Machine vision assisted positioning stereoscopic warehouse and positioning method

Abstract

The invention relates to a machine vision-assisted positioning stereoscopic warehouse and a positioning method, and relates to the field of vision-assisted positioning stereoscopic warehouse equipment, the machine vision-assisted positioning stereoscopic warehouse comprises a transverse moving part, a vertical moving part and a material taking mechanism, the vertical moving part is mounted on the transverse moving part, the transverse moving part is used for driving the vertical moving part to move in the vertical direction, and the material taking mechanism is mounted on the vertical moving part; the driving mechanism is installed on the vertical moving part, the vertical moving part is used for driving the driving mechanism to move in the vertical direction, the material taking mechanism is used for clamping and conveying a battery box assembly, a camera assembly is installed on the sampling mechanism, the camera assembly comprises a visual camera and a light source, and the camera assembly is used for clamping and conveying the battery box assembly. The visual camera is installed on the sampling mechanism, and the light source is installed at the position close to the visual camera. The method has the effect that the problem that potential safety hazards exist due to collision between the stacking machine and the charging and discharging equipment is solved.

Description

Technical Field

[0001] The present application relates to the field of vision-assisted positioning of vertical warehouse equipment, and in particular to a machine vision-assisted positioning vertical warehouse and a positioning method. Background Art

[0002] The full name of the automated three-dimensional warehouse is a new concept in intelligent logistics warehousing, and it is also a popular storage device in the current warehousing and logistics industry. It uses the space of high-rise buildings and uses automated equipment and technology to achieve the goals of rationalizing storage in high-rise warehouses, automating storage and retrieval, and simplifying operations.

[0003] In the existing vertical warehouse, due to the large number of equipment in the workshop and due to long-term use, the foundation of the workshop will have a slight change in the benchmark compared with the benchmark when it was first used. Stackers usually use U-shaped photoelectric and sensor devices to move the cargo boxes. However, due to the fixed settings of U-shaped photoelectric and sensor devices, the matching charging and discharging equipment has dimensional errors during long-term use, which causes the stacker to collide with the charging and discharging equipment when placing the battery tray, thus posing certain safety hazards. Summary of the invention

[0004] In order to solve the problem of potential safety hazards caused by collision between a stacker and a charging and discharging device, the present application provides a vertical warehouse with machine vision-assisted positioning.

[0005] The present application provides a machine vision-assisted positioning vertical warehouse using the following technical solutions: A vertical warehouse with machine vision-assisted positioning includes a lateral moving part, a vertical moving part and a material picking mechanism, wherein the vertical moving part is installed on the lateral moving part, and the lateral moving part is used to drive the vertical moving part to move in the vertical direction, the driving mechanism is installed on the vertical moving part, and the vertical moving part is used to drive the driving mechanism to move in the vertical direction, the material picking mechanism is used to clamp and convey a battery box assembly, and a camera assembly is installed on the sampling mechanism, and the camera assembly includes a visual camera and a light source, the visual camera is installed on the sampling mechanism, and the light source is installed at a position adjacent to the visual camera.

[0006] By adopting the above technical solution, the combination design of the horizontal moving parts and the vertical moving parts ensures that the material-retrieving mechanism can move accurately in three-dimensional space. The camera component equipped with the material-retrieving mechanism can obtain environmental image data in real time, and improve the imaging quality in combination with the light source, thereby improving the positioning accuracy of the vertical warehouse system, avoiding the dimensional error problem caused by the long-term use of workshop equipment, and ensuring the safety of the stacker when placing battery pallets.

[0007] In a specific feasible implementation scheme, the transverse moving member includes a transverse moving motor, a driving screw and a lower guide rail, the lower guide rail is fixedly installed, the lower end of the vertical moving member is slidably connected to the lower guide rail, the driving screw is installed on the lower guide rail and is arranged along the length direction of the lower guide rail, the transverse moving motor is installed at one end of the lower guide rail, and the output shaft is connected to the driving screw, and the driving screw is drivingly connected to the lower end of the vertical moving member.

[0008] By adopting the above technical solution, precise control of the lateral moving part is achieved, ensuring that the vertical moving part can move smoothly and accurately in the horizontal direction. Specifically, the lateral moving motor drives the screw to rotate, thereby driving the vertical moving part to move along the length direction of the lower guide rail, thereby improving the stability and accuracy of the system.

[0009] In a specific possible implementation manner, the transverse moving member further comprises an upper guide rail, the upper guide rail is mounted on the upper end of the vertical moving member corresponding to the lower guide rail, and the upper end portion of the vertical moving member is slidably connected to the upper guide rail.

[0010] By adopting the above technical solution, an upper guide rail is added and cooperated with the lower guide rail, so that the vertical moving part slides between the upper guide rail and the lower guide rail, thereby improving the stability of the vertical moving part during the lateral movement, thereby improving the positioning accuracy of the material picking mechanism, avoiding the collision between the stacker and the charging and discharging equipment caused by the equipment size error caused by the change of the workshop foundation, and enhancing the safety of the system.

[0011] In a specific feasible implementation scheme, the vertical moving part includes a support frame, a lifting motor and a lifting chain. The lifting motor is installed on the inner side wall of the lower end of the support frame. A driving gear is installed on the output shaft of the lifting motor. An auxiliary gear is rotatably connected to the inner side wall of the upper end of the support frame. The lifting chain is jointly sleeved on the driving gear and the auxiliary gear and is always in a taut state. Guide rods are installed on both sides of the material picking mechanism. The guide rods on both sides are slidably connected to the support frame. A limiting block is connected to the material picking mechanism, and the limiting block is connected to the lifting chain.

[0012] By adopting the above technical solution, the material-retrieving mechanism can move accurately and smoothly in the vertical direction, avoiding collision problems caused by equipment size errors during long-term use, and improving the safety and accuracy of vertical warehouse operations.

[0013] In a specific feasible implementation scheme, the picking mechanism can clamp two groups of battery box assemblies at the same time, and the two groups of battery box assemblies are located at different heights of the picking mechanism, and two groups of visual cameras are provided, and the two groups of visual cameras are installed on the left and right sides of the surface of the picking mechanism facing the charging and discharging equipment respectively corresponding to the battery box assemblies at different heights.

[0014] By adopting the above technical solution, the material picking mechanism can simultaneously clamp two groups of battery box components located at different heights, thereby improving the material picking efficiency. Two groups of visual cameras are respectively installed on the left and right sides of the surface of the material picking mechanism facing the charging and discharging equipment, corresponding to the battery box components of different heights for precise photo positioning, ensuring the accurate placement of the battery box components and reducing the risk of collision caused by inaccurate positioning.

[0015] In a specific feasible implementation scheme, the visual camera is installed on the material picking mechanism through an installation component, and the installation component includes a profile, an upper bracket, a side bracket and a pressure plate. The profile is installed on the material picking mechanism, the upper bracket is installed on the profile, and the visual camera is installed on the profile. Two side brackets are installed, and the two side brackets are respectively installed on both sides of the visual camera. The light source adopts an annular aperture, and the two sides of the light source are respectively connected to the two side brackets. The light source is installed coaxially with the visual camera, and the pressure plate is installed on the lower bottom surface of the visual camera.

[0016] By adopting the above technical solution, the profile is installed on the material picking mechanism, the sampling motor is installed on the profile, the side bracket is installed on both sides of the visual camera, and the two sides of the light source are respectively connected to the side bracket, thereby improving the installation stability and accuracy of the visual camera and its accessories, so that the visual camera can obtain clearer and more stable images when working, thereby improving the positioning accuracy and reliability.

[0017] In a specific feasible implementation scheme, the upper bracket is configured as an L-shaped plate, and the profile is provided with two rows of positioning holes along the height direction, and each row of positioning holes is provided with a plurality of positioning holes. A first waist-shaped groove is opened on the upper bracket corresponding to the two rows of positioning holes, and the upper bracket is fixed in the positioning holes by passing bolts through the first waist-shaped groove. A second waist-shaped groove is opened on the plate surface on the other side of the upper bracket, and the visual motor is installed by passing bolts through the second waist-shaped groove and fixed to the visual motor.

[0018] By adopting the above technical solution, the upper bracket is set as an L-shaped plate structure, and two rows of positioning holes are set in the height direction of the profile, and each row contains multiple positioning holes. The upper bracket is provided with a first waist-shaped groove corresponding to the two rows of positioning holes, so that the upper bracket can be fixed by adjusting the position of the bolts, thereby increasing the lateral position adjustment range. At the same time, a second waist-shaped groove is set on the other side panel of the upper bracket, and the visual motor is further fixed by bolts passing through this waist-shaped groove, thereby realizing flexible installation and positioning of the visual motor and improving the overall adaptability and reliability of the camera assembly.

[0019] In a specific possible implementation scheme, a side waist-shaped groove is opened on the side bracket, and the side bracket is fixed to the visual motor by passing bolts through the side waist-shaped groove, thereby installing the side bracket.

[0020] By adopting the above technical solution, the side waist groove on the side bracket is fixed to the visual motor with bolts, which enables flexible installation and adjustment of the side bracket, helps to improve the alignment accuracy of the visual camera, and reduces position deviation caused by long-term use, thereby avoiding collisions between the stacker and the charging and discharging equipment, and improving the safety and reliability of the vertical warehouse operation.

[0021] In summary, the present application includes at least one of the following beneficial technical effects: 1. The combined design of the horizontal moving parts and the vertical moving parts ensures that the material-retrieving mechanism can move accurately in three-dimensional space. The camera component equipped with the material-retrieving mechanism can obtain environmental image data in real time, and improve the imaging quality in combination with the light source, thereby improving the positioning accuracy of the vertical warehouse system, avoiding the dimensional error problem caused by long-term use of workshop equipment, and ensuring the safety of the stacker when placing battery pallets. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the structure of an embodiment of the present application.

[0023] Figure 2 Schematic diagram of the structure of the camera assembly in the embodiment of the present application.

[0024] Explanation of the reference numerals in the accompanying drawings: 1. lateral moving part; 11. lateral moving motor; 12. driving screw; 13. lower guide rail; 14. upper guide rail; 2. vertical moving part; 21. support frame; 22. lifting motor; 23. lifting chain; 24. driving gear; 25. auxiliary gear; 3. material picking mechanism; 31. limit block; 4. camera assembly; 41. visual camera; 42. light source; 5. mounting assembly; 51. profile; 52. upper bracket; 521. first waist-shaped groove; 522. second waist-shaped groove; 53. side bracket; 531. side waist-shaped groove; 54. pressure plate. DETAILED DESCRIPTION

[0025] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "disposed" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0026] In this specification, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or suggesting relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the said features.

[0027] The following is combined with Figure 1-2 This application is described in further detail.

[0028] The embodiment of the present application discloses a vertical warehouse with machine vision-assisted positioning.

[0029] like Figure 1 and Figure 2 As shown, the vertical warehouse with machine vision assisted positioning includes a lateral moving part 1, a vertical moving part 2 and a material picking mechanism 3, wherein the lateral moving part 1 includes a lateral moving motor 11, a driving screw 12 and a lower guide rail 13, and the vertical moving part 2 includes a support frame 21, a lifting motor 22 and a lifting chain 23. A camera assembly 4 is installed on the material picking mechanism 3, including a visual camera 41 and a light source 42, so as to achieve the effect of visual assisted positioning of the battery box assembly and solve the potential safety hazard of collision between the material picking mechanism 3 and the charging and discharging equipment due to slight changes in the workshop foundation and equipment wear.

[0030] The lateral moving member 1 includes a lateral moving motor 11, a driving screw 12, a lower guide rail 13 and an upper guide rail 14. The lower guide rail 13 is fixedly installed on the ground. The lower guide rail 13 is fixedly installed. The lower end of the vertical moving member 2 is slidably connected to the lower guide rail 13. The driving screw 12 is installed on the lower guide rail 13 and is arranged along the length direction of the lower guide rail 13. The lateral moving motor 11 is fixedly installed at one end of the lower guide rail 13, and the output shaft is connected to the driving screw 12. The lateral moving motor 11 drives the vertical moving member 2 to move along the lower guide rail 13 through the driving screw 12. The lateral moving motor 11 adopts a high-performance servo motor with a stable position control function to ensure the accuracy and reliability of movement. The driving screw 12 adopts a preloaded ball screw to reduce the cumulative pitch error.

[0031] The vertical moving part 2 includes a support frame 21, a lifting motor 22 and a lifting chain 23. The lifting motor 22 is installed on the inner wall of the lower end of the support frame 21. A driving gear 24 is installed on the output shaft of the lifting motor 22. An auxiliary gear 25 is rotatably connected to the inner wall of the upper end of the support frame 21. The lifting chain 23 is jointly sleeved on the driving gear 24 and the auxiliary gear 25, and is always in a taut state. Guide rods are installed on both sides of the material picking mechanism 3, and rollers are rotatably connected to the guide rods. A guide groove is opened on the side wall of the support frame 21, and the roller is rollingly connected in the guide groove. A limit block 31 is arranged on the material picking mechanism 3, and the limit block 31 is fixedly connected to the lifting chain 23. The support frame 21 is made of high-strength aluminum alloy or carbon steel, and has high rigidity and stability. The lifting motor 22 can adopt an AC servo motor or a brushless DC motor with a self-locking function.

[0032] The material picking mechanism 3 can use a linear motor or a cylinder to achieve the clamping action, effectively avoiding shaking caused by uneven power during vertical movement. The material picking mechanism 3 can clamp two groups of battery box assemblies at the same time, and the two groups of battery box assemblies are located at different heights of the material picking mechanism 3. Two groups of visual cameras 41 are provided. The two groups of visual cameras 41 are respectively installed on both sides of the surface of the material picking mechanism 3 facing the charging and discharging equipment corresponding to the battery box assemblies at different heights. The light source 42 can use an LED or an optical fiber ring light source 42. The light source 42 is installed coaxially with the visual camera 41 and installed around the visual camera 41 to provide sufficient lighting conditions. The cooperation between the visual camera 41 and the light source 42 can detect the position information of the battery boxes at different heights in real time, thereby improving work efficiency.

[0033] The visual camera 41 is installed on the material-retrieving mechanism 3 through the installation component 5. The installation component 5 includes a profile 51, an upper bracket 52, a side bracket 53 and a pressure plate 54. The profile 51 is installed on the material-retrieving mechanism 3, the upper bracket 52 is installed on the profile 51, the visual camera 41 is installed on the profile 51, and two side brackets 53 are installed. The two side brackets 53 are respectively installed on both sides of the visual camera 41. The light source 42 adopts an annular aperture. The two sides of the light source 42 are respectively connected to the two side brackets 53. The light source 42 and the visual camera 41 are installed coaxially. The pressure plate 54 is installed on the bottom surface of the visual camera 41. The upper bracket 52 It is set as an L-shaped plate, and the profile 51 is provided with two rows of positioning holes along the height direction, and each row of positioning holes is provided with a plurality of holes. The upper bracket 52 is provided with a first waist-shaped groove 521 corresponding to the two rows of positioning holes, and the upper bracket 52 is fixed in the positioning holes by passing bolts through the first waist-shaped groove 521, and a second waist-shaped groove 522 is provided on the other side plate surface of the upper bracket 52, and the visual motor is fixed to the visual motor by passing bolts through the second waist-shaped groove 522 to install the visual motor, and a side waist-shaped groove 531 is provided on the side bracket 53, and the side waist-shaped groove 531 is fixed to the visual motor by passing bolts through the side waist-shaped groove 531, thereby installing the side bracket 53.

[0034] The implementation principle of a vertical warehouse with machine vision-assisted positioning in an embodiment of the present application is as follows: by setting a horizontal moving part 1, a vertical moving part 2 and a material-retrieving mechanism 3, and combining a visual camera 41 to assist in positioning, the potential safety hazard problem caused by the dimensional error of the detection equipment due to long-term use of a traditional vertical warehouse is effectively solved. Compared with the use of fixed U-shaped photoelectric and sensor sheets in the prior art, the vertical warehouse of the present application adopts machine vision-assisted positioning, so that the material-retrieving mechanism 3 can adjust its position in real time to avoid collision with charging and discharging equipment. In addition, the design of the dual-vision camera 41 further improves the detection accuracy and work efficiency, and realizes the simultaneous clamping and transportation of battery box components at different heights.

[0035] The present application embodiment discloses a vertical warehouse visually assisted positioning method, using the hole-by-hole blasting charging mechanism of the present application embodiment, including the following steps: The sampling mechanism can clamp and transport two battery boxes at the same time, and the two battery boxes are clamped at different positions in the height direction of the sampling mechanism. The sampling mechanisms at different height positions on the left and right sides of the sampling mechanism are both equipped with visual cameras 41; During the debugging phase, two charging and discharging devices located in the same horizontal position and in the same vertical direction are regarded as a group. The storage locations of the charging and discharging devices in different groups are divided into 1-N devices in turn according to the horizontal and vertical positions of the charging and discharging devices in different groups. The movement of the sampling mechanism is programmed by the PLC control device according to the horizontal and vertical position data of the 1-N devices. The sampling mechanism is moved by the PLC control device, and the sampling mechanism moves to the equipment No. 1-N in sequence according to the set program; The two visual cameras 41 arranged on the sampling mechanism respectively take photos of the storage locations on the upper and lower charging and discharging devices in the devices No. 1 to No. N, and upload the taken photos to the background processor. The photos of the storage locations on the different charging and discharging devices taken are divided into photos No. 1 to No. N in turn according to the data of the lateral movement and the vertical movement data of the sampling mechanism, and the taken photos are sent to the background processor; The background processor extracts photo No. 1 according to the lateral movement data and vertical movement data of the sampling mechanism, performs data analysis based on the photos of storage location No. 1 taken twice before and after, and sends the analyzed data to the stacker. By adjusting the position of the sampling mechanism, the battery box is placed opposite to storage location No. 1, and the battery box is installed at storage location No. 1. The sampling mechanism is reset, and the above steps are repeated until all battery boxes are placed in storage locations 1-N in sequence.

[0036] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A machine vision-assisted positioning vertical warehouse, characterized in that: The invention comprises a transverse moving member (1), a vertical moving member (2) and a material taking mechanism (3), wherein the vertical moving member (2) is mounted on the transverse moving member (1), the transverse moving member (1) is used to drive the vertical moving member (2) to move in a vertical direction, the driving mechanism is mounted on the vertical moving member (2), the vertical moving member (2) is used to drive the driving mechanism to move in a vertical direction, the material taking mechanism (3) is used to clamp and convey a battery box assembly, a camera assembly (4) is mounted on the sampling mechanism, the camera assembly (4) comprises a visual camera (41) and a light source (42), the visual camera (41) is mounted on the sampling mechanism, and the light source (42) is mounted at a position adjacent to the visual camera (41).

2. The machine vision-assisted positioning vertical warehouse according to claim 1 is characterized by: The transverse moving member (1) comprises a transverse moving motor (11), a driving screw rod (12) and a lower guide rail (13); the lower guide rail (13) is fixedly installed; the lower end of the vertical moving member (2) is slidably connected to the lower guide rail (13); the driving screw rod (12) is installed on the lower guide rail (13) and is arranged along the length direction of the lower guide rail (13); the transverse moving motor (11) is installed at one end of the lower guide rail (13), and the output shaft is connected to the driving screw rod (12); the driving screw rod (12) is drivingly connected to the lower end of the vertical moving member (2).

3. The machine vision-assisted positioning vertical warehouse according to claim 2 is characterized by: The transverse moving member (1) further comprises an upper guide rail (14), wherein the upper guide rail (14) is mounted on the upper end of the vertical moving member (2) corresponding to the lower guide rail (13), and the upper end of the vertical moving member (2) is slidably connected to the upper guide rail (14).

4. The machine vision-assisted positioning vertical warehouse according to claim 1 is characterized by: The vertical moving member (2) comprises a support frame (21), a lifting motor (22) and a lifting chain (23); the lifting motor (22) is mounted on the inner side wall of the lower end of the support frame (21); a driving gear (24) is mounted on the output shaft of the lifting motor (22); an auxiliary gear (25) is rotatably connected to the inner side wall of the upper end of the support frame (21); the lifting chain (23) is jointly sleeved on the driving gear (24) and the auxiliary gear (25) and is always in a taut state; guide rods are mounted on both sides of the material picking mechanism (3); the guide rods on both sides are slidably connected to the support frame (21); a limiting block (31) is connected to the material picking mechanism (3); and the limiting block (31) is connected to the lifting chain (23).

5. The machine vision-assisted positioning vertical warehouse according to claim 1 is characterized by: The material picking mechanism (3) is capable of clamping two groups of battery box assemblies at the same time, and the two groups of battery box assemblies are located at different heights of the material picking mechanism (3). Two groups of visual cameras (41) are provided, and the two groups of visual cameras (41) are respectively installed on the left and right sides of the surface of the material picking mechanism (3) facing the charging and discharging equipment corresponding to the battery box assemblies at different heights.

6. The machine vision-assisted positioning vertical warehouse according to claim 1 or 5, characterized in that: The visual camera (41) is installed on the material picking mechanism (3) through a mounting assembly (5). The mounting assembly (5) includes a profile (51), an upper bracket (52), a side bracket (53) and a pressure plate (54). The profile (51) is installed on the material picking mechanism (3). The upper bracket (52) is installed on the profile (51). The visual camera (41) is installed on the profile (51). Two side brackets (53) are installed. The two side brackets (53) are respectively installed on both sides of the visual camera (41). The light source (42) adopts an annular aperture. The two side parts of the light source (42) are respectively connected to the two side brackets (53). The light source (42) and the visual camera (41) are installed coaxially. The pressure plate (54) is installed on the bottom surface of the visual camera (41).

7. The machine vision-assisted positioning vertical warehouse according to claim 6 is characterized by: The upper bracket (52) is configured as an L-shaped plate, and the profile (51) is provided with two rows of positioning holes along the height direction, and each row of positioning holes is provided with a plurality of holes. The upper bracket (52) is provided with a first waist-shaped groove (521) corresponding to the two rows of positioning holes, and the upper bracket (52) is fixed in the positioning holes by passing bolts through the first waist-shaped groove (521), and a second waist-shaped groove (522) is provided on the other side plate surface of the upper bracket (52), and the visual motor is installed by passing bolts through the second waist-shaped groove (522) and fixed on the visual motor.

8. The machine vision-assisted positioning vertical warehouse according to claim 6 is characterized by: The side bracket (53) is provided with a side waist-shaped groove (531), and is fixed to the visual motor by means of bolts passing through the side waist-shaped groove (531), thereby installing the side bracket (53).

9. A visually assisted positioning method for a vertical warehouse, characterized in that: The following steps are involved: During the debugging phase, the storage locations of different charging and discharging equipment are divided into storage locations 1-N in sequence according to the horizontal and vertical positions of the different charging and discharging equipment, and the movement of the sampling mechanism is programmed by the PLC control device according to the horizontal and vertical position data of the storage locations 1-N; The sampling mechanism is moved by the PLC control device, and the sampling mechanism moves to the storage positions 1-N in sequence according to the set program; Taking photos of storage locations No. 1 to No. N by using a visual camera (41) arranged on the sampling mechanism, uploading the photographed photos to a background processor, and classifying the photographs of storage locations on different charging and discharging equipment taken according to the data of the lateral movement and the data of the vertical movement of the sampling mechanism into photos No. 1 to No. N in sequence; The battery storage box to be moved is clamped by a stacker, and then the battery assembly is driven to storage location No. 1 according to a set program and arranged opposite to storage location No. 1, and storage location No. 1 is photographed by a visual camera (41) installed on the sampling mechanism, and the photographed photo is sent to a background processor; The background processor extracts photo No. 1 according to the lateral movement data and vertical movement data of the sampling mechanism, performs data analysis based on the photos of storage location No. 1 taken twice before and after, and sends the analyzed data to the stacker. By adjusting the position of the sampling mechanism, the battery box is placed opposite to storage location No. 1, and the battery box is installed at storage location No.

1. The sampling mechanism is reset, and the above steps are repeated until all battery boxes are placed in storage locations 1-N in sequence.

10. The visually assisted positioning method for a vertical warehouse according to claim 1 is characterized in that: The sampling mechanism can clamp and transport two battery boxes at the same time, and the two battery boxes are clamped at different positions in the height direction of the sampling mechanism. The sampling mechanisms corresponding to different height positions on the left and right sides of the sampling mechanism are both equipped with visual cameras (41); Two charging and discharging devices located in the same horizontal position and in the same vertical direction are regarded as a group, and the storage locations of the charging and discharging devices in different groups are divided into 1-N devices in sequence according to the horizontal positions and vertical positions of the charging and discharging devices in different groups, and the movement of the sampling mechanism is programmed according to the horizontal position data and vertical position data of the 1-N devices by the PLC control device; The sampling mechanism is moved by the PLC control device, and the sampling mechanism moves to the equipment No. 1-N in sequence according to the set program; Two visual cameras (41) arranged on the sampling mechanism are used to take photos of the storage locations on the upper and lower charging and discharging devices in the devices No. 1 to No. N respectively, and the taken photos are uploaded to the background processor, and the photos of the storage locations on the different charging and discharging devices taken are divided into photos No. 1 to No. N in sequence according to the data of the lateral movement and the vertical movement of the sampling mechanism, and the taken photos are sent to the background processor; The background processor extracts photo No. 1 according to the lateral movement data and vertical movement data of the sampling mechanism, performs data analysis based on the photos of storage location No. 1 taken twice before and after, and sends the analyzed data to the stacker. By adjusting the position of the sampling mechanism, the battery box is placed opposite to storage location No. 1, and the battery box is installed at storage location No.

1. The sampling mechanism is reset, and the above steps are repeated until all battery boxes are placed in storage locations 1-N in sequence.

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