Equipment recycling and warehousing method and equipment recycling and warehousing system based on 3D vision

Abstract

The invention discloses an equipment recycling and warehousing method and equipment recycling and warehousing system based on 3D vision, and relates to the field of warehousing systems. The method comprises the steps that a piece taking path is planned according to a scanned vehicle body loaded with multiple pieces of equipment, a first mechanical arm of a portal frame is controlled to place the ith equipment on a conveying belt according to the piece taking path, the ith equipment is conveyed to a first position through the conveying belt, and automatic equipment unloading is completed; the model corresponding to a first label is recognized through a 3D vision camera, the current position and angle of the ith equipment are recognized, the movement track of a second mechanical arm is calculated according to the information, the second mechanical arm is driven to place the ith equipment from the first position to a second position according to the movement track, automatic caging of the equipment of realized, according to the type of the ith equipment and the storage allowance, the ith equipment at the second position is transported into the corresponding warehouse through a dispatching forklift AGV system, and automatic warehousing of the equipment is achieved. According to the scheme, on the basis of 3D vision, the warehousing processes such as unloading, caging and warehousing are unmanned.

Description

technical field [0001] The invention relates to the field of warehousing systems, in particular to a method and system for reclaiming and warehousing equipment based on 3D vision. Background technique [0002] In the existing home appliance recycling bins, relatively traditional and outdated manual storage methods are still used. Specifically, porters are required to move the home appliances to be recycled from the truck to the conveyor belt, workers on the conveyor line are required to paste the barcodes of the home appliances, and carry Workers put home appliances of the same model into the same iron cage, and manually drive a solid-cage forklift. This traditional manual storage method has problems of low efficiency, high cost and difficulty, and cannot adapt to the heavy sorting and transportation in the current logistics warehouse. It is difficult to maintain proper storage efficiency in large and huge warehouses. Contents of the invention [0003] The technical probl...

AI Technical Summary

Problems solved by technology

[0002] In the existing home appliance recycling bins, relatively traditional and outdated manual storage methods are still used. Specifically, porters are required to move the home appliances to be recycled from the truck to the conveyor belt, workers on the conveyor line are required to paste the barcodes of the home appliances, and carry Workers put home appliances of the same model into the same iron cage, and manually drive a solid-cage forklift. This traditional manual storage method has problems of low efficiency, high cost and difficulty, and cannot adapt to the heavy sorting and transportation in the current logistics warehouse. It is difficult to maintain proper storage efficiency in large and huge warehouses

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