Digital twin intelligent warehousing system based on redundant mechanical arm

Abstract

The invention relates to a digital twinning intelligent warehousing system based on a redundant mechanical arm, which comprises a warehouse management system, the warehouse management system adopts a digital twinning mode for management, a bottom layer control system framework of the warehouse management system is a Root Operating System (ROS) open source operation system, and all real objects are subjected to three-dimensional modeling and displayed on a master control screen; the redundant mechanical arm is responsible for warehousing and carrying, communicates with a warehousing system through WiFi, and comprises a mobile platform and a seven-degree-of-freedom industrial mechanical arm, the mobile platform communicates with the industrial mechanical arm through EtherCAT, the mobile platform adopts four-wheel differential control, each wheel is controlled by an independent brushless motor, and the redundant mechanical arm is connected with the industrial mechanical arm. And an eye-in-hand visual sensor is mounted at the tail end of the seven-degree-of-freedom industrial mechanical arm. According to the redundant mechanical arm, it can be guaranteed that precise articles in a warehouse are not impacted, only the digital twin model needs to be adjusted for later transformation of the warehouse, and the application range of a warehousing system is widened.

Description

Technical Field

[0001] The present application relates to the field of intelligent warehousing technology, and in particular to a digital twin intelligent warehousing system based on redundant robotic arms. Background Art

[0002] Existing automated warehouses mostly use AGV carts for transportation, and AGV carts mostly use QR code landmarks for navigation and positioning, which have poor flexibility. If the warehouse is renovated, the landmarks and AGV internal programs need to be reset. In addition, traditional automated warehouses use simple customized pick-and-place equipment to intelligently pick and place objects of fixed shapes. They also use 6-freedom robotic arms to pick and place objects, but 6-freedom robotic arms have no redundancy and may cause collisions if there are obstacles around. Traditional automated warehouses do not optimize the efficiency and vibration of picking and placing objects, which can cause objects to vibrate and be damaged. Traditional automated warehouses mostly display warehouse locations in forms, with poor visualization. Summary of the invention

[0003] In order to overcome the problems existing in the prior art, the present application provides a digital twin intelligent warehousing system based on redundant robotic arms.

[0004] The digital twin intelligent warehousing system based on redundant robotic arms provided in this application adopts the following technical solutions:

[0005] A digital twin intelligent warehousing system based on redundant robotic arms, comprising

[0006] Warehouse management system: The warehouse management system is managed in a digital twin manner. Its underlying control system framework is the Robot Operating System (ROS) open source operating system. All physical objects are three-dimensionally modeled and displayed on the master control screen.

[0007] Redundant robotic arm: The redundant robotic arm is responsible for warehouse handling and communicates with the warehouse system via WiFi, including a mobile platform and a 7-DOF industrial robotic arm. The mobile platform and the industrial robotic arm communicate using EtherCAT. The mobile platform uses four-wheel differential control, and each wheel is controlled by an independent brushless motor. An eye-in-hand visual sensor is installed at the end of the 7-DOF industrial robotic arm.

[0008] Preferably, the digital twin map of the warehouse is stored in the warehouse management system and the memory of the mobile platform. The mobile platform uses multiple sensors to scan the map in the warehouse and compares and locates it with the digital twin map, while avoiding obstacles through SLAM.

[0009] Preferably, the workspace of the redundant manipulator is generated by a Monte Carlo method and the workspace point cloud is stored in the mobile platform memory.

[0010] By adopting the above technical solution, an eye-in-hand visual sensor is installed at the end of the redundant robotic arm to scan the QR code at the warehouse location and identify the object being transported. The warehouse management system sends the spatial position of the object being transported to the redundant robotic arm platform, and compares it with the map identified by the sensor of the mobile platform, plans the moving path of the mobile platform to reach the starting point of the transportation, and allows the required transported object to enter the working space of the redundant robotic arm. The redundant robotic arm plans the trajectory according to the real-time spatial map scanned by the mobile platform, and uses the deep learning training model to select the trajectory that avoids surrounding obstacles and picks and places objects in a way that minimizes time and impact.

[0011] Preferably, the mobile platform includes a main body, a mounting seat for mounting a 7-DOF robotic arm is provided at the top center of the main body, a placement platform for storing objects is installed on the main body around the mounting seat, several groups of driving wheels are installed around the bottom of the main body, and a counterweight adjustment mechanism is installed on the bottom surface of the main body, wherein the counterweight adjustment mechanism is connected to the signals of the pressure collection points distributed in a ring around the mounting seat.

[0012] Preferably, the counterweight adjustment mechanism includes a ring-shaped slide groove opened on the bottom surface of the main body, wherein a counterweight block and a driving mechanism are installed in the slide groove, and the driving mechanism uses a hydraulic cylinder output shaft to connect the counterweight block, wherein the counterweight block is slidably installed on both sides in the limit groove inside the slide groove.

[0013] By adopting the above technical solution, the mounting seat in the center of the main body of the mobile platform is used to install the 7-DOF robotic arm. The objects clamped by the 7-DOF robotic arm can be placed on the placement platforms around the mounting seat, and during the movement of the 7-DOF robotic arm, the pressure collection point in the mounting seat can collect the pressure it receives in real time, and feed it back to the counterweight adjustment mechanism to adjust the counterweight of the entire main body. The counterweight block is driven to move in the limit slot through the hydraulic cylinder output shaft, thereby adjusting the counterweight of the main body to ensure the stability of the overall operation of the mobile platform.

[0014] Preferably, the driving wheel is rotatably installed at the bottom of the main body, including a wheel frame and a wheel, wherein the wheel frame includes an upper rotating shaft and a lower mounting frame, a turntable rotatably connected to the main body is fixed on the top of the rotating shaft, and the outer diameter of the turntable is larger than the rotating shaft, wherein the top and bottom of the turntable are rotatably connected to the main body through bearings, a gear layer is provided on the middle layer of the turntable for meshing and transmission with the gear on the output shaft of the first motor, and a wheel is installed on the mounting frame, wherein the wheel includes walking wheels on both sides and a gear part in the middle layer, and the wheel is driven by a second motor on the side of the mounting frame.

[0015] A locking rod for locking the wheel is also installed on the driving wheel. Locking teeth are provided on the bottom surface of the locking rod, and the locking teeth can engage with the gear part of the middle layer of the wheel. The locking rod is driven by the linkage assembly in the main body. The locking rod passes through the wheel frame of the driving wheel from top to bottom, and a limiting ring is fixed at one end of the locking rod above the driving wheel. The bottom of the limiting ring is abutted against the top of the turntable through a first buffer spring mounted on the locking rod. Positioning grooves distributed along the length direction of the locking rod are also provided on the outer surface of the locking rod, and positioning strips matching the positioning grooves are provided on the perforated side walls of the wheel frame.

[0016] The linkage assembly includes an annular groove opened on the top surface of the main body, wherein the annular groove is filled with balls, and the notch of the annular groove is provided with a limit strip for limiting the balls in the annular groove, wherein a plurality of groups of first strip grooves and second strip grooves are extended from the outer side and the inner side of the annular groove respectively, a locking rod is penetrated through the bottom of the end of the first strip groove away from the annular groove, and the top of the locking rod adopts a conical top, and a first driving block is slidably installed on the side of the first strip groove close to the annular groove, wherein the side of the first driving block close to the locking rod is provided with an inclined surface adapted thereto; a second driving block is installed at one end of the second strip groove away from the annular groove, the top of the second driving block adopts an inclined surface facing the inner side of the main body and extends from the notch of the second strip groove, an abutment block is installed on the outer side of the second driving block, and a second buffer spring is mounted on the abutment block, and the top of the second driving block corresponds to the groove on the bottom surface of the placement platform, wherein the groove bottom surface adopts an inclined surface facing the outer side of the main body, and when the second driving block moves from the inner side of the placement platform groove to the outer side, the placement platform can fit with the top surface of the main body.

[0017] Portions of the annular groove close to the first strip groove and the second strip groove both adopt a concave structure facing the first strip groove and the second strip groove.

[0018] By adopting the above technical solution, the driving wheel installed at the bottom of the main body can be driven by the first motor to rotate when there is no object on the placement platform, and the second motor drives the wheel to rotate and move. Each wheel is controlled by an independent brushless motor, which can realize the in-situ turning of the mobile platform. After the object is placed on the placement platform, the placement platform is pressed down to the top surface of the main body, and the driving wheel is locked by the linkage component to ensure the stability of the placement platform when loading objects. It is realized that the mobile platform can move freely through the driving wheel when it is empty, and move to the position where the object needs to be loaded. The position where the object is loaded needs to be equipped with a transmission track that can carry the entire mobile platform to move. After the object is loaded, its moving state is locked, and the object can be moved in conjunction with the transmission track, and the 7-degree-of-freedom mechanical arm on the mobile platform can realize the loading and unloading of objects, which is convenient for the 7-degree-of-freedom mechanical arm to move freely in the warehouse and move together with the platform for loading objects, so as to realize the rapid loading and unloading of objects from the warehouse to the transport vehicle or from the transport vehicle to the warehouse.

[0019] Preferably, the placement platform adopts a fan-shaped structure, wherein the bottom of the placement platform is connected to the main body through a third buffer spring, and both ends of the third buffer spring are connected to the fixing grooves on the placement platform and the main body, and connecting strips and connecting grooves are respectively installed on both side surfaces of the fan-shaped structure, and adjacent fan-shaped structures are connected by connecting strips and connecting grooves to form an annular structure as a whole.

[0020] By adopting the above technical solution, the placement platform adopts a fan-shaped structure to form a ring platform around the mounting seat. The third spring at the bottom of the placement platform can lift the placement platform when the vehicle is empty to release the locking of the driving wheel by the linkage assembly, and press down to lock the driving wheel through the linkage assembly after placing items. The connecting strips and connecting grooves on both sides of the placement platform are connected to form an overall structure to facilitate the placement of more items for transportation.

[0021] In summary, the present application includes at least one of the following beneficial technical effects:

[0022] 1. This patent adopts a mobile platform with multi-sensor fusion, and uses SLAM to scan the surrounding environment in real time for positioning. If the warehouse is renovated, it can be quickly adapted and put into use, greatly reducing the warehouse construction cycle. Compared with the label positioning of the AGV mobile platform, it is necessary to set the label and paste it, and the label needs to be maintained in the later stage if it is damaged. The mobile platform of the SLAM solution does not need positioning labels, and can directly use laser, vision and other sensors to complete positioning;

[0023] 2. This patent uses redundant robotic arms for pick and place, and there are countless inverse solutions for the kinematics of the 7-freedom robotic arms, so obstacle avoidance can be better performed;

[0024] 3. This patented redundant robotic arm control system uses a trajectory planning model based on deep learning in a three-dimensional modeling environment to select a trajectory that avoids surrounding obstacles and picks and places objects in a minimal time-impact manner, ensuring that precision objects are not impacted;

[0025] 4. This patent uses a digital twin model, which has good visualization effect and simple operation, reducing the difficulty of use and training costs for warehouse managers;

[0026] 5. This patent realizes that the mobile platform can move freely through the driving wheels when it is empty, and move to the position where the items need to be loaded. The position where the items are loaded cooperates with the ground to have a transmission track that can carry the entire mobile platform to move. After it is loaded with the items, its mobile state is locked, and the transmission track can be used to realize the movement of items and the 7-DOF robotic arm. The 7-DOF robotic arm can realize the loading and unloading of items, making it convenient for the 7-DOF robotic arm to move freely in the warehouse and move together with the platform for loading items, thereby realizing the rapid loading and unloading of items from the warehouse to the transport vehicle or from the transport vehicle to the warehouse. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the overall structure of the mobile platform in the digital twin intelligent storage system based on redundant robotic arms;

[0028] Figure 2 is a schematic diagram of the structure of the driving wheel and the first driving block in the mobile platform;

[0029] Figure 3 It is an exploded view of the driving wheel and the first buffer spring in the mobile platform;

[0030] Figure 4 This is an exploded view of a single placement platform in a mobile platform;

[0031] Figure 5 It is a bottom side view of an exploded view of a single placement platform in a mobile platform;

[0032] Figure 6 It is a schematic diagram of the communication structure between the warehouse management system, warehouse and redundant robotic arm platform.

[0033] Description of reference numerals: 1. main body; 2. mounting seat; 3. placing platform; 31. groove; 32. connecting strip; 33. connecting groove; 34. third buffer spring; 35. fixing groove; 4. driving wheel; 41. wheel frame; 411. rotating shaft; 412. mounting frame; 413. turntable; 4131. gear layer; 414. positioning strip; 42. wheel; 421. walking wheel; 422. gear part; 43. first motor; 44. second motor; 45. locking rod; 451. locking meshing teeth; 452. limiting ring; 453, first buffer spring; 454, positioning groove; 455, conical top; 5, counterweight adjustment mechanism; 51, slide groove; 511, limit groove; 52, counterweight block; 53, driving mechanism; 531, hydraulic cylinder; 532, output shaft; 6, linkage assembly; 61, annular groove; 611, ball; 612, limit strip; 613, recessed structure; 62, first strip groove; 621, first driving block; 63, second strip groove; 631, second driving block; 632, abutment block; 633, second buffer spring. DETAILED DESCRIPTION

[0034] The following is combined with Figure 1-5 This application is described in further detail.

[0035] An embodiment of the present application discloses a digital twin intelligent warehousing system based on redundant robotic arms.

[0036] A digital twin intelligent warehousing system based on redundant robotic arms, comprising

[0037] Warehouse management system: The warehouse management system is managed in a digital twin mode. Its underlying control system framework is the Robot Operating System (ROS) open source operating system. All physical objects are 3D modeled and displayed on the master control screen. Redundant robotic arms: The redundant robotic arms are responsible for storage and handling, and communicate with the warehouse system through WiFi, including the mobile platform and the 7-DOF industrial robotic arm. The mobile platform and the industrial robotic arm communicate using EtherCAT. The mobile platform uses four-wheel differential control, and each wheel 42 is controlled by an independent brushless motor. The end of the 7-DOF industrial robotic arm is equipped with an eye-in-hand visual sensor. The digital twin map of the warehouse is stored in the memory of the warehouse management system and the mobile platform. The mobile platform uses multiple sensors to scan the map in the warehouse and compares and locates with the digital twin map, while avoiding obstacles through SLAM. The workspace of the redundant robotic arm is generated by the Monte Carlo method and the workspace point cloud is stored in the memory of the mobile platform. An eye-in-hand visual sensor is installed at the end of the redundant robotic arm to scan the QR code at the warehouse location and identify the object being transported. The warehouse management system sends the spatial position of the object being transported to the redundant robotic arm platform, and compares it with the map identified by the sensor of the mobile platform. It plans the moving path of the mobile platform to reach the starting point of the transportation, so that the required transported object enters the working space of the redundant robotic arm. The redundant robotic arm plans the trajectory according to the real-time spatial map scanned by the mobile platform, and uses the deep learning training model to select the trajectory that avoids surrounding obstacles and picks and places objects in a way that minimizes time and impact.

[0038] Reference Figure 1-Figure 5 The mobile platform includes a main body 1, a mounting seat 2 for mounting a 7-DOF manipulator is provided at the top center of the main body 1, a placement platform 3 for storing objects is installed on the main body 1 around the mounting seat 2, four sets of driving wheels 4 are installed around the bottom of the main body 1, and a counterweight adjustment mechanism 5 is installed on the bottom surface of the main body 1, wherein the counterweight adjustment mechanism 5 is connected to the pressure collection point signal distributed in a ring around the mounting seat 2. The counterweight adjustment mechanism 5 includes a slide groove 51 annularly opened on the bottom surface of the main body 1, wherein a counterweight block 52 and a driving mechanism 53 are installed in the slide groove 51, and the driving mechanism 53 adopts a hydraulic cylinder 531 output shaft 532 to connect the counterweight block 52, wherein both sides of the counterweight block 52 are slidably installed in the limit groove 511 inside the slide groove 51. The mounting seat 2 in the center of the main body 1 of the mobile platform is used to install a 7-DOF robotic arm. The objects clamped by the 7-DOF robotic arm can be placed on the placement platform 3 around the mounting seat 2, and during the movement of the 7-DOF robotic arm, the pressure collection point in the mounting seat 2 can collect the pressure it receives in real time, and feed it back to the counterweight adjustment mechanism 5 to adjust the counterweight of the entire main body 1. The counterweight block 52 is driven to move in the limit groove 511 through the output shaft 532 of the hydraulic cylinder 531, thereby adjusting the counterweight of the main body 1 and ensuring the stability of the overall operation of the mobile platform.

[0039] reference Figure 1-Figure 5The driving wheel 4 is rotatably installed at the bottom of the main body 1, and includes a wheel frame 41 and a wheel 42, wherein the wheel frame 41 includes an upper rotating shaft 411 and a lower mounting frame 412, a turntable 413 rotatably connected to the main body 1 is fixed on the top of the rotating shaft 411, and the outer diameter of the turntable 413 is larger than the rotating shaft 411, wherein the top and bottom of the turntable 413 are rotatably connected to the main body 1 through bearings, and a gear layer 4131 is provided on the middle layer of the turntable 413 for meshing and transmitting with the gear on the output shaft 532 of the first motor 43, and a wheel 42 is installed on the mounting frame 412, wherein the wheel 42 includes walking wheels 421 on both sides and a gear part 422 in the middle layer, and the wheel 42 is driven by the second motor 44 on the side of the mounting frame 412. A locking rod 45 for locking the wheel 42 is also installed on the driving wheel 4. A locking tooth 451 is provided on the bottom surface of the locking rod 45. The locking tooth 451 can mesh with the gear portion 422 of the middle layer of the wheel 42, and the locking rod 45 is driven by the linkage assembly 6 in the main body 1. The locking rod 45 passes through the wheel frame 41 of the driving wheel 4 from top to bottom, wherein a limiting ring 452 is fixed at one end of the locking rod 45 located above the driving wheel 4, and the bottom of the limiting ring 452 is abutted against the top of the turntable 413 through a first buffer spring 453 mounted on the locking rod 45. A positioning groove 454 distributed along its length direction is provided on the outer surface of the locking rod 45, and a positioning strip 414 adapted to the positioning groove 454 is provided on the perforated side wall of the wheel frame 41. The linkage assembly 6 includes an annular groove 61 opened on the top surface of the main body 1, wherein the annular groove 61 is filled with a ball 611, and the notch of the annular groove 61 is provided with a limit strip 612 for limiting the ball 611 in the annular groove 61, wherein the outer side and the inner side of the annular groove 61 respectively extend four groups of first strip grooves 62 and second strip grooves 63, and the bottom of the end of the first strip groove 62 away from the annular groove 61 is penetrated by a locking rod 45, and the top of the locking rod 45 adopts a conical top 455, and a first driving block 621 is slidably installed on one side of the first strip groove 62 close to the annular groove 61, wherein the side of the first driving block 621 close to the locking rod 45 is provided with a locking rod 45 connected to the locking rod 45. The second driving block 631 is installed at one end of the second strip groove 63 away from the annular groove 61. The top of the second driving block 631 adopts an inclined surface facing the inside of the main body 1 and extends out of the notch of the second strip groove 63. The outer side of the second driving block 631 is installed with an abutment block 632, and the abutment block 632 is sleeved with a second buffer spring 633. The top of the second driving block 631 corresponds to the groove 31 on the bottom surface of the placement platform 3, wherein the bottom surface of the groove 31 adopts an inclined surface facing the outside of the main body 1, and when the second driving block 631 moves from the inside of the groove 31 of the placement platform 3 to the outside, the placement platform 3 can fit with the top surface of the main body 1. The parts of the annular groove 61 close to the first strip groove 62 and the second strip groove 63 both adopt a concave structure 613 facing the first strip groove 62 and the second strip groove 63.The driving wheel 4 installed at the bottom of the main body 1 can be driven to rotate by the first motor 43 when there is no object placed on the placement platform 3, and the driving wheel 4 can be rotated and moved under the action of the second motor 44. Each wheel 42 is controlled by an independent brushless motor, which can realize the in-situ turning of the mobile platform. After the objects are placed on the placement platform 3, the placement platform 3 is pressed down to the top surface of the main body 1, and the driving wheel 4 is locked by the linkage component 6 to ensure the stability of the placement platform 3 when loading objects. It is realized that the mobile platform can move freely through the driving wheel 4 when the vehicle is empty, and move to the position where the objects need to be loaded. The position where the objects are loaded needs to be equipped with a transmission track that can carry the entire mobile platform to move. After the objects are loaded, its moving state is locked, and the objects can be moved in conjunction with the transmission track, and the 7-degree-of-freedom mechanical arm on the mobile platform can realize the loading and unloading of objects, which is convenient for the 7-degree-of-freedom mechanical arm to move freely in the warehouse and move together with the platform for loading objects, so as to realize the rapid loading and unloading of objects from the warehouse to the transport vehicle or from the transport vehicle to the warehouse.

[0040] Reference Figure 1-Figure 5 The placement platform 3 adopts a fan-shaped structure, wherein the bottom of the placement platform 3 is connected to the main body 1 through a third buffer spring 34, and both ends of the third buffer spring 34 are connected to the fixing grooves 35 on the placement platform 3 and the main body 1. Connecting strips 32 and connecting grooves 33 are respectively installed on both sides of the fan-shaped structure, and adjacent fan-shaped structures are connected by connecting strips 32 and connecting grooves 33 to form an annular structure as a whole. The placement platform 3 adopts a fan-shaped structure to form an annular platform around the mounting seat 2. The third spring at the bottom of the placement platform 3 can lift the placement platform 3 when the vehicle is empty to release the locking of the linkage assembly 6 on the driving wheel 4, and press down to lock the driving wheel 4 through the linkage assembly 6 after placing items. The connecting strips 32 and connecting grooves 33 on both sides of the placement platform 3 are connected to form an integral structure to facilitate the placement of more items for transportation.

[0041] Working principle: An eye-in-hand visual sensor is installed at the end of the redundant robotic arm to scan the QR code at the warehouse and identify the objects being transported. The physical objects in the smart warehouse are managed through digital twins. All physical objects are three-dimensionally modeled and displayed on the main control screen. Industrial PLCs, warehouse actuators, warehouse sensors and distributed PLC expansion modules are set up in the warehouse, and communicate with the warehouse management system and redundant robotic arm platform through distributed industrial WiFi communication modules. The warehouse management system sends the spatial position of the transported object to the redundant robotic arm platform, and compares it with the map recognized by the sensor of the mobile platform, plans the moving path of the mobile platform to reach the starting point of the transportation, and allows the required transported objects to enter the working space of the redundant robotic arm. The redundant robotic arm plans the trajectory according to the real-time spatial map scanned by the mobile platform, and uses the deep learning training model to avoid surrounding obstacles and pick up and place objects in a way that minimizes time and impact. When no items are placed on the placement platform 3, the locking teeth 451 at the bottom of the locking rod 45 do not mesh with the gear portion 422 at the center of the wheel 42. The driving wheel 4 can be driven by the first motor 43 to rotate an angle, and the second motor 44 can drive the wheel 4 to rotate and move. Each wheel 42 is controlled by an independent brushless motor, which can realize the in-situ turning of the mobile platform. After the items are placed on the placement platform 3, the placement platform 3 is pressed down to the top surface of the main body 1, and the driving wheel 4 is locked through the linkage assembly 6. Specifically, during the descending process of the placement platform 3, the inclined surface in the bottom groove 31 acts on the inclined surface on the second driving block 631 in the second strip groove 63, moving it outward, and the abutment block 632 on the second driving block 631 pushes the ball 611 in the second strip groove 63 outward. After the four moving platforms are pressed down, the bottom ones all perform the above operation. The ball 611 moves in the annular groove 61 and pushes the ball 611 into the first strip groove 62. The ball 611 entering the first strip groove 62 pushes the first driving block 621 to act on the conical top 455 at the top of the locking rod 45, driving the locking rod 45 to descend and the locking teeth 451 at the bottom of the locking rod 45 engage with the gear part 422 in the center of the wheel 42, thereby locking the moving wheel to ensure the stability of the placement platform 3 when loading items.

[0042] 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 digital twin intelligent warehousing system based on redundant robotic arms, characterized by: Including a warehouse management system, which is managed in a digital twin manner, and its underlying control system framework is the Robot Operating System (ROS) open source operating system. All physical objects are three-dimensionally modeled and displayed on the master control screen; A redundant robotic arm is responsible for storage and handling, and communicates with a storage system via WiFi, including a mobile platform and a 7-DOF industrial robotic arm. The mobile platform and the industrial robotic arm communicate using EtherCAT. The mobile platform uses four-wheel differential control, and each wheel (42) is controlled by an independent brushless motor. An eye-in-hand visual sensor is installed at the end of the 7-DOF industrial robotic arm.

2. According to claim 1, a digital twin intelligent warehousing system based on redundant robotic arms is characterized in that: The digital twin map of the warehouse is stored in the warehouse management system and the memory of the mobile platform. The mobile platform uses multiple sensors to scan the map in the warehouse and compares and locates it with the digital twin map, while avoiding obstacles through SLAM.

3. According to claim 2, a digital twin intelligent warehousing system based on redundant robotic arms is characterized in that: The working space of the redundant manipulator is generated by the Monte Carlo method and the working space point cloud is stored in the mobile platform memory.

4. According to claim 1, a digital twin intelligent warehousing system based on redundant robotic arms is characterized in that: The mobile platform comprises a main body (1), a mounting seat (2) for mounting a 7-DOF robotic arm is provided at the top center of the main body (1), a placement platform (3) for storing objects is installed on the main body (1) around the mounting seat (2), a plurality of groups of driving wheels (4) are installed around the bottom of the main body (1), and a counterweight adjustment mechanism (5) is installed on the bottom surface of the main body (1), wherein the counterweight adjustment mechanism (5) is connected to the pressure collection point signals distributed in a ring around the mounting seat (2).

5. According to claim 4, a digital twin intelligent warehousing system based on redundant robotic arms is characterized in that: The counterweight adjustment mechanism (5) comprises a slide groove (51) annularly provided on the bottom surface of the main body (1), wherein a counterweight block (52) and a driving mechanism (53) are installed in the slide groove (51), and the driving mechanism (53) adopts a hydraulic cylinder (531) and an output shaft (532) to connect the counterweight block (52), wherein the counterweight block (52) is slidably installed on both sides in the limiting groove (511) inside the slide groove (51).

6. According to claim 4, a digital twin intelligent warehousing system based on redundant robotic arms is characterized in that: The driving wheel (4) is rotatably mounted at the bottom of the main body (1), and comprises a wheel frame (41) and a wheel (42), wherein the wheel frame (41) comprises an upper rotating shaft (411) and a lower mounting frame (412), a rotating disk (413) rotatably connected to the main body (1) is fixed at the top of the rotating shaft (411), and the outer diameter of the rotating disk (413) is larger than the rotating shaft (411), wherein the top and bottom of the rotating disk (413) are rotatably connected to the main body (1) via bearings, and a gear layer (4131) is provided on the middle layer of the rotating disk (413) for meshing and transmission with the gear on the output shaft (532) of the first motor (43), and a wheel (42) is mounted on the mounting frame (412), wherein the wheel (42) comprises walking wheels (421) on both sides and a gear portion (422) on the middle layer, and the wheel (42) is driven by a second motor (44) on the side of the mounting frame (412).

7. The digital twin intelligent warehousing system based on redundant robotic arms according to claim 6 is characterized in that: The driving wheel (4) is also provided with a locking rod (45) for locking the wheel (42). The bottom surface of the locking rod (45) is provided with locking teeth (451). The locking teeth (451) can mesh with the gear part (422) of the middle layer of the wheel (42). The locking rod (45) is driven by a linkage assembly (6) in the main body (1). The locking rod (45) penetrates the wheel frame (41) of the driving wheel (4) from top to bottom. A limiting ring (452) is fixed at one end of the rod (45) located above the driving wheel (4); the bottom of the limiting ring (452) is in contact with the top of the rotating disk (413) via a first buffer spring (453) sleeved on the locking rod (45); the outer surface of the locking rod (45) is also provided with positioning grooves (454) distributed along its length direction; and the perforated side wall on the wheel frame (41) is provided with a positioning strip (414) adapted to the positioning groove (454).

8. The digital twin intelligent warehousing system based on redundant robotic arms according to claim 7 is characterized in that: The linkage assembly (6) comprises an annular groove (61) provided on the top surface of the main body (1), wherein the annular groove (61) is filled with a ball (611), and the notch of the annular groove (61) is provided with a limiting strip (612) for limiting the ball (611) in the annular groove (61), wherein a plurality of groups of first strip grooves (62) and second strip grooves (63) are respectively extended from the outer side and the inner side of the annular groove (61), and a locking rod (45) is penetrated through the bottom of one end of the first strip groove (62) away from the annular groove (61), and the top of the locking rod (45) adopts a conical top (455), and a first driving block (621) is slidably installed on one side of the first strip groove (62) close to the annular groove (61), and a side of the first driving block (621) close to the locking rod (45) is provided A second driving block (631) is installed at one end of the second strip groove (63) away from the annular groove (61), the top of the second driving block (631) adopts an inclined surface facing the inner side of the main body (1) and extends out of the notch of the second strip groove (63), an abutment block (632) is installed on the outer side of the second driving block (631), and a second buffer spring (633) is mounted on the abutment block (632), the top of the second driving block (631) corresponds to the groove (31) on the bottom surface of the placement platform (3), wherein the bottom surface of the groove (31) adopts an inclined surface facing the outer side of the main body (1), and when the second driving block (631) moves from the inner side of the groove (31) of the placement platform (3) to the outer side, the placement platform (3) can fit with the top surface of the main body (1).

9. The digital twin intelligent warehousing system based on redundant robotic arms according to claim 8, characterized in that: Portions of the annular groove (61) close to the first strip-shaped groove (62) and the second strip-shaped groove (63) both adopt a recessed structure (613) facing the first strip-shaped groove (62) and the second strip-shaped groove (63).

10. The digital twin intelligent warehousing system based on redundant robotic arms according to claim 4, characterized in that: The placement platform (3) adopts a fan-shaped structure, wherein the bottom of the placement platform (3) is connected to the main body (1) via a third buffer spring (34), and both ends of the third buffer spring (34) are connected to the fixing grooves (35) on the placement platform (3) and the main body (1), and connecting strips (32) and connecting grooves (33) are respectively installed on both side surfaces of the fan-shaped structure, and adjacent fan-shaped structures are connected via the connecting strips (32) and the connecting grooves (33) to form an annular structure as a whole.

Images