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CN-121974069-A - Unmanned storehouse material accurate handling device based on machine vision

CN121974069ACN 121974069 ACN121974069 ACN 121974069ACN-121974069-A

Abstract

The invention discloses an unmanned warehouse material accurate carrying device based on machine vision, which comprises a machine body, wherein a controller is arranged in the machine body, a moving mechanism is arranged on the machine body and used for driving the machine body to move, a bracket is fixedly arranged on the machine body, a shooting mechanism is arranged on the bracket and used for shooting the position of the machine body, an adjusting mechanism is arranged on the machine body, the shooting mechanism is used for transmitting the shot image to the controller, a first camera in the shooting mechanism is used for shooting the road surface image, a second camera is used for shooting the position of the machine body, road surface and goods space information are acquired and transmitted to the controller, the controller processes and analyzes the image and then plans a moving path, the self-propelled vehicle is controlled to reach the position below a target goods space, and then the adjusting mechanism is controlled according to visual feedback to drive a bearing plate to accurately lift to a proper height, so that the accurate carrying and positioning of the materials in the warehouse are realized, the carrying accuracy and efficiency are improved, and the manual operation error is reduced.

Inventors

  • NIU LIJUAN
  • MA ZHEXUAN

Assignees

  • 中环低碳节能技术(北京)有限公司

Dates

Publication Date
20260505
Application Date
20260210

Claims (10)

  1. 1. The utility model provides an unmanned storehouse material accurate handling device based on machine vision, includes organism (1), its characterized in that, install controller (2) in organism (1), install moving mechanism (3) on organism (1), moving mechanism (3) are used for driving organism (1) and remove, fixed mounting has support (6) on organism (1), install shooting mechanism (4) on support (6), shooting mechanism (4) are used for shooing unloading department on organism (1), organism (1) top is equipped with loading board (5) that are used for placing the material, install adjustment mechanism (7) on organism (1), adjustment mechanism (7) link to each other with loading board (5), adjustment mechanism (7) are used for driving loading board (5) and move to different degrees, shooting mechanism (4) are with the image transmission of shooting extremely controller (2), controller (2) are used for controlling moving mechanism (3) and adjustment mechanism (7) work.
  2. 2. The machine vision-based unmanned warehouse material precise conveying device according to claim 1, wherein the moving mechanism (3) comprises a self-propelled vehicle (8), the self-propelled vehicle (8) is installed below the machine body (1), the self-propelled vehicle (8) works under the controller (2), a first camera (9) is installed in front of the machine body (1), and the first camera (9) is arranged in a downward inclined mode and shoots road surface images.
  3. 3. The machine vision-based unmanned warehouse material precise conveying device according to claim 2, wherein a voice broadcasting device (10) is installed on the machine body (1), the voice broadcasting device (10) is electrically connected to the controller (2), and the controller (2) is used for controlling the voice broadcasting device (10) to work.
  4. 4. The machine vision-based unmanned warehouse material precise carrying device according to claim 1, wherein the shooting mechanism (4) comprises a supporting seat (11) positioned at one side above the machine body (1), the supporting seat (11) is positioned in the bracket (6), a connecting shaft (12) is fixedly installed on the supporting seat (11), the connecting shaft (12) is rotatably installed at the inner side of the bracket (6), second cameras (13) are fixedly installed at two sides of the supporting seat (11), the second cameras (13) are positioned at high positions, the second cameras (13) are used for shooting the feeding and discharging positions of the machine body (1), and the second cameras (13) are used for transmitting images to the controller (2); The shooting mechanism (4) further comprises a servo motor (14) fixedly installed on the outer side of the support (6), an output shaft of the servo motor (14) is fixedly connected with the connecting shaft (12), the servo motor (14) is electrically connected to the controller (2), and the controller (2) is used for controlling the servo motor (14) to work.
  5. 5. The unmanned warehouse material precise conveying device based on machine vision according to claim 4, wherein the protection plates (15) are arranged above the second cameras (13), and the protection plates (15) are fixedly installed on the supporting seats (11).
  6. 6. The machine vision-based unmanned warehouse material precise conveying device according to claim 1, wherein the adjusting mechanism (7) comprises two supporting plates (16) which are arranged at intervals, the supporting plates (16) are fixedly arranged on a machine body (1), two belt pulleys (17) which are arranged at intervals up and down are respectively and rotatably arranged on opposite sides of the supporting plates (16), a linkage shaft (18) is arranged between the two supporting plates (16), two ends of the linkage shaft (18) are fixedly connected with the two belt pulleys (17) which are arranged below, synchronous belts (19) are respectively arranged on the two belt pulleys (17) which are arranged on the same side, a stepping motor (20) is fixedly arranged on the supporting plates (16), an output shaft of the stepping motor (20) is fixedly connected with the linkage shaft (18), the stepping motor (20) is electrically connected to a controller (2), and the controller (2) is used for controlling the stepping motor (20) to work; The machine body (1) top is equipped with strip shaped plate (21), hold-in range (19) fixed connection of strip shaped plate (21) and both sides, spout (22) have been seted up on strip shaped plate (21), draw-in groove (23) have all been seted up to spout (22) both sides, loading board (5) both sides are fixed mounting has side bar (24), loading board (5) slidable mounting is in spout (22), side bar (24) slidable mounting are in draw-in groove (23) rather than homonymy respectively.
  7. 7. The machine vision-based unmanned warehouse material accurate carrying device according to claim 6, wherein limiting parts (25) are arranged on two sides of the bearing plate (5), the limiting parts (25) are used for limiting the lateral sides of materials on the bearing plate (5), protruding parts (26) are arranged on two ends of the side strips (24), and the protruding parts (26) block the side strips (24) from slipping out of the clamping grooves (23).
  8. 8. The unmanned warehouse material accurate carrying device based on machine vision according to claim 7, wherein the adjusting mechanism (7) further comprises an electric telescopic rod (27) fixedly installed on the machine body (1), a movable plate (28) is fixedly installed at the output end of the electric telescopic rod (27), a slide way (29) is arranged on the movable plate (28), the slide way (29) is vertically arranged, a cross block (30) is fixedly installed at one end of the bearing plate (5), the cross block (30) is slidably installed in the slide way (29), the electric telescopic rod (27) is electrically connected to the controller (2), and the controller (2) is used for controlling the electric telescopic rod (27) to work.
  9. 9. The unmanned warehouse material accurate carrying device based on machine vision according to claim 8, wherein the top of the bearing plate (5) is provided with a groove (31), two rotating rollers (32) arranged at intervals are rotatably arranged in the groove (31), a conveying belt (33) is arranged between the two rotating rollers (32), the upper part of the conveying belt (33) extends out of the groove (31), the bearing plate (5) is provided with a mounting cavity (34), a motor (35) is arranged in the mounting cavity (34), an output shaft of the motor (35) is fixedly connected with one side of the rotating rollers (32), and the motor (35) is electrically connected to a controller (2), and the controller (2) is used for controlling the motor (35) to work.
  10. 10. The unmanned warehouse material precise conveying device based on machine vision according to claim 9, wherein a plugging plate (36) is arranged above the installation cavity (34), a heat dissipation groove is formed in the plugging plate (36), and the plugging plate (36) is fixedly installed on the bearing plate (5).

Description

Unmanned storehouse material accurate handling device based on machine vision Technical Field The invention relates to the technical field of unmanned warehouse material conveying devices, in particular to an unmanned warehouse material accurate conveying device based on machine vision. Background In the field of modern warehouse logistics, the efficiency and the accuracy of warehouse material handling have a crucial influence on the overall operation cost and the cargo management quality. Traditional warehouse material handling methods mainly rely on manual operation handling equipment, such as forklifts, stacking machines and the like. Manual operation is highly dependent on skill level and experience of the operator. Different operating personnel have the difference to the control proficiency of equipment, at the transport material in-process, can guarantee at every turn to all accurately place the assigned position with the material, especially when facing the storehouse environment that multilayer goods shelves or goods space overall arrangement are complicated, the degree of difficulty of accurate location and placing the material is bigger, appears the material easily and places the deviation, influences the storage order and the subsequent access efficiency of goods. On the other hand, the manual carrying labor intensity is high, the long-time high-intensity work easily causes fatigue of operators, the carrying accuracy can be further reduced, safety accidents can be possibly caused, and the personal safety of the operators is threatened. Meanwhile, along with the continuous rise of labor cost, a large amount of dependence on manual material handling also greatly increases the operation cost of enterprises. In addition, the efficiency of conventional handling approaches is often difficult to meet practical demands when dealing with large-scale, high-frequency material handling tasks. The manual operation needs a certain time to complete each carrying action, including driving equipment, adjusting positions, loading and unloading materials and the like, and the whole carrying period is long under a large-scale operation scene, so that quick and efficient material circulation cannot be realized. In order to solve the problems, the unmanned warehouse material accurate carrying device based on machine vision is provided. Disclosure of Invention Therefore, the invention provides an unmanned warehouse material accurate carrying device based on machine vision, which aims to solve the problems that in the prior art, different operators have different skills and experiences, when facing a multi-layer shelf or complex goods space layout, materials are difficult to accurately position and place, and material placement deviation is easy to occur. In order to achieve the above object, the present invention provides the following technical solutions: The utility model provides an unmanned storehouse material accurate handling device based on machine vision, includes the organism, install the controller in the organism, install moving mechanism on the organism, moving mechanism is used for driving the organism and removes, fixed mounting has the support on the organism, install shooting mechanism on the support, shooting mechanism is used for shooing unloading department on the organism and shoots, the organism top is equipped with the loading board that is used for placing the material, install adjustment mechanism on the organism, adjustment mechanism links to each other with the loading board, adjustment mechanism is used for driving the loading board and removes to different heights, shooting mechanism will shoot the image transmission extremely the controller, the controller is used for controlling moving mechanism and adjustment mechanism work. Preferably, the moving mechanism comprises a self-propelled vehicle, the self-propelled vehicle is arranged below the machine body, the self-propelled vehicle works under the controller, a first camera is arranged in front of the machine body, and the first camera is arranged in a downward inclined mode and shoots images of the road surface. Preferably, the machine body is provided with a voice broadcasting device, the voice broadcasting device is electrically connected to a controller, and the controller is used for controlling the voice broadcasting device to work. Preferably, the shooting mechanism comprises a supporting seat positioned at one side above the machine body, the supporting seat is positioned in the bracket, a connecting shaft is fixedly installed on the supporting seat, the connecting shaft is rotatably installed at the inner side of the bracket, second cameras are fixedly installed at two sides of the supporting seat and positioned at high positions, the second cameras are used for shooting the feeding and discharging positions of the machine body, and the second cameras transmit images to the controller; the shooting mechanism further comprises a se