A shelf for laser feature recognition

Abstract

The application discloses a shelf for laser feature recognition, which comprises a shelf body, a warehouse body in the shelf body, walking wheels arranged at the bottom of the shelf body, feature plates and a recognition feature rod assembly, the two feature plates are symmetrically arranged on the left and right sides of the warehouse body, the recognition feature rod assembly comprises a recognition feature rod, the recognition feature rod is rotatably arranged at the front end of the warehouse body and faces the inside of the warehouse body, and the recognition feature rod is located at the middle position of the two feature plates, the shelf body comprises a back plate, a top plate and a wheel frame, and the back plate is vertically fixed with the top plate. The radar on the machine body sequentially detects the positions of the recognition feature rod and the feature plates on the left and right sides, so that the three-point accurate positioning of the robot body and the warehouse body is realized, and the recognition feature rod rotates inward under the pushing action of the robot body when the robot body advances to the warehouse body.

Description

TECHNICAL FIELD

[0001] The present application relates to a shelf, in particular to a shelf for laser feature recognition. BACKGROUND

[0002] The warehouse robot is a robot in which the warehouse body and the robot body can be separated. In the warehouse changing process, the docking problem between the warehouse body and the robot body is involved. In most cases, the specific position of the warehouse body is located by scanning the reflective strip on the front warehouse body of the robot body front end laser radar, so as to complete the docking between the robot body and the warehouse body. The existing technology has the defects that the positioning between the robot body and the warehouse body is only realized by radar scanning of the reflector, the coordinate position of the positioning is single, and the reflector is usually installed above the shelf, which has a height difference with the radar, so as to easily cause measurement error and low positioning accuracy. SUMMARY

[0003] The present application relates to a shelf, in particular to a shelf for laser feature recognition.

[0004] To achieve the above-mentioned purpose, the present application provides the following technical scheme:

[0005] A shelf for laser feature recognition, comprising a shelf body, the shelf body having a warehouse body inside, the bottom of the shelf body being provided with walking wheels, further comprising feature plates and a recognition feature rod assembly, the two feature plates being symmetrically distributed and respectively fixedly installed on the left and right sides of the warehouse body, the recognition feature rod assembly comprising a recognition feature rod, the recognition feature rod being rotatably arranged at the front end of the warehouse body towards the inside of the warehouse body, and the recognition feature rod being located at the middle position of the two feature plates.

[0006] As a further scheme of the present application, the shelf body comprises a back plate, a top plate and a wheel bracket, the back plate being vertically fixed with the top plate, the wheel bracket being fixedly installed on the inner side of the back plate, and the walking wheels being rotatably arranged at the bottom of the back plate on both sides and the end of the wheel bracket.

[0007] As a further scheme of the present application, the wheel bracket is located at the middle position of the bottom of the back plate and extends forward.

[0008] As a further scheme of the present application, the two feature plates are respectively fixedly installed on the left and right sides of the top plate and symmetrically distributed.

[0009] As a further scheme of the present application: the identification feature rod assembly further comprises a feature rod support and a hinged support, the feature rod support is fixedly installed on the top plate, the hinged support is fixedly installed on the feature rod support, the top end of the identification feature rod is rotatably installed on the hinged support, and the bottom end of the identification feature rod passes through the installation slot on the top plate and is vertically suspended.

[0010] As a further scheme of the present application: the feature rod support is a convex structure, and fixing holes are formed on the wing plates on both sides of the feature rod support, corresponding through holes are formed on the top plate, and the bolts pass through the fixing holes and the through holes and are locked and fixed by the nuts.

[0011] As a further scheme of the present application: the end of the identification feature rod is provided with a wheel groove, and a roller is rotatably installed in the wheel groove through a shaft

[0012] Compared with the prior art, the present application has the following beneficial effects:

[0013] The laser feature recognition shelf of the present application comprises a shelf body, a feature plate fixedly installed on both sides of the shelf body, and an identification feature rod hinged at the front end of the shelf body and located at the middle position between the two feature plates. When the robot body is docked with the shelf body, the positions of the identification feature rod and the feature plates on both sides are detected by the radar on the robot body in sequence, so that three-point accurate positioning of the robot body and the shelf body is realized, the accuracy when the robot body is docked with the shelf body is improved, and the identification feature rod is rotated inward under the pushing action of the robot body when the robot body advances toward the shelf body, so that blocking is avoided.

[0014] The laser feature recognition shelf of the present application comprises a shelf body, a feature plate fixedly installed on both sides of the shelf body, and an identification feature rod hinged at the front end of the shelf body and located at the middle position between the two feature plates. When the robot body is docked with the shelf body, the positions of the identification feature rod and the feature plates on both sides are detected by the radar on the robot body in sequence, so that three-point accurate positioning of the robot body and the shelf body is realized, the accuracy when the robot body is docked with the shelf body is improved, and the identification feature rod is rotated inward under the pushing action of the robot body when the robot body advances toward the shelf body, so that blocking is avoided.

[0015] The laser feature recognition shelf of the present application comprises a shelf body, a feature plate fixedly installed on both sides of the shelf body, and an identification feature rod hinged at the front end of the shelf body and located at the middle position between the two feature plates. When the robot body is docked with the shelf body, the positions of the identification feature rod and the feature plates on both sides are detected by the radar on the robot body in sequence, so that three-point accurate positioning of the robot body and the shelf body is realized, the accuracy when the robot body is docked with the shelf body is improved, and the identification feature rod is rotated inward under the pushing action of the robot body when the robot body advances toward the shelf body, so that blocking is avoided. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a structural schematic view of the laser feature recognition shelf.

[0017] Figure 2Front view of the shelf for laser feature recognition;

[0018] Figure 3 Side view of the shelf for laser feature recognition;

[0019] Figure 4 Structural schematic diagram of the identification feature stick assembly in the shelf for laser feature recognition;

[0020] In the figure: shelf body 1, back plate 11, top plate 12, mounting groove 12a, wheel bracket 13, walking wheel 14; feature plate 2, first feature plate 21, second feature plate 22; identification feature stick assembly 3, feature stick support 31, wing plate 31a, fixing hole 31b, identification feature stick 32, wheel groove 32a, shaft 32b, roller 33, hinged support 34. DETAILED DESCRIPTION

[0021] In order to explain the technical content, structural features, purposes and effects of the technical scheme in detail, the following will be described in detail in combination with specific embodiments and the accompanying drawings.

[0022] Please refer to Figures 1 to 3 In this embodiment, a shelf for laser feature recognition includes a shelf body 1, a feature plate 2, and an identification feature stick assembly 3. The shelf body 1 has a warehouse body inside, which is used for the robot body (not shown in the figure) to enter and dock with the shelf body 1, so that the robot body moves together with the shelf body 1, and then the goods on the shelf body 1 are transported. The bottom of the shelf body 1 is provided with walking wheels 14 to facilitate the movement of the shelf body 1.

[0023] In this embodiment, the shelf body 1 includes a back plate 11, a top plate 12, and a wheel bracket 13. The back plate 11 is vertically fixed with the top plate 12. The wheel bracket 13 is fixedly installed on the inner side of the back plate 11. The wheel bracket 13 is located at the middle position of the bottom of the back plate 11 and extends forward, so that the wheel bracket 13 and the back plate 11 are fixedly perpendicular to each other. The walking wheels 14 are respectively arranged at the bottom of the back plate 11 on both sides and the end of the wheel bracket 13, thereby facilitating the overall movement of the shelf body 1.

[0024] The feature plate 2 has two, two feature plates 2 include a first feature plate 21 and a second feature plate 22. The first feature plate 21 and the second feature plate 22 are fixedly installed on the left and right sides of the warehouse body and are symmetrically distributed, so as to detect the transverse position of the warehouse body by the robot radar.

[0025] In this embodiment, specifically, the first feature plate 21 is fixedly installed on the right side of the top plate 12 and vertically downward, and the second feature plate 22 is fixedly installed on the left side of the top plate 12 and vertically downward. The first feature plate 21 and the second feature plate 22 are symmetrically distributed on the left and right sides.

[0026] The warehouse body is enclosed by the top plate 12 and the back plate 11, and the robot body is connected with the shelf body 1 through the front opening of the warehouse body, so that the connection and movement of the robot body and the shelf body 1 are realized, and the structure is simple and convenient to use. Meanwhile, the two feature plates 2 are symmetrically arranged on the left and right sides of the top plate 12, so that the two feature plates 2 are arranged on the left and right sides of the warehouse body, and the lateral position of the warehouse body is calibrated, so that the lateral position of the warehouse body is detected and aligned by the robot radar.

[0027] In combination Figure 4 In the embodiment, the identification feature rod assembly 3 includes an identification feature rod 32, which is arranged at the front end of the warehouse body and located between the two feature plates 2. In the initial state, the identification feature rod 32 is vertically suspended, and when the robot body enters the warehouse body, the radar on the robot body first detects the identification feature rod 32 to determine the central axis position of the front opening of the warehouse body, and then detects the positions of the two feature plates 2 to align the lateral positions of the robot body and the warehouse body, so that the positions of the robot body and the front end of the warehouse body are calibrated and aligned. After the robot position is calibrated, the robot body moves towards the warehouse body, and when the robot body touches the identification feature rod 32, the identification feature rod 32 rotates towards the inside of the warehouse body when the robot body continues to move inward, so as to avoid blocking the forward movement of the robot body.

[0028] In the embodiment, preferably, the end of the identification feature rod 32 is provided with a wheel groove 32a, and a roller 33 is rotatably installed in the wheel groove 32a through a shaft 32b. When the roller 33 touches the upper surface of the robot body, the roller 33 will roll towards the front direction of the robot body. The main function of the roller 33 is to reduce the friction of the identification feature rod 32 on the upper surface of the robot body and prevent scratching the upper surface.

[0029] In the embodiment, in order to facilitate the installation of the identification feature rod 32, the identification feature rod assembly 3 further includes a feature rod support 31 and a hinged support 34, the feature rod support 31 is fixedly installed on the top plate 12, the hinged support 34 is fixedly installed on the feature rod support 31, the top end of the identification feature rod 32 is rotatably installed on the hinged support 34, and the bottom end of the identification feature rod 32 passes through the installation groove 12a on the top plate 12 and is vertically suspended. Through the above arrangement, the feature rod support 31 is fixed with the top plate 12, and the identification feature rod 32 is rotatably connected with the hinged support 34 on the feature rod support 31, so as to facilitate the disassembly and installation of the identification feature rod 32.

[0030] In the embodiment, the characteristic rod support 31 is preferably a convex structure, and the fixing holes 31b are arranged on the wing plates 31a on both sides of the characteristic rod support 31, and the through holes are arranged on the top plate 12. In the assembly, the fixing holes 31b on the wing plates 31a on both sides of the characteristic rod support 31 are aligned with the through holes on the top plate 12, the bolt is penetrated through the fixing holes 31b and the through holes and is locked and fixed by the nut, so as to realize the fixation of the characteristic rod support 31, thereby facilitating the overall disassembly and assembly of the characteristic rod assembly 3.

[0031] It should be noted that the relational terms herein such as first and second and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any such actual relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without additional restrictions, an element preceded by "comprises... a" does not, without more constraints, foreclose the existence of additional elements of the process, method, article, or apparatus that contains the element. Additionally, the terms "plurality" and "a plurality" as used herein mean "more than one" or "two or more".

[0032] Although the above-mentioned embodiments have been described, those skilled in the art can make further changes and modifications to the embodiments once they know the basic inventive concept, so the above-mentioned embodiments are only examples of the present application, and do not limit the patent protection scope of the present application. Any equivalent structure or equivalent process transformation using the content of the present application specification and drawings, or direct or indirect application in other related technical fields, is also included in the patent protection scope of the present application.

Claims

1. A shelf for laser feature recognition, comprising a shelf body, a warehouse body is arranged in the shelf body, a walking wheel is arranged at the bottom of the shelf body, characterized in that: Also include feature plate and identification feature stick assembly, the feature plate has two, two said feature plate is fixedly installed on the left and right sides of the warehouse body and symmetrically distributed, the identification feature stick assembly includes identification feature stick, the identification feature stick is rotatably arranged at the front end of the warehouse body towards the inside of the warehouse body, the identification feature stick is located in the middle position of two said feature plate; The shelf body includes a back plate, a top plate and a wheel frame, the back plate is vertically fixed with the top plate, the wheel frame is fixedly installed on the inner side of the back plate, and the walking wheels are rotatably arranged on the bottom of the back plate and the end of the wheel frame respectively; The identification feature stick assembly further includes a feature stick support and a hinge support, the feature stick support is fixedly installed on the top plate, the hinge support is fixedly installed on the feature stick support, the top end of the identification feature stick is rotatably installed on the hinge support, and the bottom end of the identification feature stick passes through the mounting slot on the top plate and is vertically suspended; The feature stick support is a convex structure, the wing plates on both sides of the feature stick support are provided with fixing holes, the top plate is provided with corresponding through holes, the bolts pass through the fixing holes and the through holes and are locked and fixed by nuts; Two said feature plates are fixedly installed on the left and right sides of the top plate and symmetrically distributed, and two said feature plates are vertically downward.

2. The shelf for laser feature recognition according to claim 1, characterized in that: The wheel frame is located at the middle position of the bottom of the back plate and extends forward.

3. The shelf for laser feature recognition according to claim 2, characterized in that: The end of the identification feature stick is provided with a wheel groove, and the roller is rotatably installed in the wheel groove through a shaft.

Images