A mobile three-dimensional collection and storage device

Abstract

This invention discloses a mobile three-dimensional collection and storage device, comprising: a visual recognition subsystem, an end-effector collection subsystem, a storage subsystem, a transportation subsystem, and a control subsystem. The visual recognition subsystem, end-effector collection subsystem, storage subsystem, and control subsystem are all mounted on the transportation subsystem. The visual recognition subsystem, under the control of the control subsystem, is used to acquire real-time three-dimensional images of the target to be collected, calculate the volume envelope size of the target, and determine the coordinates of the grasping point. The control subsystem is used to control the grasping end of the end-effector collection subsystem to move to the coordinate position of the grasping point and pick up the target to be collected to a designated position in the storage subsystem. The transportation subsystem, under the control of the control subsystem, transports the target to be collected to a designated location. This invention enables rapid and automated collection of specific targets over a large area, reducing workload and improving work efficiency.

Description

Technical Field

[0001] This invention relates to the field of collection equipment technology, and more specifically to a mobile three-dimensional collection and storage device. Background Technology

[0002] Currently, when collecting targets that are scattered and located far apart (such as shared bicycles), manual handling and transportation are often used, which is time-consuming, labor-intensive, and inefficient.

[0003] Therefore, how to provide a mobile three-dimensional collection and storage device that can quickly and automatically collect specific targets over a large area and has high working efficiency is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] In view of this, the present invention provides a mobile three-dimensional collection and storage device that can quickly and automatically collect specific targets over a large area, reducing workload and improving work efficiency.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A mobile three-dimensional collection and storage device includes: a visual recognition subsystem, an end effector collection subsystem, a storage subsystem, a transportation subsystem, and a control subsystem; the visual recognition subsystem, the end effector collection subsystem, the storage subsystem, and the control subsystem are all mounted on the transportation subsystem;

[0007] The visual recognition subsystem is used, under the control of the control subsystem, to acquire three-dimensional images of the target to be collected in real time, calculate the volume envelope size of the target to be collected, and determine the coordinates of the grasping point.

[0008] The control subsystem is used to control the picking end of the end-effector collection subsystem to move to the coordinate position of the grasping point, and to pick up the target to be collected to the designated position of the storage subsystem;

[0009] The transportation subsystem is used to transport the target to be collected to a designated location under the control of the control subsystem.

[0010] Furthermore, in the aforementioned mobile stereoscopic collection and storage device, the visual recognition subsystem includes: a visual acquisition device and a first mobile support. The visual acquisition device is installed at the mobile end of the first mobile support and is composed of a 3D camera or a distance sensor and a 2D visual camera, and is embedded with a visual industrial control computer and visual software.

[0011] Under the control of the control subsystem, the first movable support moves the visual acquisition device to above the target to be collected;

[0012] The visual acquisition device is used to acquire point cloud images of the target to be collected, construct a three-dimensional model for it, calculate the volume envelope size of the target to be collected based on the three-dimensional model, and analyze the shape, volume envelope size and position of the target to be collected to determine the grasping point and coordinates of the grasping point.

[0013] Furthermore, in the aforementioned mobile three-dimensional collection and storage device, the end effector collection subsystem includes: an end effector and a second movable support; the end effector is installed at the movable end of the second movable support.

[0014] Under the control of the control subsystem, the second mobile support drives the end effector to move to the grasping point of the target to be collected;

[0015] The end effector is used to pick up the target to be collected under the control of the control subsystem;

[0016] The second mobile support is also used to store the target to be collected in a designated location of the storage subsystem under the control of the control subsystem after the end effector picks up the target to be collected.

[0017] Furthermore, in the aforementioned mobile three-dimensional collection and storage device, the second mobile support includes: a mobile cantilever, a vertical motion sling, and a drive motor; the drive motor and the end effector are electrically connected to the control subsystem; the end effector is mounted on the vertical motion sling.

[0018] Under the control of the control subsystem, the drive motor drives the movable cantilever to move directly above the target grabbing point to be collected, and drives the vertical motion sling to move to the target grabbing point position.

[0019] Furthermore, in the aforementioned mobile three-dimensional collection and storage device, the first mobile support and the second mobile support are combined into a total support; the visual acquisition device and the end effector are respectively installed at different positions on the mobile end of the total support.

[0020] Furthermore, in the aforementioned mobile three-dimensional collection and storage device, the end effector collection subsystem further includes: a first weight sensor; the first weight sensor is electrically connected to the control subsystem; the control subsystem is used to determine whether the end effector has successfully picked up or put down the target to be collected based on the change in the weight signal collected by the first weight sensor, and to control the second mobile support to move to the corresponding position based on the picking status of the end effector.

[0021] Furthermore, in the aforementioned mobile three-dimensional collection and storage device, the control subsystem includes: a control panel, a controller, and a display screen; the controller is a PLC controller or a microcontroller; the controller is electrically connected to the control panel, the visual recognition subsystem, the end effector collection subsystem, the storage subsystem, and the transportation subsystem; the control panel allows staff to send corresponding instructions to the controller to control the working status of the visual recognition subsystem, the end effector collection subsystem, the storage subsystem, and the transportation subsystem; the display screen is used to display in real time the control interface of the visual recognition subsystem, the motion coordinates of the end effector collection subsystem, and the storage location of the picked-up target in the storage subsystem.

[0022] Furthermore, in the aforementioned mobile three-dimensional collection and storage device, the storage subsystem is a box-type container, and an automatic door is installed on the box-type container, the automatic door being electrically connected to the control subsystem.

[0023] Furthermore, in the aforementioned mobile three-dimensional collection and storage device, the control subsystem is also used to pre-set the coordinate origin and storage volume inside the storage subsystem, calculate the number of targets to be collected that can be stored in the storage subsystem based on the storage volume inside the storage subsystem and the volume envelope size of the target to be collected, and calculate the storage coordinate position of the current target to be collected using the coordinate origin and the storage coordinate point of the previous round of targets as reference points.

[0024] Furthermore, in the aforementioned mobile three-dimensional collection and storage device, the storage subsystem has multiple target storage areas; each target storage area is equipped with a second weight sensor on its bottom surface; the control subsystem is used to calculate the difference between the target weight stored in each target storage area and a threshold based on the weight signals collected by each of the second weight sensors, and when the difference reaches a preset range, it determines that the current target storage area is full, and controls the end-effector collection subsystem to place the picked-up target into other unfilled target storage areas.

[0025] As can be seen from the above technical solution, compared with the prior art, the present invention discloses a mobile three-dimensional collection and storage device. After arriving at the designated location, the manual operation control subsystem controls the visual recognition subsystem to identify the three-dimensional image of the target to be collected and determine the coordinates of the grab point. Guided by the coordinates of the grab point, the control end-feeder collection subsystem moves to the vicinity of the target to be collected and accurately picks up the target. After picking up the target, it returns to the storage subsystem and places the target in the designated location. The whole process does not require manual handling, is simple to operate, and realizes the rapid collection and transportation of specific targets over a large area, greatly saving manpower and time costs. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0027] Figure 1 This is a structural block diagram of the mobile three-dimensional collection and storage device provided by the present invention;

[0028] Figure 2 This is a schematic diagram of the overall structure of the mobile three-dimensional collection and storage device provided by the present invention;

[0029] Figure 3 The flowchart illustrates the process of a mobile three-dimensional collection and storage device for picking up a target, as provided by this invention. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] like Figure 1-3 As shown, this embodiment of the invention discloses a mobile three-dimensional collection and storage device, including: a visual recognition subsystem 1, an end effector collection subsystem 2, a storage subsystem 3, a transportation subsystem 4, and a control subsystem 5; the visual recognition subsystem 1, the end effector collection subsystem 2, the storage subsystem 3, and the control subsystem 5 are all mounted on the transportation subsystem 4;

[0032] The visual recognition subsystem 1 is used to acquire three-dimensional images of the target to be collected in real time, calculate the volume envelope size of the target to be collected, and determine the coordinates of the grasping point under the control of the control subsystem 5.

[0033] The control subsystem 5 is used to control the picking end of the end-collecting subsystem 2 to move to the coordinate position of the grab point, and to pick up the target to be collected to the designated position of the storage subsystem 3;

[0034] The transportation subsystem 4 is used to transport the target to be collected to a designated location under the control of the control subsystem 5.

[0035] In this embodiment, the control subsystem 5 is installed within the storage subsystem. In other embodiments, it also includes a cockpit, in which the control subsystem 5 is installed.

[0036] In one embodiment, the control subsystem 5 is also used to pre-set the coordinate origin and storage volume inside the storage subsystem 3, calculate the number of targets to be collected that can be stored in the storage subsystem 3 based on the storage volume inside the storage subsystem 3 and the volume envelope size of the target to be collected, and calculate the storage coordinate point position of the current target to be collected using the coordinate origin and the storage coordinate point of the previous round of targets as reference points.

[0037] Upon arrival at the designated location, the transportation subsystem stops near the target to be collected. The manual control subsystem moves the mobile end of the vision recognition subsystem above the target, collects point cloud data of the target to form a 3D model, analyzes the target's grasping points, and provides the coordinates of the pickup points. This analysis of the pickup point coordinates is fed back to the control subsystem, which then moves the mobile end of the end-feeder subsystem according to the coordinates provided by the vision recognition subsystem. The end-feeder then moves above the target, lowers itself to approach, and picks up the target. Once the target is picked up, the end-feeder collects the data. The collection subsystem, either manually controlled or by returning along a specific path, moves the target into the storage subsystem. The control subsystem calculates the number of targets that can be stored in the storage system based on the coordinate origin established within the storage subsystem and the storage volume established by dividing the length, width, and height of the storage subsystem by the target's volume envelope. When initially storing a target, the initial storage coordinates are determined based on the coordinate origin. Subsequent storage uses the coordinates of the previous round's targets to determine the current round's target coordinates. Based on these calculations, the end-effector stores the target at the designated location. If retrieval fails, the system returns to re-identify the target's grab point coordinates.

[0038] The object handling process of this invention does not require manual physical exertion. It only requires manipulating the control subsystem to move the vision system to a field of view where the object can be detected and picked up. The rest of the picking process can be completed automatically.

[0039] In one specific embodiment, the visual recognition subsystem 1 includes: a visual acquisition device and a first movable support. The visual acquisition device is installed on the movable end of the first movable support and adopts a 3D camera or is composed of a distance sensor and a 2D visual camera, and is embedded with a visual industrial control computer and visual software.

[0040] Under the control of the control subsystem 5, the first mobile support moves the visual acquisition device to above the target to be collected;

[0041] The visual acquisition device is used to acquire point cloud images of the target to be collected, construct a three-dimensional model for it, calculate the volume envelope size of the target to be collected based on the three-dimensional model, and analyze the shape, volume envelope size and position of the target to be collected to determine the grasping point and coordinates of the grasping point.

[0042] When a target to be collected is detected, the transport subsystem 4 docks next to the target. The visual recognition subsystem 1 needs to be able to cover the target, and the manual control subsystem 5 executes the target pickup and recognition procedure. The storage subsystem 3 opens its door, and the first moving bracket of the visual recognition subsystem 1 extends. The operator manipulates the first moving bracket to move the visual acquisition device to a position where the target to be collected can be clearly located.

[0043] The 3D camera starts working, reads the point cloud of the target to be collected, and uploads it to the vision software. The vision software calculates the volume envelope size of the target to be picked up and the pickable coordinate points according to the vision algorithm. The coordinate points are transmitted to the control subsystem through the vision industrial control computer.

[0044] In one embodiment, the end effector collection subsystem 2 includes: an end effector and a second movable support; the end effector is mounted on the movable end of the second movable support.

[0045] Under the control of the control subsystem 5, the second mobile support moves the end effector to the grasping point of the target to be collected.

[0046] The end effector is used to pick up the target to be collected under the control of the control subsystem 5;

[0047] The second mobile support is also used to store the target to be collected in a designated location of the storage subsystem under the control of the control subsystem 5 after the end effector picks up the target to be collected.

[0048] Specifically, the second moving support includes: a moving cantilever, a vertical motion sling, and a drive motor; the drive motor and the end effector are electrically connected to the control subsystem 5; the end effector is mounted on the vertical motion sling.

[0049] Under the control of the control subsystem 5, the drive motor drives the moving cantilever to move directly above the target to be collected and moves the vertical motion sling to the target to be picked up.

[0050] The drive motor drives the movable cantilever to the coordinate point given by the control subsystem. Driven by the vertical motion sling drive motor, it can move up and down, driving the end effector to reach the target location to pick up the target. After the end effector picks up the target, under the control of the control subsystem 5, the drive motor drives the vertical motion sling to rise and drives the movable cantilever to the designated coordinate point inside the three-dimensional storage system. The end effector releases, and the picked-up target is placed in the designated position inside the storage subsystem.

[0051] In one embodiment, the first and second movable supports are combined into a single main support; the visual acquisition device and the end effector are respectively installed at different positions on the movable end of the main support. For example, the first movable support may be omitted, and only the second movable support may be installed, with the visual acquisition device installed at the end of the movable cantilever and the end effector installed at the end of the vertical motion sling, thereby enabling a single support to perform both visual acquisition and target pickup.

[0052] In a more advantageous embodiment, the end effector collection subsystem 2 further includes: a first weight sensor; the first weight sensor is electrically connected to the control subsystem 5; the control subsystem 5 is used to determine whether the end effector has successfully picked up or put down the target to be collected based on the change in the weight signal collected by the first weight sensor, and to control the second moving support to move to the corresponding position based on the picking status of the end effector.

[0053] In this embodiment of the invention, by setting a first weight sensor, the control subsystem 5 can determine whether the target has been successfully picked up based on the signal changes of the first weight sensor. After successfully picking up the target, the control subsystem 5 controls the second moving bracket to move to the designated position of the storage subsystem 3 to place the target. After the target is placed, the control subsystem 5 controls the second moving bracket to move to the next target position to perform a new round of picking. If all the targets to be collected at the current location have been picked up, the control subsystem 5 controls the second moving bracket to move back to the initial position after the last target is successfully placed.

[0054] If the target is not successfully picked up during the picking process, the control subsystem 5 controls the visual recognition subsystem 1 to reacquire the target image and coordinate positioning, and restarts the visual recognition and picking program.

[0055] In one embodiment, the control subsystem 5 includes: a control panel, a controller, and a display screen; the controller is a PLC controller or a microcontroller; the controller is electrically connected to the control panel, the vision recognition subsystem 1, the end effector collection subsystem 2, the storage subsystem 3, and the transportation subsystem 4 respectively; the control panel allows the operator to send corresponding instructions to the controller to perform specified control on the working status of the vision recognition subsystem 1, the end effector collection subsystem 2, the storage subsystem 3, and the transportation subsystem 4; the display screen is used to display in real time the control interface of the vision recognition subsystem 1, the motion coordinates of the end effector collection subsystem 2, and the storage location of the picked-up target in the storage subsystem 3.

[0056] In this embodiment of the invention, operators can actively control the real-time operating status of the visual recognition subsystem 1 and the end-effector collection subsystem 2 via a control panel, as well as control the forward, backward, turning, and stopping operations of the transport subsystem 4. The display screen is used to display the operation data interface in real time during different operation processes. After the entire process of recognition, pickup, and storage is completed, the display screen can show the storage status of the picked-up target in the storage subsystem 3 in real time. Based on the information displayed on the screen, the operator can control the end-effector collection subsystem 2 to move the target to a designated location.

[0057] An automated program can also be adopted, in which the visual recognition subsystem 1 is manually moved to the vicinity of the target to be collected for recognition, and the subsequent picking and placing actions of the target are automatically completed according to the pre-set program.

[0058] In one embodiment, the storage subsystem 3 is a box-type container, and an automatic door is installed on the box-type container. The automatic door is electrically connected to the control subsystem 5.

[0059] In other embodiments, the storage subsystem 3 can be divided into multiple target storage areas. The control subsystem 5 is also used to pre-determine the coordinates of the target storage areas and number them sequentially. After each time the end-capture collection subsystem picks up a target to be collected, it controls the end-capture collection subsystem to place the picked-up target into the corresponding target storage area according to the numbering order. In this embodiment of the invention, by sequentially numbering the target storage areas, with each target storage area corresponding to a coordinate, the control subsystem controls the end-capture collection subsystem to place the target into the corresponding target storage area according to the numbering order and coordinate position. After placing one layer of targets in all numbered target storage areas, a new round of storage is started, and the second layer of targets is placed according to the numbering order. The control subsystem also sets the corresponding number of storage layers according to the target type to realize the automated picking and retrieval process of targets.

[0060] In another embodiment, a second weight sensor is installed on the bottom surface of each target storage area. The control subsystem calculates the difference between the target weight stored in each target storage area and a threshold value based on the weight signals collected by each second weight sensor. When the difference reaches a preset range, it is determined that the current target storage area is full, and the control end-collector subsystem places the picked-up target into other unfilled target storage areas. This embodiment of the invention collects the load-bearing information of each target storage area in real time through second weight sensors. Based on the difference between the current load-bearing information and the target threshold value, it determines whether the current target storage area is full. After it is full, the next round of targets is stored in other unfilled target storage areas. The entire process requires no manual intervention and has a high degree of automation.

[0061] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0062] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A mobile three-dimensional collection and storage device, characterized in that, For automated collection of specific targets over a large area, it includes: a visual recognition subsystem, an end-effector collection subsystem, a storage subsystem, a transportation subsystem, and a control subsystem; the visual recognition subsystem, the end-effector collection subsystem, the storage subsystem, and the control subsystem are all mounted on the transportation subsystem; The visual recognition subsystem is used to acquire three-dimensional images of the target to be collected in real time, calculate the volume envelope size of the target to be collected, and determine the coordinates of the grasping point under the control of the control subsystem. The visual recognition subsystem includes a visual acquisition device and a first moving support. The visual acquisition device is installed at the moving end of the first moving support and adopts a 3D camera or is composed of a distance sensor and a 2D vision camera, and is embedded with a vision industrial control computer and vision software. Under the control of the control subsystem, the first movable support moves the visual acquisition device to above the target to be collected; The visual acquisition device is used to acquire point cloud images of the target to be collected, construct a three-dimensional model for it, calculate the volume envelope size of the target to be collected based on the three-dimensional model, and analyze the shape, volume envelope size and position of the target to be collected to determine the grasping point and coordinates of the grasping point. The control subsystem is used to control the picking end of the end-effector collection subsystem to move to the coordinate position of the grasping point, and to pick up the target to be collected to the designated position of the storage subsystem; The transportation subsystem is used to transport the target to be collected to a designated location under the control of the control subsystem; The control subsystem is also used to pre-set the coordinate origin and storage volume inside the storage subsystem, calculate the number of targets to be collected that can be stored in the storage subsystem based on the storage volume inside the storage subsystem and the volume envelope size of the target to be collected, and calculate the storage coordinate position of the current target to be collected using the coordinate origin and the storage coordinate point of the previous round of targets as reference points. The storage subsystem has multiple target storage areas; each target storage area is equipped with a second weight sensor on its bottom surface; the control subsystem is used to calculate the difference between the target weight stored in each target storage area and a threshold based on the weight signals collected by each of the second weight sensors, and when the difference reaches a preset range, it is determined that the current target storage area is full, and the end-capture collection subsystem is controlled to place the picked-up target into other unfilled target storage areas.

2. The mobile three-dimensional collection and storage device according to claim 1, characterized in that, The end effector collection subsystem includes: an end effector and a second movable support; the end effector is mounted on the movable end of the second movable support; Under the control of the control subsystem, the second mobile support drives the end effector to move to the grasping point of the target to be collected; The end effector is used to pick up the target to be collected under the control of the control subsystem; The second mobile support is also used to store the target to be collected in a designated location of the storage subsystem under the control of the control subsystem after the end effector picks up the target to be collected.

3. A mobile three-dimensional collection and storage device according to claim 2, characterized in that, The second movable support includes: a movable cantilever, a vertical motion sling, and a drive motor; the drive motor and the end effector are electrically connected to the control subsystem; the end effector is mounted on the vertical motion sling. Under the control of the control subsystem, the drive motor drives the movable cantilever to move directly above the target grabbing point to be collected, and drives the vertical motion sling to move to the target grabbing point position.

4. A mobile three-dimensional collection and storage device according to claim 2, characterized in that, The first movable support and the second movable support are combined into a total support; the visual acquisition device and the end effector are respectively installed at different positions on the movable end of the total support.

5. A mobile three-dimensional collection and storage device according to claim 2, characterized in that, The end effector collection subsystem further includes: a first weight sensor; the first weight sensor is electrically connected to the control subsystem; the control subsystem is used to determine whether the end effector has successfully picked up or put down the target to be collected based on the change in the weight signal collected by the first weight sensor, and to control the second moving bracket to move to the corresponding position based on the picking status of the end effector.

6. A mobile three-dimensional collection and storage device according to claim 1, characterized in that, The control subsystem includes: a control panel, a controller, and a display screen; the controller is a PLC controller or a microcontroller; the controller is electrically connected to the control panel, the vision recognition subsystem, the end effector collection subsystem, the storage subsystem, and the transportation subsystem; the control panel allows operators to send corresponding instructions to the controller to control the working status of the vision recognition subsystem, the end effector collection subsystem, the storage subsystem, and the transportation subsystem; the display screen is used to display the control interface of the vision recognition subsystem, the motion coordinates of the end effector collection subsystem, and the storage location of the picked-up target in the storage subsystem in real time.

7. A mobile three-dimensional collection and storage device according to claim 1, characterized in that, The storage subsystem is a box-type container, and the box-type container is equipped with an automatic door, which is electrically connected to the control subsystem.

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