2039results about How to "Improve picking efficiency" patented technology

The invention discloses a picking method and picking robot device aiming at fruits which are in size of an apple and is similar to a sphere. The picking robot device comprises a mechanical actuating device, control system hardware and control system software. The mechanical actuating device comprises a picking mechanical arm, an underactuated manipulator, an electric sliding table and an intelligent mobile platform, wherein the control system hardware comprises an IPC (industrial personal computer), a motion control card, a data acquisition card, an AHRS (attitude and heading reference system), a coder, a monocular camera, a binocular camera, a force sensor, a slipping sensor and the like. During operation, the IPC fuses information of the coder, the AHRS, monocular camera components and an ultrasonic sensor to enable the mobile platform to independently navigate and avoid obstacles. A binocular vision system collects images of mature fruits and obstacles and extracts the characteristics of the images so as to realize obstacle avoidance of the mechanical arm and fruit positioning. Finally, the IPC fuses the information of the force sensor, the slipping sensor and the position sensor, thereby further reliably gripping the mature fruits and separating the fruits from fruit branches.

An autonomous navigation and man-machine coordination picking operating system of a picking robot comprises a travelling unit of the picking robot, a picking robot arm, an Agent, a wireless sensor network, a computer and a panoramic stereoscopic visual sensor. The Agent has functions of autonomous navigation, obstacle avoidance, positioning and path planning and the like, the wireless sensor network is used for completing man-machine coordination picking information interaction, the computer is used for providing long-distance intervention and management for picking administrators during man-machine coordination picking operation, and the panoramic stereoscopic visual sensor is used for acquiring panoramic stereoscopic video images in a picking area. The autonomous navigation and man-machine coordination picking operating system of the picking robot is fine in natural flexibility, simple in mechanism, low in control complexity, limited intelligent, high in picking efficiency, fine in environmental adaptation, and low in manufacturing and maintenance costs., Picking objects and crop are not damaged during picking.

The invention discloses a layering goods picking method and system and a calculating device, wherein in the layering goods picking method, robots are utilized, and a goods-to-man manner is adopted. The goods picking method comprises the steps that orders in order pools are distributed to all picking and distributing stations; according to all the orders distributed to the designated picking and distributing stations, control systems determine target goods shelves to be carried; the target goods shelves are carried to the designated picking and distributing stations through the transfer robots; at the designated picking and distributing stations, a buffer goods picking party takes down all target goods corresponding to all the orders from all the target goods shelves and places the target goods in a plurality of buffer containers, and the corresponding relationship between labels of the buffer containers and goods in the buffer containers is built; the multiple buffer containers are conveyed to and placed in a buffer area; and in the buffer area, an order goods picking party carries out goods picking according to each order, and the goods are placed in order containers. By means of the above layering picking manner that order picking is carried out after buffer picking, the repeated carrying frequency of the goods shelves is greatly reduced, the carrying distance is greatly shortened, and the order picking efficiency is improved.

The invention discloses a method and device used for determining a picking route. The method comprises the steps that orders cut off in a preset time period are obtained; an aggregation order is built according to storage areas of product types contained in the orders; a warehouse map is obtained, wherein the warehouse map comprises coordinates of following nodes including the picking table node, the traffic crossing node, the alley crossing node and the virtual storage location node; based on the aggregation order and the warehouse map, the picking route is determined. By means of the method, the aggregation order is built according to the storage areas of the product types, and when conducting order picking according to the aggregation order, the required picking route is short, so that the picking cost of the picker is reduced and the picking efficiency of the picker is improved; the picking route is determined based on the aggregation order and the warehouse map so that it can be determined that the route from which storage locations of products in the aggregation order are traversed is shortest, accordingly the total picking route is short, and the total picking efficiency of the warehouse is improved.

The invention discloses a double-arm fruit picking robot and a fruit picking method. The double-arm fruit picking robot comprises a fruit picking mechanical device and a control system, wherein the fruit picking mechanical device comprises a left mechanical arm, a right mechanical arm, a left tail end actuator, a right trail end actuator, a moving platform and a fruit basket, the left mechanical arm and the right left mechanical arm are of the same structures, are respectively arranged at the left side and the right side of the moving platform, and respectively complete the work of conveying the left tail end actuator and the right trail end actuator to specified picking points, the left tail end actuator and the right trail end actuator are of the same structures, are respectively arranged at the front end of the left mechanical arm and the front end of the right mechanical arm, and respectively complete the work of obtaining and recovering fruits of fruit trees at the left side and the right of the advancing direction of the robot, and a control system completes the control tasks of robot navigation, walking and picking. The invention also discloses a fruit picking method of the double-arm fruit picking robot. According to the method, the mechanical arms carry out picking in different picking points, and the continuous and respective picking of a plurality of fruits can be realized in one picking point.

The invention relates to the correlation technical field of order picking operation, in particular to a method and device for generating order picking collection lists and a method for optimizing an order picking route. The generation method comprises the steps: obtaining position information of N order forms, using the order forms as samples, and using the position information of the order forms as sample two-dimensional coordinates of the corresponding samples, wherein N is greater than one; computing the number of clusters included by the order picking collection lists; selecting c samples from the N samples as initial samples; computing the distances between the sample two-dimensional coordinates of (N-c) samples except for the initial samples and c clustering centers, regarding the cluster where the clustering center with the shortest distance is located as a cluster to be classified, and returning the samples to the cluster to be classified; generating the corresponding order picking collection lists by the clusters if the iteration end condition is met, and continuing to perform iteration if the iteration end condition is not met. According to the order picking route generated by the optimized order picking collection lists, the order picking efficiency is improved greatly compared with the order picking efficiency in the prior art.

The invention relates to an automatic grading device and application thereof for apple picking. The automatic grading device for apple picking comprises a mobile vehicle, a picking device, a grading device, a storage box and a sleeve, and the picking device is arranged above the mobile vehicle and used for picking fruits; the grading device is arranged on the top of a vehicle body and located below the picking device and used for conducting size grading on the picked fruits; the storage box is arranged in the vehicle body and used for containing the graded fruits; one end of the sleeve is connected to the picking device, the other end of the sleeve is connected to the grading device, and the picked fruits enter the grading device through the sleeve in an undamaged mode. The automatic grading device for apple picking is exquisite in conception, reasonable in structural design and convenient to use, the picking efficiency can be improved, real-time grading can be conducted, the subsequent operation procedures of conducting grading on the fruits again are omitted, and meanwhile on-site boxing can be conducted in the process of conducting grading on the fruits. The picking grading vehicle can be widely applied to multiple planting environments such as orchards and mountainous regions.

The invention discloses a full-automatic picking car for a warehouse and a control method of the full-automatic picking car. The full-automatic picking car comprises a picking car body, a microcomputer, a power supply system, a storage box, a mechanical arm, a mechanical finger, a range sensor, a pressure sensor, a bar code scanner and wheels, wherein the microcomputer and the power supply system are fixedly mounted at one end of the picking car body; the storage box is fixedly arranged at the other end of the picking car body; one end of the mechanical arm is fixed on the picking car body; the mechanical finger is mounted at the other end of the mechanical arm; and the pressure sensor and the bar code scanner are arranged at one end, connected with the mechanical finger, of the mechanical arm. The car can achieve automatic picking, placement and classification of goods after ordering, changes the shortages of manual picking of the goods, high workload and long time consumed in the existing warehouse, and improves picking and loading efficiency.

The invention relates to a vibration-type wolfberry fruit picking mechanism and belongs to the technical field of agricultural machinery. A fixed frame of the mechanism is formed by fixedly connecting door-shaped brackets on the left and right sides, front and rear slide ways and a middle connecting beam; the two sides of the front and rear slide ways, and left and right hoisting opening/closing frames from left and right horizontal movement pair respectively; two opening/closing air cylinders are mounted in the middle of the middle connecting beam; stretching-out piston rod ends of the opening/closing air cylinders are fixedly connected with the left and right hoisting opening/closing frames respectively; each hoisting opening/closing frame is a rectangular framework; front and rear vertical beams, and upper and lower vibration rod mechanisms with opposite vibration directions form vertical movable pairs respectively; a hoisting air cylinder is mounted in the middle of an upper transverse beam; a piston rod end of the hoisting air cylinder is fixedly connected with the vibration rod mechanisms; each vibration rod mechanism comprises horizontal slide rails, and the horizontal slide rails, and upper and lower rows of vibration rod rows form front and rear horizontal movement pairs; the vibration rod rows are in transmission connection with an output shaft mounted on a hydraulic motor. By virtue of the vibration-type wolfberry fruit picking mechanism, the picking efficiency and the picking rate are effectively improved; a needed excitation force is relatively small, and injuries to branches, caused by the picking excitation force, is remarkably reduced.

The invention relates to the field of fresh food supply chain management, and specifically relates to a preposed warehouse fresh food shopping and distribution mode. The preposed warehouse fresh food shopping and distribution mode comprises a warehousing system, a distribution system and a supply chain management system, and the supply chain management system comprises five subsystems of a purchasing system, a warehouse management system, a commodity system, an order management system and a transportation management system. A centralized + distributed management mode is employed, a centralized warehouse and several preposed warehouses are arranged in the urban area, goods are stored in the preposed warehouses, a customer places an order through a mobile phone APP, goods are sent to the customer from the closest preposed warehouse, and therefore one-hour delivery is achieved. Beneficial effects of the preposed warehouse fresh food shopping and distribution mode are that a centralized + distributed warehousing mode is employed, efficient distribution of one-hour deliver in the last one kilometer is achieved; compared with a conventional mode, the intermediate links are less, the distribution efficiency is high, time is short, and the cost is low; by means of distributed storage, supply chain steps can be greatly reduced, the distribution cost of each order can be reduced to 11 yuan, and the distribution time is reduced to one hour.

The invention belongs to the technical field of AGV (Automatic Guided Vehicle), and relates to an intelligent transfer robot for a warehouse. The intelligent transfer robot for the warehouse comprises a trolley located on the bottom part and contacted with the ground. The trolley comprises a bottom plate, bottom frameworks, a motor base plate, universal wheel supporting plate cushion blocks, universal wheel supporting plates and universal wheels, wherein the bottom framework are fixedly arranged on the bottom plate; the motor base plate and the universal wheel supporting plate cushion blocks are fixedly arranged on the bottom framework; the universal wheel supporting plates are fixedly arranged on the supporting plate cushion blocks; the universal wheels are connected with the universal wheel supporting plates; a drive mechanism, a motor, a driver and a storage battery are sequentially arranged on the bottom framework from bottom to top; a rotatable lifting mechanism and a chain compressing mechanism are also arranged on the drive mechanism. The invention provides the intelligent transfer robot for the warehouse, which is reasonable in design, stable in performance, and applicable to the AGV and turns flexibly.

The invention provides a stock rack set, a storage system, a robot control method, and a robot. The storage system includes a stock area, a control server, a first robot, a second robot, and a workstation, the first robot and the second robot are in wireless communication with the control server respectively; the stock area includes a plurality of stock racks, the layers other than bottom layers of the stock racks are for the placement of first storage containers capable of being transported, scattered goods are placed in the first storage containers, second storage containers capable of beingtransported are placed at bottom layers of the stock racks, full container loads are placed on the second storage containers, through a mix running method of two types of robots, carrying of target storage containers is achieved for sorting the full container loads and the scattered, the number of carrying times of the robot is significantly decreased, the number of robots is decreased, and thusthe sorting efficiency is improved.

The invention discloses a goods location distributing method of a mobile shelf warehousing system for a refrigeration house. The goods location distributing method includes the steps: distributing items with strong correlation to the same sorting roadway, thus reducing the possibility of repeatedly opening the sorting roadway; taking the similarity coefficient of the order item as the basis of thecorrelation; establishing a multi-target goods allocation optimization model by comprehensively considering item sorting frequency and goods shelf gravity center; solving by adopting an improved invasive weed algorithm to obtain an optimal storage position of goods; generating a part of initial population by adopting a greedy algorithm; setting a reasonable spatial diffusion operator; and finallyintroducing an evolutionary reversal operation of a genetic algorithm. According to the goods location distributing method, the global search capacity and the local search capacity are high, and theoptimization effect is remarkable, and the warehouse sorting efficiency and the shelf stability are effectively improved.

The invention discloses a melon and fruit picking device and a picking method thereof, which relate to the technical field of agricultural equipment. The melon and fruit picking device comprises a clamping device, a cutting device and a control device, wherein the clamping device comprises a step motor, a driven gear, a left support swinging rod, a left finger, a driving gear, a right support swinging rod, a right finger and supporting blocks, the supporting blocks are arranged under the left finger and the right finger, the driving gear and the step motor are connected, the driving gear and the driven gear are connected through a gear pair, the left finger is arranged at the end parts of the left support swinging rod and the driven gear, the right finger is arranged at the end parts of the right support swinging rod and the driving gear, the cutting device comprises a cutter, a swinging air cylinder and an electromagnetic reversing valve, the cutter is arranged on an output shaft of the swinging air cylinder, the electromagnetic reversing valve is arranged on the swinging air cylinder, the swinging air cylinder is arranged on a cutter frame, and the cutter frame is arranged on a back seat vertically and fixedly arranged on a base. The melon and fruit picking device and the method can be used for automatically picking melons and fruits, and a large amount of time and labor canbe saved for laborers.

The invention discloses a robot automatic sorting method and system based on simultaneous picking and sorting. The robot automatic sorting method comprises the following steps that a robot is dispatched by manually operating a handheld terminal PDA; S2, the robot carries a goods shelf to leave for a sorting station to conduct sorting according to distributed dispatching information; S3, the robotarrives at the corresponding laneway sorting station to acquire a laneway order task until completing all commodity sorting work on a laneway order; S4, a trolley is pushed to the sorting station to conduct seeding and puts commodities into corresponding goods grids of the goods shelf of the robot to conduct seeding; S5, after completion of seeding, the robot is released; if there is uncompleted order tasks, the robot carries the good shelf to automatically leave for the next sorting station to repeat operations in the steps S3 and S4 until completing all the sorting order tasks. Through the robot automatic sorting method, manpower participates in sorting; sorting and seeding tasks are completed simultaneously at the sorting station; as sorting and seeding are completed at the sorting station simultaneously, the number of seeding personnel is reduced while the procedures are reduced, and the labor cost is reduced.

The invention relates to an order processing method and a system. The method includes the following steps: checking the commodity inventory according to an order received, wherein the order includes an order identity and the name and number of each commodity; when the number of a commodity in the order is greater than the number of the commodity in the inventory, determining the order as an out-of-stock commodity order, and acquiring an order customer identity in the out-of-stock commodity order; sending an order modification request to a terminal represented by the order customer identity, wherein the order modification request includes a recommended commodity provided according to the out-of-stock commodity; and receiving an order modification confirmation message, modifying the out-of-stock commodity order according to the order modification confirmation message, and acquiring a modified order. According to the order processing method provided by the invention, recommended commodities can be provided for order customers, and an order can be modified after generation. Therefore, the success rate of picking by order and the completion rate of orders are increased, and the degree of satisfaction of order customers is enhanced.