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CN-117464695-B - Intelligent express access robot, system and method

CN117464695BCN 117464695 BCN117464695 BCN 117464695BCN-117464695-B

Abstract

The invention discloses an intelligent express access robot, a system and a method, which comprise a robot chassis, and a mechanical arm and a control module which are mounted on the robot chassis, wherein the tail end of the mechanical arm is provided with a storage label card reader used for reading storage labels arranged on a goods shelf, the robot chassis is provided with a landmark label card reader used for reading the landmark labels arranged on a middle line of a driving path, the control module controls the robot to move along the landmark labels according to the positions of a target goods shelf and a target storage grid, and the mechanical arm posture parameters of the mechanical arm which reach the position of the storage label on the target goods shelf and the mechanical arm posture parameters which reach the target storage grid are read to adjust the mechanical arm posture so that the mechanical arm can finish the delivery or the grabbing of an express at the position of the target storage grid. The robot positioning navigation requirement is met, a track is not required to be built, and accuracy of delivery and grabbing of the express delivery is guaranteed.

Inventors

  • FANG HUA

Assignees

  • 山东沐点智能科技有限公司

Dates

Publication Date
20260512
Application Date
20230913

Claims (10)

  1. 1. The intelligent express access robot is characterized by comprising a robot chassis, a mechanical arm and a control module, wherein the mechanical arm and the control module are carried on the robot chassis; The tail end of the mechanical arm is provided with a storage label card reader, the storage label card reader is used for reading a storage label arranged on a goods shelf, and the storage label is stored with the position and the size of each storage grid in the goods shelf, the express information of the occupied storage grid and the mechanical arm gesture parameters from the position of the storage label to each storage grid; The robot chassis is provided with a landmark tag card reader and a ranging module; the landmark tag reader is used for reading landmark tags arranged on the middle line of the driving path, and the landmark tags store the positions of storage tags corresponding to the landmark tags and the gesture parameters of the mechanical arm at the positions where the mechanical arm reaches the storage tags; the distance measuring module is used for detecting the distance between the chassis of the robot and the boundaries of two sides of the running path so as to enable the robot to run along the center line of the running path; The control module is configured to control the robot to move along the landmark tags according to the positions of the target goods shelf and the target storage grid, stop at the landmark tags corresponding to the target goods shelf, and adjust the gesture of the mechanical arm by reading the gesture parameters of the mechanical arm reaching the position of the storage tag on the target goods shelf and the gesture parameters of the mechanical arm reaching the target storage grid so as to enable the mechanical arm to finish the delivery or the grabbing of the express delivery at the position of the target storage grid.
  2. 2. The intelligent express access robot of claim 1, wherein the location of the storage label is a relative zero point of the robotic arm, and the location of each storage compartment is set at an offset distance relative to the location of the storage label.
  3. 3. The intelligent express access robot of claim 1, wherein the tail end of the mechanical arm is connected with a mechanical claw; When the storage is carried out, the mechanical claws clamp and grasp the storage grid from the sides in the height direction of the longitudinal section of the storage grid, the sides of the mechanical claws bearing clamping force are the corresponding height sides of the longitudinal section of the storage grid, and the sides are vertical to the horizontal line when the express is placed; when the vehicle is delivered, the centers of the mechanical claws and the express height are kept horizontal, and the vehicle is tightened when reaching the center of the express side elevation.
  4. 4. The intelligent express access robot of claim 1, wherein the tail end of the mechanical arm is further provided with a depth vision camera, and the depth vision camera is used for carrying out size scanning on a to-be-put fast-forwarding; Or before the mechanical arm moves to the position of the target storage grid for throwing or grabbing, the depth vision camera scans the space size of the target storage grid so as to verify the empty state of the target storage grid; or before the mechanical arm moves to the position of the target storage grid to grasp the express, the depth vision camera calculates the distance between the express outer elevation and the mechanical arm so as to control the grasping action.
  5. 5. The intelligent express access robot of claim 1, wherein the robot chassis is further provided with a cargo box, and a sensor for detecting whether the cargo box is overloaded is arranged at the upper edge of the cargo box.
  6. 6. The intelligent express access robot of claim 1, wherein the control module is configured to perform path planning according to the position of the target shelf, determine the sequence of landmark tags of the path, and control the robot to read landmark tags one by one from the current position so as to move along the landmark tags; The method comprises the steps that through reading the gesture parameters of the mechanical arm, which reach the position of a storage label corresponding to a target storage grid, when the antenna signal intensity of a storage label card reader is higher than a set decibel threshold value, the tail end of the mechanical arm is considered to reach the position of the storage label of a target storage rack; And reading the storage label of the target storage rack, and according to the number of the target storage grid, calling the gesture parameters of the mechanical arm reaching the target storage grid, and driving the tail end of the mechanical arm to reach the boundary right in front of the target storage grid, thereby controlling the delivery or the grabbing of the express delivery.
  7. 7. The intelligent express access robot system is characterized by comprising the intelligent express access robot and a control terminal according to any one of claims 1-6; the control terminal is used for distributing target storage lattices to the express to be put in storage, storing express information of the storage, determining the stored target storage lattices to the express to be put out of the storage, and sending the determined target storage lattices and the target goods shelves to the intelligent express access robot; the intelligent express access robot completes the delivery or grabbing of the express according to the positions of the target goods shelf and the target storage grid.
  8. 8. A warehousing method of an intelligent express access robot system, characterized by applying the intelligent express access robot system of claim 7, comprising: Scanning the to-be-put fast-forwarding and distributing storage positions, and determining target storage grids and a target goods shelf where the target storage grids are positioned; Planning a path according to the position of a target shelf, determining the sequence of landmark tags of the path, controlling the robot to move along the landmark tags, and stopping at the landmark tags corresponding to the target shelf; The position of the storage label of the target goods shelf, which is reached by the tail end of the mechanical arm, is controlled by reading the gesture parameters of the mechanical arm, which reach the position of the storage label of the target goods shelf; Reading a storage label of a target goods shelf, calling a gesture parameter of the mechanical arm reaching the target storage grid, and controlling the tail end of the mechanical arm to reach the target storage grid; A depth vision camera at the tail end of the mechanical arm is adopted to scan the space size of the target storage grid so as to verify the empty state of the target storage grid; And grabbing the to-be-put express delivery through mechanical claws at the tail end of the mechanical arm when the target storage grid is empty.
  9. 9. A method for leaving a warehouse of an intelligent express access robot system, characterized by applying the intelligent express access robot system according to claim 7, comprising: Determining a target storage grid and a target goods shelf where the express to be delivered is stored by inquiring the warehouse-in information; Planning a path according to the position of a target shelf, determining the sequence of landmark tags of the path, controlling the robot to move along the landmark tags, and stopping at the landmark tags corresponding to the target shelf; The position of the storage label of the target goods shelf, which is reached by the tail end of the mechanical arm, is controlled by reading the gesture parameters of the mechanical arm, which reach the position of the storage label of the target goods shelf; Reading a storage label of a target goods shelf, calling a gesture parameter of the mechanical arm reaching the target storage grid, and controlling the tail end of the mechanical arm to reach the target storage grid; a depth vision camera at the tail end of the mechanical arm is adopted to scan the space size of the target storage grid so as to verify the empty state of the target storage grid; and grabbing the express to be delivered through a mechanical claw at the tail end of the mechanical arm when the target storage grid is not empty.
  10. 10. The warehousing method of the intelligent express access robot according to claim 8 or the ex-warehouse method of the intelligent express access robot according to claim 9, wherein the clamping force of the mechanical claw is designed to be: Or, alternatively, ; Wherein, the In order to be held by the gravity force, In order for the clamping force to be applied, The friction factor is m, the express mass is m, the gravity acceleration is a movement acceleration in the vertical direction is a gravity acceleration, and s is a safety factor.

Description

Intelligent express access robot, system and method Technical Field The invention relates to the technical field of logistics robots, in particular to an intelligent express access robot, a system and a method. Background The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art. With the gradual increase of the express delivery quantity, especially during the promotion of large-scale electronic commerce, the contradiction between the rapid increase of the express delivery quantity and the short-term large-scale end labor gap is very easy to occur, the problems of prolonged delivery aging, backlog retention of the express delivery and the like are more remarkable, the problem of the last kilometer is more remarkable, and the last kilometer is the distance from the distribution center to the client after the express delivery is from the distribution center, and is the last link in the logistics distribution and is the only link in direct contact with the client. Currently, three modes exist for delivery of express delivery: (1) And sending or picking up the express mail by a courier according to the mail sending or receiving address of the express mail. However, the method has high labor cost, often requires multiple telephone communication in the process of picking up and delivering the parts, and often can not pick up or deliver the parts in time due to the fact that the customer is not at home, and the like, so that the overall receiving and delivering efficiency is low. (2) And the express delivery and collection (sending) station is manually managed by an express delivery and storage transfer station, and a receiver holds a piece of certificate to the collection station to pick up the express. But present express delivery collection site safety control is imperfect, and the narrow and small personnel in space is intensive, does not have the restriction to getting personnel, and even some proxy website sets up and need compromise other business projects at the shop, and the business personnel is to the management of business turn over crowd have to be forgotten, gets the personnel and looks for on the express delivery goods shelves by borrowing a sign indicating number, can appear taking by mistake or the condition of deliberately stealing the express delivery, inefficiency and unsafe. (3) The intelligent express cabinet is installed and configured in communities by specific enterprises, has a communication function, and can perform personnel information verification. However, due to lack of unified standards and requirements, the construction and operation of the intelligent express box are still respectively implemented by related enterprises at present, the average construction cost of a set of intelligent express box is higher, the shared land is occupied, the problem of renting is faced, other expenses such as labor cost and electricity fee of operation and maintenance personnel are born, the operation management difficulty of each enterprise is increased, the integral efficiency of the industry is low, better service is provided for users, and popularization and use of the express box are affected. In recent years, with the rapid development of artificial intelligence, 5G, cloud computing and Internet of things technology and the innovative demand pull of emerging business modes, the application of robots in various links in the logistics field is increased, and the logistics robot industry also presents a trend of rapid development. The logistics robot is an AGV for short, and is a robot applied to the operations of transferring and carrying cargoes in scenes such as warehouses, sorting centers and the like in the transportation process. The logistics robot can be divided into an industrial logistics robot and a commercial logistics robot in the aspect of application, and can be divided into an unmanned carrier, a palletizing robot and a sorting robot in the aspect of functions. At present, the AGV trolley moves along the track according to fixed rules by arranging the warehouse frames in the warehouse and moving tracks arranged in the warehouse frames in a staggered manner, but in a closed warehouse space, the corresponding construction cost is increased by adopting track navigation. The navigation mode is adopted by the laser radar, but the driving path is formed by separating the storage shelves, the local environments are too similar, the possibility of mismatching is generated when the robot is registered with map information in the positioning process, the storage precision is insufficient, and the goods cannot be accurately placed in the goods storage cabinets when the robot reaches the navigation destination, or the problem that the stored goods are not matched with the numbers of the distributed goods storage cabinets occurs. Disclosure of Invention In order to solve the problems, the invention provi