 each have a calculation capability. The grabbing device 300 may be in the form of an AVG + manipulator, a crane, or a tower crane, so that after the control device 200 provides the spatial coordinates of the object 2 to be grabbed, the grabbing device 300 may move to the corresponding position and grab the object 2 located at the spatial coordinates. In this case, the driving device 320 may be in the form of the AVG cart, the traveling crane, or the robot described above, and the gripper head 310 may be in the form of a clamp, an adsorption, or the like. The manner in which the control apparatus 200 is communicatively connected to the first image pickup section 100 and the grasping apparatus 300, respectively, may be wired communication connection or wireless communication connection. In this embodiment, the first image capturing component 100 identifies the tag on the article 2 in the storage space 1 and then generates the first data information, so that the control device 200 can calculate the spatial coordinate of the article 2 according to the first data information, and finally, the control device 200 can control the grabbing device 300 to move to the spatial coordinate and grab the corresponding article 2, thereby achieving all-weather automatic loading and unloading of the article 2, and being beneficial to reducing the loading and unloading cost and improving the loading and unloading efficiency.
In a preferred embodiment, the identification areas of two adjacent first image capturing components 100 preferably at least partially overlap. Wherein the identification areas of two adjacent first image capturing devices 100 are partially overlapped, thereby being beneficial to avoiding the situation that the label on the article 2 cannot be identified. At this time, it is preferable that the first image pickup device 100 is a telephoto camera (e.g., a depth camera and a binocular camera), thereby being advantageous to improve recognition accuracy. In this embodiment, after the first image capturing component 100 recognizes the tag on the article 2, the spatial position of the tag center relative to the first image capturing component 100 is calculated, the spatial coordinate of the article 2 is calculated by using the control device 200, and fusion calculation is performed when different first image capturing components 100 recognize the same article 2, which is beneficial to improving the precision.
In a preferred embodiment, as shown in fig. 3, the gripper head 310 is preferably provided with a second camera 313 communicatively connected to the control device 200, the second camera 313 is configured to identify a label on the article 2 and generate second data information, and the control device 200 controls the driving device 320 to adjust the position of the gripper head 310 according to the second data information output by the second camera 313. The second image capturing unit 313 may be a visual camera, so as to recognize the mark on the article 2 again and generate second data information after the driving device 320 drives the grasping head 310 to move above the article 2, and the content included in the second data information may be set with reference to the first data information, so as to perform precise control after calculating the position of the grasping head 310 at this time.
In a preferred embodiment, as shown in fig. 3, it is preferable that the gripper head 310 is further provided with an attitude sensor 314 communicatively connected to the control device 200, the attitude sensor 314 is configured to detect attitude information of the gripper head 310, and the control device 200 controls the second image pickup unit 313 according to the attitude information output by the attitude sensor 314. The attitude sensor 314 is configured to detect a motion state of the gripper head 310, that is, a moving state or a stationary state, and after the gripper head 310 moves to the spatial coordinates output by the control device 200, if the attitude sensor 314 determines that the gripper head 310 is in the stationary state, the second image capturing unit 313 is activated, so that the recognition accuracy of the second image capturing unit 313 is improved.
In a preferred embodiment, as shown in fig. 2, the preferred gripper apparatus 300 further comprises a first distance sensor 330 in communication with the control apparatus 200, the first distance sensor 330 being adapted to detect the distance between the gripper head 310 and the top surface of the article 2. The first distance sensor 330 is preferably a pull sensor, and the body of the pull sensor is disposed on the driving device 320, and the thread end of the pull sensor is disposed on the gripper head 310, so as to calculate the distance between the gripper head and the top surface of the article 2 according to the moving distance of the gripper head 310. In this embodiment, the first distance sensor 330 is disposed to facilitate control of the distance of the grabbing head 310 moving along the vertical direction, so as to avoid damage to the article 2 after the grabbing head 310 abuts against the article 2.
In a preferred embodiment, as shown in fig. 3, the gripper head 310 preferably comprises a driving member 311 and at least two gripping portions 312, wherein the driving member 311 drives the at least two gripping portions 312 to approach or move away from each other. The number of the clamping portions 312 can be set according to the size, weight and shape of the article 2, so that the plurality of clamping portions 312 enclose a clamping space, and the driving member 311 drives the plurality of clamping portions 312 to move to change the size of the clamping space.
In a preferred embodiment, as shown in fig. 3, the clamping portion 312 is preferably provided with a second distance sensor 315 in communication with the control device 200, the second distance sensor 315 being adapted to detect the distance between the clamping portion 312 and the side of the article 2. The second distance sensor 315 is preferably a proximity sensor, so as to improve the precision of the proximity detection, and at this time, each clamping portion 312 preferably moves synchronously, that is, the same power source is used to drive each clamping portion 312 to move. In this embodiment, the second distance sensor 315 is disposed on each clamping portion 312, so as to facilitate detecting the distance between each clamping portion 312 and the corresponding side of the article 2 before clamping the article 2, and if the distance between each clamping portion 312 and each side of the article 2 is not consistent, the driving device 320 is controlled to drive the grabbing head 310 to move and make the article 2 be located at the center of the clamping space, that is, the distance between each clamping portion 312 and each side corresponding to the article 2 is equal, so as to avoid the situation that the article 2 moves laterally when the grabbing head 310 grabs the article 2.
In a preferred embodiment, as shown in fig. 1, the gripping device 300 is preferably arranged suspended on top of the storage space 1. The driving device 320 may be a linear module arranged in a cartesian coordinate system so as to drive the gripper head 310 to move to any point of the storage space 1. At this time, when the storage space 1 is large, a plurality of grasping apparatuses 300 may be provided, so that it is convenient to grasp the articles 2 in different areas with the respective grasping apparatuses 300. Of course, it may also be preferred that the working areas of two adjacent gripping arrangements 300 at least partially overlap, so that when an object 2 needs to be placed in one of the areas or an object 2 in one of the areas needs to be transported out, a plurality of gripping arrangements 300 may be used simultaneously to simultaneously grip an object 2 in that area or to place an object 2 in that area. In this embodiment, through will snatching equipment 300 hoist and mount and set up at storage space 1's top to be favorable to avoiding snatching equipment 300 and occupy storage space 1's ground, make storage space 1 can place more article 2, improved the utilization ratio in space.
The above is only a part or preferred embodiment of the present invention, and neither the text nor the drawings should limit the scope of the present invention, and all equivalent structural changes made by the present specification and the contents of the drawings or the related technical fields directly/indirectly using the present specification and the drawings are included in the scope of the present invention.
Claims (10)
1. An article handling system, comprising:
the first camera shooting components are used for identifying labels on articles in the storage space and generating first data information;
the control equipment is in communication connection with the plurality of first camera shooting components and used for calculating the space coordinates of the article according to the first data information output by the first camera shooting components;
and the grabbing equipment is in communication connection with the control equipment so as to grab the articles in the storage space according to the space coordinates output by the control equipment, and the grabbing equipment comprises a grabbing head and a driving device for driving the grabbing head to move.
2. The article handling system of claim 1, wherein the identification areas of two adjacent first imaging components at least partially overlap.
3. The article handling system of claim 1, wherein the first imaging component is a tele camera.
4. The article handling system of claim 1, wherein the gripper head is of a clamp or suction type.
5. The article handling system according to claim 1, wherein the gripper head is provided with a second camera component communicatively connected to the control device, the second camera component being configured to identify a label on the article and generate second data information, and the control device is configured to control the drive device to adjust the position of the gripper head based on the second data information output by the second camera component.
6. The article handling system according to claim 5, wherein the gripper is further provided with an attitude sensor communicatively connected to the control device, the attitude sensor being configured to detect attitude information of the gripper, and the control device controls the second camera according to the attitude information output by the attitude sensor.
7. The article handling system of claim 1, wherein the gripper device further comprises a first distance sensor in communication with the control device, the first distance sensor configured to detect a distance between the gripper head and a top surface of the article.
8. The article handling system of claim 1, wherein the gripper head includes at least two grippers and an actuation member, the actuation member driving the at least two grippers toward or away from each other.
9. The article handling system of claim 8, wherein a second distance sensor is provided on the clamp portion in communication with the control device, the second distance sensor configured to detect a distance between the clamp portion and a side of the article.
10. The article handling system according to any one of claims 1 to 9, wherein the gripping device hoist is arranged at the top of the storage space.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123315292.2U CN216735895U (en) | 2021-12-24 | 2021-12-24 | Article handling system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123315292.2U CN216735895U (en) | 2021-12-24 | 2021-12-24 | Article handling system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216735895U true CN216735895U (en) | 2022-06-14 |
Family
ID=81939225
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202123315292.2U Active CN216735895U (en) | 2021-12-24 | 2021-12-24 | Article handling system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216735895U (en) |
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2021
- 2021-12-24 CN CN202123315292.2U patent/CN216735895U/en active Active
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