Intelligent precise positioning carrying system and carrying method

Abstract

The invention discloses an intelligent precise positioning carrying system and a carrying method.The intelligent precise positioning carrying system comprises a main beam, a chassis assembly, a portal assembly, a transverse moving mechanism, a lifting mechanism, a grabbing device, a lower clamping device, a sensing system, a communication unit and a control unit, and the control unit comprises a Raspberry Pi and an STM32F4 single-chip microcomputer; a form function and a position area function of a target object are packaged in the Raspberry Pi, various illumination environments are trained and tested in a data set training mode, rapid response to environment perception is achieved, and the STM32F4 single-chip microcomputer is provided with a closed-loop motor control program, a communication program, a material carrying main program and a lifting motor PID function program. And the motor packaging program is translated left and right, and the carrying system carries out path planning in the carrying process to reach the stacking area. The robot is novel in structural design and is used for scenes with narrow space, complex scenes and intelligent carrying, the production efficiency is improved, and the labor intensity is reduced.

Description

Technical Field

[0001] The present invention belongs to the field of material handling equipment, and in particular relates to an intelligent precise positioning handling system and a handling method. Background Art

[0002] Material handling equipment plays a vital role in industrial handling scenarios. At present, material handling equipment has been widely used in various production lines and storage places. Common material handling equipment includes lifting machinery, conveyors, loading and unloading machinery, handling vehicles and storage equipment. These equipment realize the fast, real-time and accurate handling and storage management of materials through automated and intelligent control systems and advanced sensing technology, providing a strong guarantee for the production efficiency and economic benefits of enterprises.

[0003] In recent years, with the rapid development of the logistics industry, in complex workplaces such as indoor factories or factory parks, warehousing logistics transportation vehicles have gradually developed in the direction of miniaturization and lightweight, which has put forward higher requirements for the flexible and light movement of handling equipment. Summary of the invention

[0004] In order to improve production efficiency, reduce labor intensity, reduce product damage, protect workers' health, reduce production costs, promote production process changes and adapt to modern production needs, the present invention provides an intelligent precision positioning and handling system and method. The present invention is characterized by being light, automatic, flexible, precise and energy-saving. It combines the handling capacity of material handling equipment and aims to solve the problem of fully intelligent handling in complex environments. It is suitable for scenes with narrow space, complex scenarios and intelligent handling.

[0005] The present invention is implemented as follows: an intelligent precise positioning and handling system, comprising a main beam, a chassis assembly, a gantry assembly, a lateral movement mechanism, a lifting mechanism, a grasping device, a lower clamping device, a sensing system, a communication unit and a control unit, wherein the main beam is connected to the chassis assembly through a connecting device, and the chassis assembly comprises a leg and a crossbeam, and the leg and the crossbeam are welded to form the chassis assembly. The connecting device is: a light angle bracket.

[0006] The door frame assembly comprises an aluminum profile, a wheel running mechanism and a sliding device.

[0007] The wheel running mechanism comprises a wheel, a motor, a motor bracket and a wheel profile connecting piece.

[0008] The sliding device is composed of a pulley wheel and a clamping bracket.

[0009] The aluminum profiles, wheel running mechanisms and sliding devices are all connected to the main beam and can move horizontally without shaking in the left and right directions.

[0010] The transverse movement mechanism comprises a motor, a pulley, an L-shaped connecting piece and a belt.

[0011] The pulley is connected to the L-shaped connecting piece and is controlled by a driving device through a belt transmission.

[0012] The lifting mechanism and the transverse movement mechanism are connected via an L-shaped connecting piece.

[0013] The lifting mechanism includes an encoder motor, a motor gear, a rack sliding member and a rack. The rack is connected to the rack sliding member, and the motor gear is installed on the encoder motor. The motor drives the rack to realize the lifting action.

[0014] The grabbing device comprises a grabbing member, a steering gear, a rigid rod and a steering gear connecting member.

[0015] The rigid rod is passed through the grabbing member, the grabbing member is connected to the steering gear, the steering gear is connected to the steering gear connecting member through screws and nuts, and the target object is grabbed by controlling the rotation angle of the steering gear.

[0016] The perception system includes two sets of cameras. The cameras are mounted on the camera connector, which is connected to the aluminum profile. Through the YOLOV5 algorithm, the target object area is intelligently identified and the data is uploaded to the Raspberry Pi.

[0017] The lower clamping device mainly includes a lower wheel fixing member and a wheel.

[0018] The wheel is fixed on the lower wheel fixing part, and the lower wheel fixing part is fixed on the aluminum profile through screws and nuts. The clamping purpose is achieved by adjusting the height of the aluminum profile.

[0019] The lower clamping device is attached to the door frame assembly and moves with the door frame assembly to ensure that it does not shake in the left and right directions.

[0020] The communication unit includes a CH340 serial communication module and an STM32URAT. The signal sent by the Raspberry Pi communicates with the STM32URAT through the CH340 serial communication module, and the sensed information is sent to the control unit to achieve closed-loop communication of the target object position.

[0021] The control unit includes a Raspberry Pi and an STM32F4 single-chip microcomputer.

[0022] The Raspberry Pi is encapsulated with the morphological function and position area function of the target object. Various lighting environments are trained and tested by means of training data sets to achieve rapid response to environmental perception.

[0023] The STM32F4 single chip microcomputer is provided with a closed-loop motor control program, a communication program, a material handling main program, a lifting motor PID function program, and a left and right translation motor packaging program.

[0024] The gripping device is designed with redundant space to achieve indiscriminate gripping of the target object position.

[0025] In order to achieve flexibility in movement in complex environments, the entire body is miniaturized. 1. Aluminum square tubes are used to build the main beam and chassis components, and European standard light aluminum profiles are used to build the gantry component structure, and angle brackets are used to connect the profiles. The specific connection method is: the system main beam is connected to the chassis component through a lightweight aluminum square tube through a connector, the gantry structure is made of European standard aluminum profiles, and the left and right ends are made of lighter but stronger European standard aluminum profiles and placed in the center. Bolts and nuts plus motor connectors are used to connect the motor bracket to provide mechanical structural support for the assembly of the walking mechanism motor; the transverse rods are arranged and installed in a horizontal, vertical and centrally symmetrical arrangement, and are fixed with light angle brackets to provide force support for the lifting mechanism. 2. The lifting mechanism consists of a transverse connector, a lifting motor and an "L"-shaped lifting rod connector. The lifting motor occupies a small space, is lightweight, highly reliable, simple to control, and has PID automatic compensation function, which conforms to the miniaturization design concept; the double-load lifting mechanism and the transverse rod are equipped with four pulley groups symmetrically up and down, and the pulley group cooperates with the transverse rod to offset the bending moment generated by the double-load lifting device when loading heavy objects, thereby ensuring the stability of the overall structure. 3. The grasping device uses a high-strength lightweight aluminum alloy as the material of the mechanical gripper itself, and on the other hand, the internal design of the mechanical grasping device is a tooth-like structure to increase the friction between the heavy object and the heavy object, thereby preventing the heavy object from slipping due to vibration during transportation, and greatly improving the grasping performance. The grasping device is designed with a large redundant space to achieve indiscriminate grasping of the target object position.

[0026] In the gripping and lifting structure, the two gripping devices are symmetrically fixed at the head and tail ends of the double-bearing lifting beam. After gripping the first heavy object, the walking mechanism drives the lateral movement mechanism forward to grip the next object. The lifting and lowering of the double-bearing beam can realize the gripping, handling, stacking and unloading of materials. The number of materials carried in a single transport is increased, the handling efficiency is doubled, and the space utilization rate is improved.

[0027] In terms of intelligent handling system control, the perception system and the central processing unit are combined to achieve precise positioning of key points in the closed-loop path of the system. With the help of STM32F407ZE series microcontrollers and microcontroller expansion boards, the main program is uploaded based on the C++ programming language to judge the collected information, and then send out PWM signals to control the movement of the wheel running mechanism, the opening and closing of the grabbing device, the lifting mechanism, and the lateral movement of the lateral movement mechanism.

[0028] Another object of the present invention is to provide: an intelligent and precise positioning and handling method. The implementation method of the present invention: in order to demonstrate the obstacle avoidance problem existing in actual working conditions, the handling system needs to perform path planning during the handling process to reach the stacking area.

[0029] It is stipulated that the running direction when the system is started for the first time is positive.

[0030] Definition: "Front end", "outer circle", "inner circle", "back end" and "middle" refer to:

[0031] Palletizing area: The area where target items are transported, grabbed and palletized in a certain order.

[0032] Stacking area: There are five stacking areas defined in the present invention, namely front right, front left, rear right, rear left, and middle stacking area.

[0033] Front end: The running direction of the operating mechanism from the initial position to the middle stacking area. The front end is defined in front of the middle stacking area.

[0034] Rear end: The running direction of the operating mechanism from the initial position to the middle stacking area. The rear end is defined as the part behind the middle stacking area.

[0035] Outer ring: The area centered on the main beam, away from the center of the main beam and close to the outer stacking area is defined as the outer ring.

[0036] Inner circle: The area centered on the main beam, close to the center of the main beam and far away from the outer stacking area is defined as the inner circle.

[0037] Middle circle: The position below the main beam is defined as the middle circle.

[0038] Initialization: The left up-down motor, right up-down motor, left servo, and right servo are reset to their initial positions.

[0039] Path 1: forward and left and right translation: call and execute the motor closed-loop program (the travel motor and the walking motor are the same) according to the actual material stacking area, the running mechanism motor moves forward to the predetermined position, and the left and right translation motors move to the left and right in linkage, and translate to the stacking position area;

[0040] Path 2: Moving forward and front left and right inner circle translation: The operating mechanism motor is in place, the sensing system identifies the materials in the stacking area and returns to the terminal for data processing. The control unit obtains that the target object is in the front left inner circle area and the front right inner circle area. The operating mechanism motor moves forward to the longitudinal position of the inner circle, the left translation motor starts to translate to the left inner circle area, and the right translation motor translates to the right inner circle area.

[0041] Grasping: The left and right translation motors are in place, the left and right up and down motors move downward to grab the target object, the servo rotates, controls the clamping of the manipulator, and the target object is grabbed successfully;

[0042] Path 3: Forward: After the grabbing is completed, the operating mechanism motor moves forward and reaches the longitudinal position of the palletizing area;

[0043] Path 4: Left and right translation: The motor of the operating mechanism reaches the longitudinal position of palletizing, the left and right translation motor translates left and right to the position of the palletizing area, the left and right up and down motors run up and down, and palletizing is carried out by the rotation of the servo. After palletizing is completed, the initial reset of left and right up and down is carried out;

[0044] Path 5: Backward and front left and right outer circle translation: Backward to the predetermined position of the operating mechanism motor in Path 1, the operating mechanism motor is in place, the sensing system identifies the materials in the stacking area and returns to the terminal for data processing, the control unit obtains that the target object is in the front left outer circle area and the front right outer circle area, the left translation motor starts to translate to the left outer circle area, and the right translation motor translates to the right outer circle area, and the grasping step is performed;

[0045] Path 6: Forward: After the grabbing is completed, the motor of the operating mechanism moves forward to the longitudinal position of the palletizing;

[0046] Path 7: Left and right translation: The motor of the operating mechanism reaches the longitudinal position of palletizing, the left and right translation motor translates left and right to the position of the palletizing area, the left and right up and down motors run up and down, and palletizing is carried out by the rotation of the servo. After palletizing is completed, the initial reset of left and right up and down is carried out;

[0047] Path 8: Backward and front left inner circle translation and right outer circle translation: Backward to the predetermined position of the operating mechanism motor in Path 1, the operating mechanism motor is in place, the sensing system identifies the materials in the stacking area and returns to the terminal for data processing, the control unit obtains that the target object is in the front left inner circle area and the front right outer circle area, the left translation motor starts to translate to the left inner circle area, and the right translation motor translates to the right outer circle area, and the grasping step is performed;

[0048] Path nine: forward: after the grabbing is completed, the motor of the operating mechanism moves forward to the longitudinal position of palletizing for palletizing;

[0049] Path 10: Backward and front left outer circle translation and right inner circle translation: Backward to the predetermined position of the operating mechanism motor in Path 1, the operating mechanism motor is in place, the sensing system identifies the materials in the stacking area and returns to the terminal for data processing, the control unit obtains that the target object is in the front left outer circle area and the front right inner circle area, the right translation motor starts to translate to the right inner circle area, and the left translation motor translates to the left outer circle area;

[0050] Path 11: Forward: After the grabbing is completed, the motor of the operating mechanism moves forward to reach the longitudinal position of the palletizing;

[0051] Path 12: Left-right translation: The motor of the operating mechanism reaches the longitudinal position of palletizing, the left-right translation motor translates left-right to the position of the palletizing area, the left-right up-down motor runs up-down, and palletizing is performed by the rotation of the servo; after palletizing is completed, the initial reset of left-right up-down is performed;

[0052] Path 13: Backward and rear left and right inner circle translation: The operating mechanism motor moves backward to the predetermined position of the operating mechanism motor in Path 1. At this time, the sensing system senses the position of the stack again, and the control unit obtains that the target object is in the rear left inner circle area and the rear right inner circle area. The left translation motor starts to translate to the left inner circle area, and the right translation motor translates to the right inner circle area to perform the grasping step;

[0053] Path 14: Backward: After the grabbing is completed, retreat to the rear end palletizing longitudinal position area;

[0054] Path 15: Left and right translation. The motor of the operating mechanism moves backward to the longitudinal position of palletizing. The left and right translation motor translates left and right to the position of the palletizing area. The left and right up and down motors move up and down. Palletizing is performed by the rotation of the servo. After palletizing is completed, the initial reset of left and right up and down is performed.

[0055] Path 16: Forward: The operating mechanism motor moves forward to the predetermined position of the operating mechanism motor in Path 1, and the sensing system senses the position of the stack again;

[0056] Path 17: Backward and rear left and right outer ring translation: The operating mechanism motor moves backward to the longitudinal position of the left and right outer ring stacking areas, and the control unit obtains that the target object is in the rear left outer ring area and the rear right outer ring area. The left translation motor starts to translate toward the left outer ring area, and the right translation motor translates toward the right outer ring area to perform the grasping step;

[0057] Path 18: Backward and left-right translation: The motor of the operating mechanism backs up to the longitudinal position of palletizing, the left-right translation motor translates left-right to the palletizing area, the left-right up-and-down motors move up and down, and palletizing is performed by the rotation of the servo. After palletizing is completed, the initial reset of left-right up-and-down is performed;

[0058] Path 19: Forward: The operating mechanism motor moves forward to the predetermined position of the operating mechanism motor in Path 1, and the sensing system senses the position of the stack again;

[0059] Path 20: Backward and rear left inner circle translation and right outer circle translation: The operating mechanism motor moves backward to the longitudinal position of the left inner circle and right outer circle stacking area. The control unit obtains that the target object is in the rear left inner circle area and the rear right outer circle area. The left translation motor starts to translate toward the left inner circle area, and the right translation motor translates toward the right outer circle area. Perform the grasping step;

[0060] Path 21: Left-right translation: The motor of the operating mechanism moves backward to the longitudinal position of palletizing, the left-right translation motor translates left-right to the position of the palletizing area, the left-right up-down motor runs up-down, and palletizing is performed by the rotation of the servo. After palletizing is completed, the initial reset of left-right up-down is performed;

[0061] Path 22: Forward: The operating mechanism motor moves forward to the predetermined position of the operating mechanism motor in Path 1, and the sensing system senses the position of the stack again;

[0062] Path 23: Backward and rear left outer circle translation and right inner circle translation: The operating mechanism motor moves backward to the longitudinal position of the left outer circle and right inner circle stacking area, and the control unit obtains that the target object is in the rear left outer circle area and the rear right inner circle area, and the left translation motor starts to translate toward the left outer circle area, and the right translation motor translates toward the right inner circle area, and the grasping step is performed;

[0063] Path 24: Left-right translation: The motor of the operating mechanism moves backward to the longitudinal position of palletizing, the left-right translation motor translates left-right to the position of the palletizing area, the left-right up-down motor runs up-down, and palletizing is performed by the rotation of the servo. After palletizing is completed, the initial reset of left-right up-down is performed;

[0064] Path 25: Forward: The motor of the operating mechanism moves forward to the predetermined position of the motor of the operating mechanism in Path 1, and the sensing system senses the position of the stack again;

[0065] Path 26: forward movement and translation of the front middle inner circle: when the sensing system senses that there is a target object in the front middle inner circle, the motor of the operating mechanism moves forward to the longitudinal position of the stack, and the right translation motor translates to the left to execute the grasping step;

[0066] Path 27: Backward: The motor of the operating mechanism moves backward to the predetermined position of the motor of the operating mechanism in Path 1 for palletizing;

[0067] Path 28: Moving forward and translating the front middle outer ring: When the operating mechanism motor moves forward and the sensing system senses that there is a target object in the front middle outer ring, the operating mechanism motor moves forward to the longitudinal position of the stack, and the left translation motor translates right to execute the grasping step;

[0068] Path 29: Backward: The motor of the operating mechanism moves backward to the predetermined position of the motor of the operating mechanism in Path 1 for palletizing;

[0069] Path 30: Backward and translation of the middle outer ring at the rear end: the motor of the operating mechanism backs up, and when the sensing system senses that there is a target object at the middle outer ring at the rear end, the motor of the operating mechanism backs up to the longitudinal position of the middle outer ring stack and executes the grasping step;

[0070] Path 31: Forward: forward to the predetermined position of the motor of the operating mechanism of Path 1 for palletizing;

[0071] Path 32: Backward and translation of the middle inner circle at the rear end: When the motor of the operating mechanism moves backward and the sensing system senses that there is a target object in the middle inner circle at the rear end, the motor of the operating mechanism moves backward to the longitudinal position of the middle inner circle stack and executes the grasping step;

[0072] Path 33: Forward: Advance to the predetermined position of the motor of the operating mechanism of Path 1 for palletizing.

[0073] In the second round, until all materials are transported, the front left inner circle and the right inner circle transport materials in the same way as above from path 1 to path 4, the front left outer circle and the right outer circle transport materials in the same way as above from path 5 to path 7, the front left inner circle and the right outer circle transport materials in the same way as above from path 8 to path 9, the front left outer circle and the right inner circle transport materials in the same way as above from path 10 to path 12, the rear left inner circle and the right inner circle transport materials in the same way as above from path 13 to path 15, the rear left outer circle and the right outer circle transport materials in the same way as above from path 16 to path 18, the rear left inner circle and the right outer circle transport materials in the same way as above from path 19 to path 21, and the rear left outer circle and the right inner circle transport materials in the same way as above from path 22 to path 24. The front middle inner circle transports materials in the same way as above from path 25 to path 27, the front middle outer circle transports materials in the same way as above from path 28 to path 29, the rear middle inner circle transports materials in the same way as above from path 32 to path 33, and the rear middle outer circle transports materials in the same way as above from path 30 to path 31, and all the transport tasks can be completed.

[0074] The beneficial effects of the present invention are: 1. A gantry assembly is set on the main beam, and the sliding device on the gantry assembly includes a clamping bracket, which cooperates with the wheel running mechanism and the lower clamping device so that the transverse rod can move horizontally without shaking in the left and right directions. The transverse rod is equipped with four pulley groups symmetrically in the upper and lower directions. The pulley group cooperates with the transverse rod to offset the bending moment generated by the double-bearing lifting device when loading heavy objects, thereby ensuring the stability of the overall structure. 2. The wheel running mechanism on the gantry assembly is composed of wheels, motors, motor brackets, and wheel profile connectors. The motor is used to drive the wheels, so that the gantry mechanism can move smoothly longitudinally on the main beam. Cooperating with the pulley wheels and the clamping bracket, the structural design is ingenious, and the operation is smooth. 3. By using the path planning of the handling process disclosed in the present invention, it is possible to reach the stacking area, saving time and effort, optimizing the handling action, and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0075] Figure 1 It is a schematic diagram of a control system of the present invention;

[0076] Figure 2 It is a structural diagram of a specific implementation mode of the control system of the present invention;

[0077] Figure 3 is a control flow chart of the present invention;

[0078] Figure 4 This is an overall effect diagram of the intelligent handling system of the present invention;

[0079] Figure 5 It is a schematic diagram of the three-dimensional structure of the intelligent handling system of the present invention;

[0080] Figure 6 For the present invention Figure 5 A enlarged schematic diagram of area

[0081] Figure 7 It is a rear view structural diagram of the intelligent handling system of the present invention;

[0082] Figure 8 It is a schematic diagram of the main structure of the intelligent handling system of the present invention;

[0083] Fig. 9 It is a left-side structural schematic diagram of the intelligent handling system of the present invention;

[0084] Fig.10 It is a schematic diagram of the structure of the transporting scene of the intelligent transporting system of the present invention.

[0085] In the figure: 1-main beam, 2-connecting device, 3-leg, 4-cross beam, 5-aluminum profile, 6-wheel, 7-travel motor, 8-motor bracket, 9-wheel profile connector, 10-pulley wheel, 11-clamping bracket, 12-traverse motor, 13-L-shaped connector, 14-belt, 15-encoder motor, 16-motor gear, 17-rack sliding member, 18-rack, 19-grabbing member, 20-servo, 21-rigid rod, 22-servo connector, 23-camera, 24-camera connector, 25-pulley, 26-tightening wheel, 27-lower clamping device, 28-wheel fixing member. DETAILED DESCRIPTION

[0086] In order to more clearly understand the technical solution of the present invention, the present invention is further described below in conjunction with the accompanying drawings.

[0087] like Figure 1-9An intelligent precise positioning and handling system shown in the figure includes a main beam 1, a chassis assembly, a gantry assembly, a transverse mechanism, a lifting mechanism, a gripping device, a lower clamping device, a sensing system, a communication unit and a control unit. The main beam is connected to the chassis assembly through a light angle code. The chassis assembly includes a leg 3 and a crossbeam 4. The leg 3 and the crossbeam 4 are welded to form a chassis assembly. The gantry assembly includes an aluminum profile 5, a wheel running mechanism, and a sliding device. The wheel running mechanism includes a wheel 5, a travel motor 7, a motor bracket 8 and a wheel profile connector 9. The sliding device is composed of a pulley wheel 10 and a clamping bracket 11. The aluminum profile, the wheel running mechanism and the sliding device are all connected to the main beam 1. The transverse mechanism includes a transverse rod, a transverse motor 12, a pulley 25, an L-shaped connector 13 and a belt 14. The pulley is connected to the L-shaped connector 13 and is controlled by the drive device through the belt 14. The lifting mechanism is connected to the transverse mechanism through the L-shaped connector 13. The lifting mechanism includes an encoder motor 15, a motor gear 16, a rack slider 17 and a rack 18. The rack is connected to the rack slider 17. The motor gear 16 is installed on the encoder motor 15. The motor drives the rack 18 to realize the lifting action. The grabbing device includes a grabbing member 19, a steering gear 20, a rigid rod 21 and a steering gear connecting member 22. The rigid rod 21 is passed through the grabbing member 19, the grabbing member 19 is connected to the steering gear 20, and the steering gear 20 is connected to the steering gear connecting member 22 through screws and nuts. The target object is grasped by controlling the rotation angle of the steering gear 20. The perception system includes two sets of cameras 23. The camera 23 is installed on the camera connecting member 24, and the camera connecting member 24 is connected to the aluminum profile. Through the YOLOV5 algorithm, the target object area is intelligently identified, and the data is uploaded to the Raspberry Pi. The lower clamping device 27 mainly includes a lower wheel fixing member 28 and a clamping wheel 26. The tightening wheel 26 is fixed to the lower wheel fixing part 28, and the lower wheel fixing part 28 is fixed to the aluminum profile by screws and nuts. The clamping purpose is achieved by adjusting the height of the aluminum profile. The lower clamping device 27 is attached to the mast assembly and moves with the mast assembly to ensure that it does not shake in the left and right directions.

[0088] like Figure 2 As shown, the communication unit includes a CH340 serial communication module and an STM32URAT. The signal sent by the Raspberry Pi communicates with the STM32URAT through the CH340 serial communication module, and the sensed information is sent to the control unit to achieve closed-loop communication of the target object position. The control unit includes a Raspberry Pi and an STM32F4 single-chip microcomputer. The Raspberry Pi is encapsulated with the morphological function and position area function of the target object. Various lighting environments are trained and tested by means of training data sets to achieve rapid response to environmental perception.

[0089] The STM32F4 single chip microcomputer is provided with a closed-loop motor control program, a communication program, a material handling main program, a lifting motor PID function program, and a left and right translation motor packaging program.

[0090] The gripping device is designed with redundant space to achieve indiscriminate gripping of the target object position.

[0091] Specific transport scenarios such as Fig.10 As shown, with reference to the contents disclosed in the invention, the handling and stacking process of the target object can be completed according to the action consistent with thirty-three, the path is optimized, and time and labor are saved.

[0092] The above description is only a preferred embodiment of the present invention, so all equivalent changes or modifications made according to the structure, characteristics and principles described in the scope of the patent application of the present invention are included in the scope of the patent application of the present invention.

Claims

1. An intelligent precise positioning and handling system, characterized in that: The invention comprises a main beam (1), a chassis assembly, a gantry assembly, a transverse movement mechanism, a lifting mechanism, a grasping device, a lower clamping device, a sensing system, a communication unit and a control unit. The main beam is connected to the chassis assembly via a light angle bracket. The chassis assembly comprises a support leg (3) and a cross beam (4). The support leg (3) and the cross beam (4) are welded to form the chassis assembly. The gantry assembly comprises an aluminum profile (5), a wheel running mechanism and a sliding device. The wheel running mechanism comprises a wheel (5), a travel motor (7), a motor bracket (8) and a wheel profile connector (9). The sliding device comprises a pulley wheel (10) and a clamping bracket (11). The aluminum profile, the wheel running mechanism and the sliding device are all connected to the main beam (1).

2. The intelligent precise positioning and handling system according to claim 1, characterized in that: The transverse movement mechanism comprises a transverse movement rod, a transverse movement motor (12), a pulley (25), an L-shaped connecting piece (13) and a belt (14); the pulley is connected to the L-shaped connecting piece (13) and is controlled by a driving device through the belt (14).

3. The intelligent precise positioning and handling system according to claim 1, characterized in that: The lifting mechanism is connected to the transverse movement mechanism via an L-shaped connecting piece (13). The lifting mechanism comprises an encoder motor (15), a motor gear (16), a rack sliding piece (17) and a rack (18). The rack is connected to the rack sliding piece (17). The motor gear (16) is mounted on the encoding motor (15). The motor drives the rack (18) to realize the lifting action.

4. The intelligent precise positioning and handling system according to claim 1, characterized in that: The grasping device comprises a grasping member (19), a steering gear (20), a rigid rod (21) and a steering gear connecting member (22); the rigid rod (21) is passed through the grasping member (19); the grasping member (19) is connected to the steering gear (20); the steering gear (20) is connected to the steering gear connecting member (22) via screws and nuts; and the grasping of the target object is achieved by controlling the rotation angle of the steering gear (20).

5. The intelligent precise positioning and handling system according to claim 1, characterized in that: The perception system comprises two sets of cameras (23), wherein the cameras (23) are mounted on a camera connector (24), and the camera connector (24) is connected to an aluminum profile. The target object area is intelligently identified through a YOLOV5 algorithm, and the data is uploaded to a Raspberry Pi.

6. The intelligent precise positioning and handling system according to claim 1, characterized in that: The lower clamping device (27) comprises a lower wheel fixing part (28) and a clamping wheel (26), the clamping wheel (26) is fixed to the lower wheel fixing part (28), the lower wheel fixing part (28) is fixed to the aluminum profile by screws and nuts, and the lower clamping device (27) is attached to the door frame assembly.

7. The intelligent precise positioning and handling system according to claim 5, characterized in that: The communication unit includes a CH340 serial communication module and an STM32URAT. The signal sent by the Raspberry Pi communicates with the STM32URAT through the CH340 serial communication module, and the sensed information is sent to the control unit to realize closed-loop communication of the target object position. The control unit includes a Raspberry Pi and an STM32F4 single-chip microcomputer.

8. The intelligent precise positioning and handling system according to claim 7, characterized in that: The Raspberry Pi is encapsulated with the morphological function and position area function of the target object. Various lighting environments are trained and tested by means of training data sets to achieve rapid response to environmental perception. The STM32F4 single-chip microcomputer is provided with a closed-loop motor control program, a communication program, a material handling main program, a lifting motor PID function program, and a left and right translation motor encapsulation program.

9. An intelligent and precise positioning and transporting method, characterized in that: Includes the following actions: Initialization: The left up and down motor, the right up and down motor, the left servo, and the right servo are reset to their initial positions; Path 1: forward and left and right translation: the travel motor is called according to the actual material stacking area, the closed-loop program is executed, the operating mechanism motor moves forward to the predetermined position, and the left and right translation motors are linked to move left and right to the stacking position area; Path 2: Moving forward and front left and right inner circle translation: The operating mechanism motor is in place, the sensing system identifies the materials in the stacking area and returns to the terminal for data processing. The control unit obtains that the target object is in the front left inner circle area and the front right inner circle area. The operating mechanism motor moves forward to the longitudinal position of the inner circle, the left translation motor starts to translate to the left inner circle area, and the right translation motor translates to the right inner circle area. Grasping: The left and right translation motors are in place, the left and right up and down motors move downward to grab the target object, the servo rotates, controls the clamping of the manipulator, and the target object is grabbed successfully; Path 3: Forward: After the grabbing is completed, the operating mechanism motor moves forward and reaches the longitudinal position of the palletizing area; Path 4: Left and right translation: The motor of the operating mechanism reaches the longitudinal position of palletizing, the left and right translation motor translates left and right to the position of the palletizing area, the left and right up and down motors run up and down, and palletizing is carried out by the rotation of the servo. After palletizing is completed, the initial reset of left and right up and down is carried out; Path 5: Backward and front left and right outer circle translation: Backward to the predetermined position of the operating mechanism motor in Path 1, the operating mechanism motor is in place, the sensing system identifies the materials in the stacking area and returns to the terminal for data processing, the control unit obtains that the target object is in the front left outer circle area and the front right outer circle area, the left translation motor starts to translate to the left outer circle area, and the right translation motor translates to the right outer circle area, and the grasping step is performed; Path 6: Forward: After the grabbing is completed, the motor of the operating mechanism moves forward to the longitudinal position of the palletizing; Path 7: Left and right translation: The motor of the operating mechanism reaches the longitudinal position of palletizing, the left and right translation motor translates left and right to the position of the palletizing area, the left and right up and down motors run up and down, and palletizing is carried out by the rotation of the servo. After palletizing is completed, the initial reset of left and right up and down is carried out; Path 8: Backward and front left inner circle translation and right outer circle translation: Backward to the predetermined position of the operating mechanism motor in Path 1, the operating mechanism motor is in place, the sensing system identifies the materials in the stacking area and returns to the terminal for data processing, the control unit obtains that the target object is in the front left inner circle area and the front right outer circle area, the left translation motor starts to translate to the left inner circle area, and the right translation motor translates to the right outer circle area, and the grasping step is performed; Path Nine: Forward: After the grabbing is completed, the motor of the operating mechanism moves forward to the longitudinal position of palletizing for palletizing; Path 10: Backward and front left outer circle translation and right inner circle translation: Backward to the predetermined position of the operating mechanism motor in Path 1, the operating mechanism motor is in place, the sensing system identifies the materials in the stacking area and returns to the terminal for data processing, the control unit obtains that the target object is in the front left outer circle area and the front right inner circle area, the right translation motor starts to translate to the right inner circle area, and the left translation motor translates to the left outer circle area; Path Eleven: Forward: After the grabbing is completed, the motor of the operating mechanism moves forward to the longitudinal position of the palletizing; Path 12: Left-right translation: The motor of the operating mechanism reaches the longitudinal position of palletizing, the left-right translation motor translates left-right to the position of the palletizing area, the left-right up-down motor runs up-down, and palletizing is performed by the rotation of the servo. After palletizing is completed, the initial reset of left-right up-down is performed; Path 13: Backward and rear left and right inner circle translation: The operating mechanism motor moves backward to the predetermined position of the operating mechanism motor in Path 1. At this time, the sensing system senses the position of the stack again, and the control unit obtains that the target object is in the rear left inner circle area and the rear right inner circle area. The left translation motor starts to translate to the left inner circle area, and the right translation motor translates to the right inner circle area to perform the grasping step; Path 14: Backward: After the grabbing is completed, retreat to the rear end palletizing longitudinal position area; Path 15: Left and right translation: The motor of the operating mechanism moves backward to the longitudinal position of palletizing, the left and right translation motor translates left and right to the position of the palletizing area, the left and right up and down motors move up and down, and palletizing is performed by the rotation of the servo. After palletizing is completed, the initial reset of left and right up and down is performed; Path 16: Forward: The operating mechanism motor moves forward to the predetermined position of the operating mechanism motor in Path 1, and the sensing system senses the position of the stack again; Path 17: Backward and rear left and right outer ring translation: The operating mechanism motor moves backward to the longitudinal position of the left and right outer ring stacking areas, and the control unit obtains that the target object is in the rear left outer ring area and the rear right outer ring area. The left translation motor starts to translate toward the left outer ring area, and the right translation motor translates toward the right outer ring area to perform the grasping step; Path 18: Backward and left-right translation: The motor of the operating mechanism backs up to the longitudinal position of palletizing, the left-right translation motor translates left-right to the position of the palletizing area, the left-right up-and-down motors move up and down, and palletizing is performed by the rotation of the servo; after palletizing is completed, the initial reset of left-right up-and-down is performed; Path 19: Forward: The operating mechanism motor moves forward to the predetermined position of the operating mechanism motor in Path 1, and the sensing system senses the position of the stack again; Path 20: Backward and rear left inner circle translation and right outer circle translation: The operating mechanism motor moves backward to the longitudinal position of the left inner circle and right outer circle stacking area, and the control unit obtains that the target object is in the rear left inner circle area and the rear right outer circle area, and the left translation motor starts to translate toward the left inner circle area, and the right translation motor translates toward the right outer circle area, and the grasping step is performed; Path 21: Left-right translation: The motor of the operating mechanism moves backward to the longitudinal position of palletizing, the left-right translation motor translates left-right to the position of the palletizing area, the left-right up-down motor runs up-down, and palletizing is performed by the rotation of the servo. After palletizing is completed, the initial reset of left-right up-down is performed; Path 22: Forward: The operating mechanism motor moves forward to the predetermined position of the operating mechanism motor in Path 1, and the sensing system senses the position of the stack again; Path 23: Backward and rear left outer circle translation and right inner circle translation: The operating mechanism motor moves backward to the longitudinal position of the left outer circle and right inner circle stacking area, and the control unit obtains that the target object is in the rear left outer circle area and the rear right inner circle area, and the left translation motor starts to translate toward the left outer circle area, and the right translation motor translates toward the right inner circle area, and the grasping step is performed; Path 24: Left-right translation: The motor of the operating mechanism moves backward to the longitudinal position of palletizing, the left-right translation motor translates left-right to the position of the palletizing area, the left-right up-down motor runs up-down, and palletizing is performed by the rotation of the servo. After palletizing is completed, the initial reset of left-right up-down is performed; Path 25: Forward: The motor of the operating mechanism moves forward to the predetermined position of the motor of the operating mechanism in Path 1, and the sensing system senses the position of the stack again; Path 26: forward movement and translation of the front middle inner circle: when the sensing system senses that there is a target object in the front middle inner circle, the motor of the operating mechanism moves forward to the longitudinal position of the stack, and the right translation motor translates to the left to execute the grasping step; Path 27: Backward: The motor of the operating mechanism moves backward to the predetermined position of the motor of the operating mechanism in Path 1 for palletizing; Path 28: Moving forward and translating the front middle outer ring: When the operating mechanism motor moves forward and the sensing system senses that there is a target object in the front middle outer ring, the operating mechanism motor moves forward to the longitudinal position of the stack, and the left translation motor translates right to execute the grasping step; Path 29: Backward: The motor of the operating mechanism moves backward to the predetermined position of the motor of the operating mechanism in Path 1 for palletizing; Path 30: Retreat and translate the middle outer ring at the rear end; when the motor of the operating mechanism retreats and the sensing system senses that there is a target object at the middle outer ring at the rear end, the motor of the operating mechanism retreats to the longitudinal position of the middle outer ring stack and executes the grasping step; Path 31: Forward: forward to the predetermined position of the motor of the operating mechanism of Path 1 for palletizing; Path 32: Backward and translation of the middle inner circle at the rear end: When the motor of the operating mechanism moves backward and the sensing system senses that there is a target object in the middle inner circle at the rear end, the motor of the operating mechanism moves backward to the longitudinal position of the middle inner circle stack and executes the grasping step; Path 33: Forward: Advance to the predetermined position of the motor of the operating mechanism of Path 1 for palletizing.

10. The intelligent precise positioning and transporting method according to claim 9, characterized in that: In the second round, until all materials are transported, the front left inner circle and the right inner circle transport materials in the same way as above from path one to path four, the front left outer circle and the right outer circle transport materials in the same way as above from path five to path seven, the front left inner circle and the right outer circle transport materials in the same way as above from path eight to path nine, the front left outer circle and the right inner circle transport materials in the same way as above from path ten to path twelve, the rear left inner circle and the right inner circle transport materials in the same way as above from path thirteen to path fifteen, the rear left outer circle and the right outer circle transport materials in the same way as above from path sixteen to path eighteen, the rear left inner circle and the right outer circle transport materials in the same way as above from path nineteen to path twenty-one, the rear left outer circle and the right inner circle transport materials in the same way as above from path twenty-two to path twenty-four; the front middle inner circle transports materials in the same way as above from path twenty-five to path twenty-seven, the front middle outer circle transports materials in the same way as above from path twenty-eight to path twenty-nine, the rear middle inner circle transports materials in the same way as path thirty-two to path thirty-three, and the rear middle outer circle transports materials in the same way as path thirty-three to path thirty-one, and all the transport tasks can be completed.

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