A multi-robot collaborative automatic sampling method for surface epidemic prevention detection of boxes and cargoes

Abstract

The present invention provides an automatic operation method for multi-robot collaborative detection and sampling of the surface of boxed goods for epidemic prevention. It includes the following steps: controlling the visual recognition module to scan the boxed goods to identify their posture, controlling the cargo grabbing robot to grab the boxed goods; transferring the boxed goods to the top of the rotating workbench, and the collaborative robot unit for surface epidemic prevention detection and unpacking and disinfection of the boxed goods enters the surface epidemic prevention test stick storage area to obtain the sampling test stick, and the four-arm unpacking robot unit and the rotating workbench move to perform multi-point wiping sampling on the preset outer wall surface to be tested of the outer packaging of the boxed goods, perform multi-point wiping sampling on the preset outer wall surface to be tested of the inner packaging of the goods, perform multi-point wiping sampling on the upper surface of the goods in the packaging, and then wipe and disinfect all parts that come into contact with the goods. The present invention adopts a multi-robot collaborative operation mode, which has a high degree of automation, no manual contact, and high efficiency, greatly reducing the intensity of manual work.

Description

Technical Field

[0001] The present invention relates to the technical field of automated sampling and testing of goods, and in particular to an automatic operation method for sampling the surface of boxes and boxes of goods for epidemic prevention detection in collaboration with multiple robots. Background Art

[0002] Inspection is an important means of customs supervision. During the current inspection, staff will open the boxes to conduct random inspections and controlled inspections on samples. For boxed goods, they need to be manually opened for inspection to cope with different epidemic prevention tests. It is difficult to determine whether there is a source of contamination on the surface of the boxed goods and the internal packaging of the goods.

[0003] Currently, surface quarantine testing and sampling for cold chain cargo is done manually. For large quantities of cold chain cargo, manual unpacking and surface quarantine testing is arduous and inefficient. If there is a source of contamination, the risk of human infection is severe. Therefore, the need for automated surface quarantine testing equipment for cold chain cargo is urgent.

[0004] In existing literature and patent searches, no devices or methods for automated sampling and surface epidemic prevention testing of cold chain goods have been found, and there is even a lack of relevant research on automated unpacking and collection of goods in boxes of different specifications. Tsinghua University proposed a sampling robot, a robot system for cargo sampling and inspection, and a detection method (CN 114764242 A). These determine whether the cargo is to be sampled through visual recognition after image acquisition. After sampling, the sample is refrigerated and moved to its destination. During this process, various information obtained can be transmitted to the inspection personnel, reducing the inspection personnel's labor intensity and improving the level of information management. However, it does not mention how to perform the cargo sampling operation, and the sampling location and sampling method are unknown. Therefore, it is not very referenceable and has certain limitations. Fuzhou Internet of Things Open Laboratory Co., Ltd. proposed a smear sampling robot control method and device (CN 114986517 A). This method uses visual recognition to guide the robot's movement on two workbenches, including the movement of the sampling unit and the surface sampling of the cargo. The required actions are determined based on the acquired image information. The degree of automation is high, but the specific device and actions are not described, the scope of application is not clear, and it has certain limitations. Summary of the Invention

[0005] In response to the technical problems raised above, a method for automatically sampling and detecting the surface of boxes and cargoes for epidemic prevention by coordinating multiple robots is provided. The technical means adopted by the present invention are as follows:

[0006] A method for automatic operation of multi-robot collaborative box and box cargo surface epidemic prevention detection and sampling is based on a multi-robot collaborative box and box cargo surface epidemic prevention detection and sampling automatic operation platform device, which includes a rotating workbench, a cargo grabbing robot unit, a four-arm unpacking robot unit, a box and box cargo surface epidemic prevention detection and unpacking disinfection collaborative robot unit, a surface epidemic prevention detection test stick storage table, a cargo contact surface wiping and disinfection device, a code scanning and recognition module and an electric platform work vehicle for installing the above-mentioned device. The rotating workbench is used for placing and rotating cargo. The cargo grabbing robot unit includes a cargo grabbing robot body and a visual recognition module and a code scanning and recognition module arranged thereon. The visual recognition module is used to obtain the positional relationship between the box and the cargo grabbing robot body, and the code scanning and recognition module is used to identify the box. The code on the surface of the goods is identified to realize the information traceability of the boxed goods. The cargo grabbing robot body performs the preset grabbing action on the boxed goods based on the information obtained by the visual recognition module and transfers the boxed goods to the preset area. The preset area includes the unpacking area and the inspected pallet area. The four-arm unpacking robot unit is used to adjust the posture of the boxed goods in the unpacking area. The collaborative robot unit for surface epidemic prevention detection and unpacking disinfection of the boxed goods is used to cut the tape on the surface of the boxed goods, wipe and sample the boxed goods at multiple points and in multiple directions, and wipe and disinfect the surface to be disinfected with a disinfection stick. The surface epidemic prevention detection test stick storage table is used to provide sampling test sticks and store the sampling test sticks in the preset sampling orientation. The cargo contact surface wiping and disinfection device is used to disinfect the disinfection stick, including the following steps:

[0007] S1. The control system controls the visual recognition module of the cargo grabbing robot unit to scan and identify the position of the boxes of cargo on the pallet to be inspected, then controls the cargo grabbing robot body to move to grab the boxes of cargo, controls the code scanning and recognition module to at least scan the boxes of cargo, and controls the code scanning and recognition module to transmit the acquired scanned code information to the host computer;

[0008] S2. The control system controls the cargo grabbing robot to transfer the boxed cargo onto the rotary worktable. The control system controls the collaborative robot unit for surface epidemic prevention inspection and unpacking disinfection of the boxed cargo to enter the surface epidemic prevention inspection test stick storage area, obtain the sampling test stick, and control the four-arm unpacking robot unit and the rotary worktable to sequentially move. The collaborative robot unit cooperates with the collaborative robot unit for surface epidemic prevention inspection and unpacking disinfection of the boxed cargo to perform multi-point wiping sampling on the six preset outer wall surfaces of the boxed cargo to be inspected.

[0009] S3: The control system controls the collaborative robot unit for surface epidemic prevention inspection and unpacking disinfection of boxes and cargoes to cut the sampling test sticks and store them in the surface epidemic prevention test stick storage table, and then grab a new test stick for use;

[0010] S4. The control system controls the collaborative robot unit for surface epidemic prevention inspection and disinfection of boxes and boxes to perform unpacking operations on the boxes and boxes;

[0011] S5. The control system controls the collaborative robot unit for epidemic prevention inspection and unpacking disinfection of cargo boxes to perform multi-point wiping and sampling on the upper surface of the inner packaging of the cargo boxes;

[0012] S6. The control system controls the cargo grabbing robot unit to grab the cargo from the box by suction, gripping, and unpacking. The surface epidemic prevention inspection and unpacking disinfection collaborative robot unit performs multi-point wiping sampling on the remaining five surfaces of the inner packaging of the cargo box, and repeats S3.

[0013] S7: The control system controls the cargo grabbing robot unit to place the cargo back into the box. The surface epidemic prevention inspection and unpacking disinfection collaborative robot unit cuts the upper surface of the packaging in the box and performs multi-point wiping sampling on the upper surface of the cargo within the cut.

[0014] S8: The control system controls the collaborative robot unit for surface epidemic prevention inspection and unpacking disinfection of boxes and cartons to cut the sampling test sticks and store them in the surface epidemic prevention inspection test stick storage table. At the same time, the control system controls the four-arm unpacking robot unit to close the boxes and cargo.

[0015] S9: The control system controls the cargo grabbing robot unit to transfer the boxed cargo to the inspected pallet. At the same time, the control system controls the collaborative robot unit for surface epidemic prevention inspection and unpacking disinfection of the boxed cargo to hold a disinfection stick and wipe and disinfect all contact surfaces of the boxed cargo.

[0016] S10. Execute the cycle of S1 to S9 until all boxes of goods to be inspected on the pallet to be inspected are inspected.

[0017] Furthermore, before step S1, step S0 is also provided, the pallets to be inspected and the pallets that have been inspected are placed in the designated areas on both sides of the electric platform work vehicle, the electric platform work vehicle is powered on, and after the preparation work is completed, the surface epidemic prevention detection and sampling operations of the boxed goods are carried out.

[0018] Furthermore, performing multi-point swabbing sampling on the preset outer wall surface to be inspected of the boxed goods includes the following steps: S21, the cargo grabbing robot body transfers the boxed goods to the rotating worktable of the four-arm unpacking robot unit, and the collaborative robot unit for surface epidemic prevention inspection and unpacking disinfection of the boxed goods clamps the first sampling test stick from the surface epidemic prevention inspection test stick storage table to perform multi-point swabbing sampling on the bottom surface of the boxed goods;

[0019] S22: The cargo grabbing robot places the boxed cargo on a rotating workbench. The rotating workbench rotates at different angles to coordinate with the collaborative robot unit for surface epidemic prevention inspection and unpacking disinfection of the boxed cargo to perform multi-point wiping and sampling on the four outer walls of the boxed cargo.

[0020] S23, the four-arm unpacking robot unit clamps the boxes of goods through an elastic clamping mechanism, and the collaborative robot unit for epidemic prevention inspection and unpacking disinfection of the boxes' surfaces performs multi-point wiping and sampling of the top surface.

[0021] Furthermore, after the collaborative robot unit for surface epidemic prevention inspection and unpacking disinfection of box goods in S2 wipes and samples the preset outer wall surface of the box goods to be inspected at multiple points, the control system controls it to be placed in the surface epidemic prevention inspection test stick storage area, and the first sampling test stick is clamped, and its test stick head is cut off by pneumatic scissors, and the sampling sample automatically falls into the first sampling tube. The second sampling test stick is clamped, and its test stick head is cut off by pneumatic scissors, and the sampling sample automatically falls into the second sampling tube. The third sampling test stick is clamped, and its test stick head is cut off by pneumatic scissors, and the sampling sample automatically falls into the third sampling tube.

[0022] Furthermore, in S4, for the tape packaging method, the unpacking operation is carried out according to the cutting trajectory preset by the control system, and the tape is first cut along the middle seam position of the upper surface of the box, and then the tape positions at both ends of the upper surface of the box are cut according to the figure-eight cutting trajectory; for the packaging methods of plastic packaging and strapping tape, the unpacking operation is carried out according to the I-shaped cutting trajectory preset by the control system.

[0023] Furthermore, in S5-S6, the collaborative robot unit for epidemic prevention inspection and unpacking disinfection of the box cargo surface clamps the second sampling test stick to wipe and sample multiple points on the inner surface of the box cargo, and adjusts the sampling test stick based on preset detection factors.

[0024] Furthermore, the collaborative robot unit for epidemic prevention inspection and unpacking disinfection of goods in the S7 box clamps the third sampling test stick to wipe and sample the surface of the goods within the incision of the inner packaging of the goods, and adjusts the sampling test stick based on the preset detection factors.

[0025] The present invention has the following advantages: the present invention adopts the collaborative operation of multiple robots to complete the six-side surface epidemic prevention detection and sampling of the outer surface of the outer packaging of boxed goods, automatic unpacking, multi-point wiping sampling of the inner packaging surface and internal goods surface for epidemic prevention detection, and automatic disinfection of the goods contact surface. It meets the requirements for surface epidemic prevention detection and sampling of boxed goods proposed by the National Health Commission, has strong practicality, high degree of automation, no manual contact, high efficiency, and the surface epidemic prevention detection data can be traced, which greatly reduces the intensity of manual work and reduces the occurrence of cross infection. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0027] Figure 1 It is a schematic diagram of the operation of the present invention.

[0028] Figure 2 It is an axonometric schematic diagram of the present invention.

[0029] Figure 3 Schematic diagram of multi-robot collaborative operation of the present invention.

[0030] Figure 4 Schematic diagram of the top tape cutting process of the present invention.

[0031] Figure 5 Schematic diagram of a cargo grabbing end effector in an embodiment of the present invention.

[0032] Figure 6 Schematic diagram of a four-arm unpacking robot unit in an embodiment of the present invention.

[0033] Figure 7 2. It is a schematic diagram of a surface epidemic prevention test stick storage station in an embodiment of the present invention.

[0034] Figure 8 Schematic diagram of a collaborative robot unit for unpacking cargo boxes in an embodiment of the present invention.

[0035] Figure 9 Schematic diagram of a cargo contact surface wiping and disinfecting device in an embodiment of the present invention.

[0036] Among them, 1. Cargo grabbing robot unit; 2. Four-arm unpacking robot unit; 3. Collaborative robot unit for epidemic prevention detection and unpacking disinfection of box cargo surface; 4. Storage table for surface epidemic prevention test sticks; 5. Cargo contact surface wiping and disinfection device; 6. External protective cover; 7. Mobile platform; 101. Cargo grabbing robot body; 102. Visual recognition module; 103. Cargo grabbing end effector; 104. Code scanning recognition module; 1021. Visual camera; 1022. Camera bracket; 1031. End mounting bracket; 1032. Telescopic cylinder; 1033. Linear guide; 1034. Vacuum generator assembly; 1035. Vacuum suction cup; 1036. Gripper cylinder; 1037. Anti-slip clamping plate; 201. Rotary workbench; 202. Base; 203. Vertical Bracket I; 204, vertical bracket II; 205, horizontal screw-nut mechanism; 206, vertical screw-nut movement mechanism; 207, swing-over mechanism; 208, elastic pressing mechanism; 301, pneumatic gripping finger I; 302, spring knife holder blade assembly; 303, collaborative robot body; 304, mounting base; 401, sampling test rod rack; 402, sampling test rod; 403, sampling tube rack; 404, sampling tube; 405, pneumatic gripping finger II; 406, pneumatic scissors; 407, multi-position cylinder; 408, storage table mounting plate; 409, sampling test tube guide plate; 4010, storage table mounting base; 4011, storage box; 4021, sampling pattern; 501, disinfection stick; 502, liquid medicine barrel; 503, nozzle; 504, diaphragm pump. DETAILED DESCRIPTION

[0037] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0038] like Figure 1 、 Figure 2As shown, an embodiment of the present invention discloses a multi-robot collaborative box and box cargo surface epidemic prevention detection and sampling automatic operation method, which is implemented based on a multi-robot collaborative box and box cargo surface epidemic prevention detection and sampling automatic operation platform device, which includes a rotating workbench 201, a cargo grabbing robot unit 1, a four-arm unpacking robot unit 2, a box and box cargo surface epidemic prevention detection and unpacking disinfection collaborative robot unit 3, a surface epidemic prevention detection test stick storage table 4, a cargo contact surface wiping and disinfection device 5, a code scanning and recognition module 104 and an electric platform work vehicle for installing the above-mentioned device, the rotating workbench 201 is used for placing and rotating goods, the cargo grabbing robot unit 1 includes a cargo grabbing robot body 101 and a visual recognition module 102 arranged thereon, and the visual recognition module 102 is used to obtain the box and box cargo and the cargo grabbing robot body The positional relationship between the two bodies 101, the cargo grabbing robot body 101 performs a preset grabbing action on the boxed cargo based on the information obtained by the visual recognition module 102 and transfers the boxed cargo to a preset area, the preset area includes an unpacking area and an inspected pallet area, the four-arm unpacking robot unit 2 is used to adjust the posture of the boxed cargo in the unpacking area, the boxed cargo surface epidemic prevention detection and unpacking disinfection collaborative robot unit 3 is used to cut the tape on the surface of the boxed cargo, multi-point and multi-directional wiping sampling of the boxed cargo, and wipe and disinfect the surface to be disinfected with a disinfection stick, the surface epidemic prevention detection test stick storage table 4 is used to provide sampling test sticks and store the sampling test sticks in the preset sampling orientation, the cargo contact surface wiping and disinfection device 5 is used to disinfect the disinfection stick, and the above robots are all controlled by a control system, specifically as shown in FIG. Figure 3 As shown, the control system is an integrated control system.

[0039] The specific automatic operation method for surface epidemic prevention detection and sampling of boxed goods based on the above device includes the following steps:

[0040] S1. The control system controls the visual recognition module 102 of the cargo grabbing robot unit 1 to scan and identify the position of the boxes of cargo on the pallet to be inspected, then controls the cargo grabbing robot body 101 to move and grab the boxes of cargo, controls the code scanning and recognition module 104 to at least scan the codes of the boxes of cargo, and controls the code scanning and recognition module 104 to transmit the acquired code scanning information to the host computer;

[0041] S2. The control system controls the cargo grabbing robot body 101 to transfer the boxed cargo to the top of the rotating worktable 201. The control system controls the collaborative robot unit 3 for surface epidemic prevention inspection and unpacking disinfection of the boxed cargo to enter the surface epidemic prevention inspection test stick storage table 4 area, obtain the sampling test stick 4021, and control the four-arm unpacking robot unit 2 and the rotating worktable 201 to move sequentially, cooperating with the collaborative robot unit 3 for surface epidemic prevention inspection and unpacking disinfection of the boxed cargo to perform multi-point wiping sampling on the six preset outer wall surfaces of the boxed cargo to be inspected;

[0042] S3: The control system controls the collaborative robot unit 3 for surface epidemic prevention inspection and unpacking disinfection of cargo boxes to cut the sampling test stick 4021 and store it in the surface epidemic prevention test stick storage table 4, and re-grab a new test stick 4021 for use;

[0043] S4: The control system controls the collaborative robot unit 3 to perform epidemic prevention inspection and disinfection on the surface of the boxes and boxes to unpack the boxes and boxes;

[0044] S5: The control system controls the collaborative robot unit 3 for epidemic prevention inspection and unpacking disinfection of the cargo box surface to perform multi-point wiping sampling on the upper surface of the inner packaging of the cargo box;

[0045] S6. The control system controls the cargo grabbing robot unit 1 to suck, clamp, and grab the cargo in the box. The surface epidemic prevention inspection and unpacking disinfection collaborative robot unit 3 performs multi-point wiping sampling on the remaining five surfaces of the inner packaging of the box cargo, and repeats S3.

[0046] S7: The control system controls the cargo grabbing robot unit 1 to put the cargo back into the box. The surface epidemic prevention inspection and unpacking disinfection collaborative robot unit 3 cuts the upper surface of the packaging in the box and performs multi-point wiping sampling on the upper surface of the cargo within the cut.

[0047] S8: The control system controls the collaborative robot unit 3 for surface epidemic prevention inspection and unpacking disinfection of boxes and cargoes to cut the sampling test sticks 4021 and store them in the surface epidemic prevention inspection test stick storage table 4. At the same time, the control system controls the four-arm unpacking robot unit 2 to close the boxes and cargoes.

[0048] S9: The control system controls the cargo grabbing robot unit 1 to transfer the boxed cargo to the inspected pallet. At the same time, the control system controls the collaborative robot unit 3 for surface epidemic prevention inspection and unpacking disinfection of the boxed cargo to hold the disinfection stick 501 to wipe and disinfect all contact surfaces of the boxed cargo.

[0049] S10. Execute the cycle of S1 to S9 until all boxes of goods to be inspected on the pallet to be inspected are inspected.

[0050] Example 1

[0051] This embodiment discloses the details of an optional implementation method of the above-mentioned automatic operation platform device including multiple robots cooperating to detect and sample the surface of box cargo for epidemic prevention, specifically including a mobile platform 7 and a cargo grasping robot unit 1, a four-arm unpacking robot unit 2, a collaborative robot unit 3 for detecting and disinfecting the surface of box cargo for epidemic prevention, a surface epidemic prevention test stick storage table 4, and a cargo contact surface wiping and disinfection device 5. The cargo grasping robot unit 1 includes a cargo grasping robot body 101 and a visual recognition module 102 arranged thereon. The visual recognition module 102 is used to obtain the positional relationship between the box cargo and the cargo grasping robot body 101. The cargo grasping robot body 101 performs a preset grasping action on the box cargo based on the information obtained by the visual recognition module 102 and transfers the box cargo to a preset area. The preset area includes an unpacking area and an inspected pallet area. The collaborative robot unit 3 for surface epidemic prevention detection and unpacking disinfection of boxes and goods is used to cut the tape on the surface of the boxes and goods, wipe and sample the boxes and goods at multiple points and in multiple directions, and wipe and disinfect the surface of the device that has been in contact with the boxes and goods through a disinfection stick. The surface epidemic prevention detection test stick storage table 4 is used to provide sampling test sticks 4021 and store sampling patterns in preset sampling directions. The four-arm unpacking robot unit 2 is used to adjust the position of the boxes and goods in the unpacking area, adjust the multiple sampling surfaces of the boxes and goods through the rotating workbench 201 in the unpacking area to cooperate with the collaborative robot unit 3 for surface epidemic prevention detection and unpacking disinfection of the boxes and goods to perform sampling operations, and perform unpacking operations on the boxes and goods with cut tapes. The goods contact surface wiping and disinfection device 5 is used to disinfect the disinfection stick 501.

[0052] It also includes an outer protective cover 6, which is erected above the mobile platform 7 through four columns located at the four corners of the mobile platform 7. The side close to the stack to be inspected can be telescopically expanded to block light interference during outdoor operations and to resist bad weather during outdoor operations.

[0053] The cargo grabbing robot unit 1 is fixedly mounted above the mobile platform 7 through the cargo grabbing robot body 101. The visual recognition module 102 includes a visual camera 1021 and a camera bracket 1022. The visual camera 1021 is mounted on the cargo grabbing robot body 101 through the camera bracket 1022. Figure 5As shown, the end of the cargo grasping robot unit 101 is connected to a cargo grasping end effector 103, which includes a combined vacuum suction cup mechanism, an auxiliary pneumatic clamping mechanism and an end mounting frame 1031. It is fixedly mounted on the end of the cargo grasping robot body 101 through the end mounting frame 1031, and is used to realize a set of grasping actions of vacuum suction, upward lifting and inward clamping for box goods, as well as the opposite release action; it is installed on the end mounting frame 1031 through a telescopic cylinder 1032 and a linear guide 1033, and vacuum suction and upward lifting of box goods are realized based on a vacuum generator assembly 1034 and a vacuum suction cup 1035. Different suction forces can be applied to box goods of different sizes; in other cases, the auxiliary pneumatic clamping mechanism may also include a clamping claw cylinder 1036 and an auxiliary clamping plate 1037, which clamps the outer surface of the goods after the box goods are grasped by the vacuum suction cup 1035 and lifted upward by the telescopic cylinder 1032.

[0054] The cargo grabbing robot unit also includes a code scanning and recognition module 104, which is used to identify the codes on the surface of the boxes and feed back the acquired code data to the integrated control system to achieve information traceability of the boxes.

[0055] like Figure 6 As shown, the four-arm unpacking robot unit 2 is installed in the middle position above the mobile platform 7. A rotating workbench 201 is set in the central position of the four-arm unpacking robot unit 2, including a base 202, a vertical bracket I 203 and a vertical bracket II 204. The bottoms of the vertical bracket I 203 and the vertical bracket II 204 are installed on the base 202 through a horizontal screw nut mechanism 205 to achieve horizontal sliding on the base 202. The vertical bracket I 203 and the vertical bracket II 204 are two sets respectively and are arranged in a cross shape. Each vertical bracket I 203 and the vertical bracket II 204 are provided with a vertical screw nut mechanism 205. The lever and nut movement mechanism 206, the swing and flip mechanism 207, and the elastic pressing mechanism 208 realize the automatic unpacking and closing of boxes of goods of different specifications after the tape is cut; the swing and flip mechanism 207 is installed on the vertical bracket through the vertical screw and nut movement mechanism 206 to realize vertical sliding on the vertical bracket; the elastic pressing mechanism 208 is installed on the lower side of each vertical bracket, which is used to realize the centering and fixation of the boxes when the tape is cut and the boxes are opened and closed, and to realize the position correction of the box placement position when there is a deviation from the center of the rotating workbench 201 by self-pressing.

[0056] like Figure 7As shown, the cargo box surface epidemic prevention detection, unpacking and disinfection collaborative robot unit includes a pneumatic clamping finger I 301, a spring knife holder blade assembly 302, a collaborative robot body 303 and a mounting base 304. The cargo box surface epidemic prevention detection, unpacking and disinfection collaborative robot unit 3 is fixedly mounted on the top of the mobile platform 7 through the mounting base; the pneumatic clamping finger I 301 and the spring knife holder blade assembly 302 are both mounted at the end of the collaborative robot body 303, and there is a preset mounting angle between the two. Different function switching is achieved by rotating the axis of the collaborative robot body 303 at different angles. The pneumatic clamping finger I 301 is used to clamp the sampling test rod 4021 and the disinfection rod 501, and based on the action of the collaborative robot body 303, the surface epidemic prevention detection sampling and wiping disinfection operations of the cargo are achieved; the spring knife holder blade assembly 302 realizes the cutting operation of the tape on the surface of the box cargo.

[0057] like Figure 8 As shown, the surface epidemic prevention test stick storage station 4 includes a sampling test stick rack 401, a sampling test tube 402, a sampling tube rack 403, a sampling tube 404, a pneumatic clamping finger II405, a pneumatic scissors 406, a multi-position cylinder 407, a storage station mounting plate 408, a sampling test tube guide plate 409, a storage station mounting seat 4010 and a storage box 4011, which is fixedly installed above the mobile platform 7 through the storage station mounting seat 4010; the sampling test tube 402 is provided on the sampling test stick rack 401; the sampling tube 404 is provided on the sampling tube rack 403 for scissoring. The broken sampling pattern 4021 realizes the storage and classification of multiple different sampling tubes 404; the pneumatic clamping finger II405 is used to clamp the sampling test rod 4021, and the multi-position cylinder 407 is used to push the sampling tube rack 403 through multiple displacements of different strokes, so that the sampling patterns in different orientations cut by the pneumatic scissors 406 enter different sampling tubes 404, and the sampling test tube guide plate 409 is used to guide the sampling test rod 402 when it falls into the storage box 4011; the storage box 4011 is used to store the sampling test rod 4021 after sampling is completed.

[0058] like Figure 9 As shown, the cargo contact surface wiping and disinfection device 5 includes a disinfection rod 501, a liquid medicine barrel 502, a nozzle 503 and a diaphragm pump 504. The bottom of the liquid medicine barrel 502 is installed above the mobile platform 7; the liquid medicine barrel 502 is filled with disinfectant liquid, the input end of the diaphragm pump 504 is connected to the disinfectant liquid, and the output end of the diaphragm pump 504 is connected to the nozzle 503, thereby realizing the disinfection liquid spraying process on the disinfection rod 501.

[0059] The function of the mobile platform 7 mentioned in this embodiment is mainly to carry several units placed thereon. The pallets to be inspected and the inspected pallets are placed in designated areas, and the mobile platform 7 moves to a position between the two to complete the automatic surface epidemic prevention detection and sampling of the cargo boxes on the pallets to be inspected. Specifically, in this embodiment, the mobile platform 7 includes the electric platform work vehicle, the vacuum and pneumatic system, the integrated control system and the human-computer interaction operating console. The electric platform work vehicle is an independently controlled remote-controlled electric trolley powered by a battery; the embedded drawer-type electrical control box is a slide drawer-type structure, which is respectively placed on both sides of the electric platform work vehicle; it provides the required electric power for the surface epidemic prevention detection operation; the integrated control system and the human-computer interaction operating console are used to manually or automatically control the entire device and receive feedback signals from each unit.

[0060] The clamping function of the disinfection stick 501 and the sampling stick 4021 of the automatic surface epidemic prevention detection and sampling operation platform for boxed goods, as well as the adsorption, lifting and clamping functions of the boxed goods are realized through a vacuum and pneumatic system.

[0061] As a relatively simple implementation method, the visual unit of the present invention is only used to identify the upper surface size information and position information of the goods, and no depth direction identification is required; the cargo grabbing robot unit only needs to complete the grabbing and placing of the goods, and there is a clamping action when grabbing the goods, and no high precision is required; the position accuracy required for the tape cutting, unpacking and closing of boxed goods is achieved by the elastic clamping mechanism of the four-arm unpacking robot unit, which greatly reduces the requirements for the recognition accuracy of the visual unit and greatly reduces the development time and development cost of the visual unit.

[0062] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-robot collaborative automatic operation method for epidemic prevention detection and sampling of box cargo surfaces, characterized in that: It is based on a multi-robot collaborative box cargo surface epidemic prevention detection and sampling automatic operation platform device, which includes a rotating workbench, a cargo grabbing robot unit, a four-arm unpacking robot unit, a box cargo surface epidemic prevention detection and unpacking disinfection collaborative robot unit, a surface epidemic prevention detection test stick storage table, a cargo contact surface wiping and disinfection device, a code scanning and recognition module and an electric platform work vehicle for installing the above-mentioned device. The rotating workbench is used for placing and transferring goods. The cargo grabbing robot unit includes a cargo grabbing robot body and a visual recognition module and a code scanning and recognition module arranged thereon. The visual recognition module is used to obtain the positional relationship between the box cargo and the cargo grabbing robot body. The code scanning and recognition module is used to recognize the spray code on the surface of the box cargo. The information traceability of the boxed goods is now realized. The cargo grabbing robot body performs a preset grabbing action on the boxed goods based on the information obtained by the visual recognition module and transfers the boxed goods to a preset area. The preset area includes an unpacking area and an inspected pallet area. The four-arm unpacking robot unit is used to adjust the posture of the boxed goods in the unpacking area. The collaborative robot unit for surface epidemic prevention detection and unpacking disinfection of the boxed goods is used to cut the tape on the surface of the boxed goods, wipe and sample the boxed goods at multiple points and in multiple directions, and wipe and disinfect the surface to be disinfected with a disinfection stick. The surface epidemic prevention detection test stick storage table is used to provide sampling test sticks and store the sampling samples in the preset sampling orientation. The cargo contact surface wiping and disinfection device is used to disinfect the disinfection stick, including the following steps: S1. The control system controls the visual recognition module of the cargo grabbing robot unit to scan and identify the position of the boxes of cargo on the pallet to be inspected, then controls the cargo grabbing robot body to move to grab the boxes of cargo, controls the code scanning and recognition module to at least scan the boxes of cargo, and controls the code scanning and recognition module to transmit the acquired scanned code information to the host computer; S2. The control system controls the cargo grabbing robot to transfer the boxed cargo onto the rotary worktable. The control system controls the collaborative robot unit for surface epidemic prevention inspection and unpacking disinfection of the boxed cargo to enter the surface epidemic prevention inspection test stick storage area, obtain the sampling test stick, and control the four-arm unpacking robot unit and the rotary worktable to sequentially move. The collaborative robot unit cooperates with the collaborative robot unit for surface epidemic prevention inspection and unpacking disinfection of the boxed cargo to perform multi-point wiping sampling on the six preset outer wall surfaces of the boxed cargo to be inspected. S3: The control system controls the collaborative robot unit for surface epidemic prevention inspection and unpacking disinfection of boxes and cargoes to cut the sampling test sticks and store them in the surface epidemic prevention test stick storage table, and then grab a new test stick for use; S4. The control system controls the collaborative robot unit for surface epidemic prevention inspection and disinfection of boxes and boxes to perform unpacking operations on the boxes and boxes; S5. The control system controls the collaborative robot unit for epidemic prevention inspection and unpacking disinfection of cargo boxes to perform multi-point wiping and sampling on the upper surface of the inner packaging of the cargo boxes; S6. The control system controls the cargo grabbing robot unit to grab the cargo from the box by suction, gripping, and unpacking. The surface epidemic prevention inspection and unpacking disinfection collaborative robot unit performs multi-point wiping sampling on the remaining five surfaces of the inner packaging of the cargo box, and repeats S3. S7: The control system controls the cargo grabbing robot unit to place the cargo back into the box. The surface epidemic prevention inspection and unpacking disinfection collaborative robot unit cuts the upper surface of the packaging in the box and performs multi-point wiping sampling on the upper surface of the cargo within the cut. S8: The control system controls the collaborative robot unit for surface epidemic prevention inspection and unpacking disinfection of boxes and cartons to cut the sampling test sticks and store them in the surface epidemic prevention inspection test stick storage table. At the same time, the control system controls the four-arm unpacking robot unit to close the boxes and cargo. S9: The control system controls the cargo grabbing robot unit to transfer the boxed cargo to the inspected pallet. At the same time, the control system controls the collaborative robot unit for surface epidemic prevention inspection and unpacking disinfection of the boxed cargo to hold a disinfection stick and wipe and disinfect all contact surfaces of the boxed cargo. S10. Execute the cycle of S1 to S9 until all boxes of goods to be inspected on the pallet to be inspected are inspected.

2. The multi-robot collaborative automatic operation method for epidemic prevention detection and sampling of box cargo surfaces according to claim 1 is characterized in that: Before step S1, step S0 is also provided, the pallets to be inspected and the pallets that have been inspected are placed in the designated areas on both sides of the electric platform work vehicle, the electric platform work vehicle is powered on, and after the preparation work is completed, the surface epidemic prevention detection and sampling operations of the boxed goods are carried out.

3. The multi-robot collaborative automatic operation method for epidemic prevention detection and sampling of box cargo surfaces according to claim 1 is characterized in that: The multi-point swabbing sampling of the outer wall of the boxed goods to be tested includes the following steps: S21. The cargo grabbing robot transfers the boxed cargo to the rotating worktable of the four-arm unpacking robot unit. The collaborative robot unit for surface epidemic prevention inspection and unpacking disinfection of the boxed cargo grabs the first sampling test stick from the surface epidemic prevention test stick storage table and wipes the bottom surface of the boxed cargo at multiple points for sampling. S22: The cargo grabbing robot places the boxed cargo on a rotating workbench. The rotating workbench rotates at different angles to coordinate with the collaborative robot unit for surface epidemic prevention inspection and unpacking disinfection of the boxed cargo to perform multi-point wiping and sampling on the four outer walls of the boxed cargo. S23, the four-arm unpacking robot unit clamps the boxes of goods through an elastic clamping mechanism, and the collaborative robot unit for epidemic prevention inspection and unpacking disinfection of the boxes' surfaces performs multi-point wiping and sampling of the top surface.

4. The multi-robot collaborative automatic operation method for epidemic prevention detection and sampling of box cargo surfaces according to claim 1 or 3 is characterized in that: In S2, the collaborative robot unit for surface epidemic prevention inspection and unpacking disinfection of box goods wipes and samples the preset outer wall surfaces of the box goods at multiple points. Then, the control system controls it to be placed in the surface epidemic prevention inspection test stick storage area. The first sampling test stick is clamped, and its test stick head is cut off by pneumatic scissors, and the sampling sample automatically falls into the first sampling tube. The second sampling test stick is clamped, and its test stick head is cut off by pneumatic scissors, and the sampling sample automatically falls into the second sampling tube. The third sampling test stick is clamped, and its test stick head is cut off by pneumatic scissors, and the sampling sample automatically falls into the third sampling tube.

5. The multi-robot collaborative automatic operation method for epidemic prevention detection and sampling of box cargo surfaces according to claim 1 is characterized in that: In step S4, for the tape packaging method, the unpacking operation follows the cutting trajectory preset by the control system, first cutting the tape along the center seam of the upper surface of the box, and then cutting the tape positions at both ends of the upper surface of the box in an eight-shaped pattern.

6. The multi-robot collaborative automatic operation method for epidemic prevention detection and sampling of box cargo surfaces according to claim 1 or 5 is characterized in that: In steps S5-S6, the collaborative robot unit for epidemic prevention inspection and unpacking disinfection of the box cargo surface clamps the second sampling test stick to wipe and sample multiple points on the inner surface of the box cargo, and adjusts the sampling test stick based on preset detection factors.

7. The multi-robot collaborative automatic sampling method for epidemic prevention detection on the surface of boxes and cargoes according to claim 1 or 5 is characterized in that: In step S7, the collaborative robot unit for epidemic prevention inspection and unpacking disinfection of box goods surface clamps the third sampling test stick to wipe and sample the surface of the goods in the incision of the inner packaging of the goods, and adjusts the sampling test stick based on the preset detection factors.

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