Intelligent loading vehicle capable of automatically selecting articles

Abstract

The invention discloses an intelligent loading vehicle capable of automatically selecting articles. The loading vehicle aims at improving the article selection efficiency and accuracy. The loading vehicle comprises a mechanical arm, an image recognition system, a power system and an article placing cabinet. The mechanical arm is used for executing object grabbing and placing operation, and the flexibility and accuracy of the mechanical arm are enhanced through multi-axis design. The image recognition system obtains image information of the articles in real time through a camera and analyzes and recognizes the image information through an advanced algorithm, so that the action of the mechanical arm is guided, road condition information can be recognized, and the placement cabinet is guided to move. And the article placing cabinet is used for storing taken articles, and the device is moved through the driving wheels and can flexibly move in different environments. The intelligent loading vehicle can be applied to the fields of storage of spare and accessory parts of rocket engines and the like, manpower input is reduced through automatic operation, and the work efficiency and safety of spare and accessory part selection are improved. In addition, the modular design of the loading vehicle is convenient to maintain and upgrade, and the loading vehicle can be customized according to different requirements.

Description

Technical Field

[0001] The invention relates to an intelligent device in the field of automation, and in particular to an intelligent loading vehicle for automatically selecting items such as spare parts. Background Art

[0002] In the field of modern aerospace technology, with the rapid development of rocket engine supply chain and manufacturing technology, higher requirements are placed on the efficiency and accuracy of the selection and management of items such as engine parts. Although the traditional manual operation method has a certain degree of flexibility, it is easily affected by human factors due to its high dependence on manpower, resulting in low efficiency and high error rate in the selection of a wide variety of engine parts. In addition, the long-term repetitive labor of manual operation also increases employee fatigue and workload, which in turn affects the overall efficiency and safety of engine assembly. Therefore, the application of automated selection technology in the storage management of engine parts has received more and more attention, and intelligent solutions have gradually become the development trend of the industry.

[0003] With the continuous progress of robotics, image recognition and artificial intelligence, the development of intelligent automatic picking systems has gradually become possible. The combination of these technologies can significantly improve the accuracy and efficiency of picking items such as engine parts, while reducing dependence on human resources. In this context, intelligent loading vehicles that automatically pick items have emerged as an effective way to solve the above problems.

[0004] Existing automated item picking systems are mostly based on fixed robots. Although these systems have improved the picking efficiency to a certain extent, their flexibility and adaptability are still limited. Fixed robots usually need to operate in a specific environment and are difficult to adapt to the changing warehouse layout and complex logistics environment. In addition, traditional automated systems often face technical bottlenecks when identifying and processing items of different shapes, sizes and materials, which limits the scope of application of the system. For this reason, the development of an intelligent loader that can move freely in a complex environment and perform precise item picking has become the focus of current technological development.

[0005] The intelligent loading vehicle for automatic item selection proposed in the present invention includes multiple parts such as a robotic arm, an image recognition system, a power system, and an item placement cabinet, aiming to achieve efficient, accurate, and flexible item selection functions. The intelligent loading vehicle for automatic item selection of the present invention has significant technical innovation and practicality. Through modular design and the integration of multiple advanced technologies, the loading vehicle not only improves the efficiency and accuracy of selecting items such as engine spare parts, but also has flexible application adaptability, and can play an important role in multiple fields such as warehousing, logistics, and fresh food markets. With the continuous development of automation technology, the application of intelligent loading vehicles will bring greater changes to the industry and promote the development of modern warehouse management towards intelligence and automation. Summary of the invention

[0006] The technical problem of the intelligent loading vehicle that automatically picks up items is to overcome the low efficiency and high error rate of traditional manual operations and the poor adaptability of the automation system in complex environments. In addition, the existing automation equipment has obvious deficiencies in the processing of diversified items, flexible movement and environmental perception capabilities, and it is difficult to meet the needs of modern logistics and warehousing management.

[0007] In order to solve the above problems, the present invention proposes an intelligent loading vehicle that automatically selects items. It is achieved through the following scheme: the loading vehicle integrates a robotic arm, an image recognition system, a power system and an item placement cabinet. The robotic arm adopts a multi-axis design and is equipped with a precision camera to achieve high-precision and high-flexibility grasping and placement operations. The image recognition system obtains image information of the object and the surrounding environment in real time through a high-resolution camera, and uses advanced algorithms for analysis and recognition. It not only guides the movement of the robotic arm, but also recognizes road conditions to guide the device to move along a specific route. The power system adopts a high-efficiency electric drive structure and a steering wheel design, which supports long-term work and flexible movement, and has an automatic charging function. The item placement cabinet adopts a modular design, with adjustable partitions and buffer devices inside to meet the storage needs of different items. It is also equipped with item identification tags to achieve automatic registration and management.

[0008] The intelligent loading vehicle for automatic item selection has the following advantages: First, through the combination of a multi-axis robotic arm and a precision optical camera, it achieves high precision and flexibility in item grabbing and placement, and can handle a variety of items. Second, the application of the image recognition system greatly improves the accuracy and efficiency of item recognition and environmental perception, enabling the device to operate reliably in complex dynamic environments. Finally, the modular design of the item placement cabinet not only improves the adaptability and safety of the device, but also facilitates maintenance and upgrading, and can be customized according to different needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 Robotic arm top view

[0010] Figure 2 Robotic arm side view

[0011] Figure 3 3D image of robotic arm

[0012] Figure 4 Image recognition system diagram

[0013] Figure 5 Front view of the cabinet

[0014] Figure 6 3D image of cabinet for storing items

[0015] Figure 7 Cabinet power system side view

[0016] Figure 8 Cabinet power system top view

[0017] Fig. 9 3D drawing of the overall structure of the loader

[0018] In the figure:

[0019] 1. Robotic arm 2. Image recognition system 3. Power system

[0020] 4. Item placement cabinet 5. Multi-axis connecting rod 6. Rotating shaft driver

[0021] 7. Fixture 8. Camera 9. Image processing program

[0022] 10. Electric drive structure 11. Intelligent power management module 12. Fault diagnosis device

[0023] 13. Steering wheel 14. Partition 15. Buffer device

[0024] 16. Support plate 17. Item classification label 18. Cabinet

[0025] 19. Ground guide wire 20. Support plate lifting device DETAILED DESCRIPTION

[0026] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0027] 1. Robotic arm (1)

[0028] The robotic arm (1) is one of the core components of the intelligent loader. It adopts a multi-axis design, which enables it to operate flexibly in three-dimensional space. Figures 1 to 3 As shown. Two robotic arms (1) can extract items from two sides of the item placement cabinet (4). Each axis is equipped with a high-precision electric connecting rod (5) and a rotating shaft driver (6), which can adjust the position and posture of the robotic arm (1) in real time. The material of the robotic arm (1) is a lightweight and high-strength alloy, so that the entire device can reduce energy consumption while maintaining stability. The end of the robotic arm (1) is equipped with an adjustable gripper (7), which, in conjunction with the feedback of the lateral image recognition system (2) at the end of the robotic arm (1), can automatically adjust the gripping force and angle according to the shape, size and weight of the item, ensuring stability and reliability when handling a variety of items.

[0029] 2. Image recognition system (2)

[0030] The image recognition system (2) is installed on the side of the robot arm (1) and the front and rear ends and sides of the object placement cabinet (4). It consists of a high-resolution camera (8) and an advanced image processing program (9) and can quickly recognize and process object information in complex environments, such as Figure 4 As shown. The system uses deep learning technology to improve recognition accuracy by continuously learning and accumulating data. The area, image information and position coordinates of the object are obtained in real time through the lateral camera (8) of the robot arm (1) and the two cameras (8) at the side end of the cabinet (4). After analysis, the system generates accurate operation instructions to guide the robot arm (1) to perform the grasping task. Among them, according to the relative position relationship between the robot arm (1) and the camera (8), the device adopts an Eye-in-Hand type robot arm (1) vision system. When calibrating, the system first calibrates the camera (8), performs image filtering and other processing on the image of the target object, and obtains the position and posture of the target object in the image and in the coordinate system of the robot arm (1). Then, the transformation relationship between the camera (8) and the end of the robot arm (1) is determined (i.e., hand-eye calibration), and the robot arm (1) is also kinematically analyzed to determine the transformation relationship of the camera (8) coordinate system during the movement of the robot arm (1), which can better locate complex and changeable target objects.

[0031] 3. Item storage cabinet (4)

[0032] The item storage cabinet (4) adopts a modular design and can be flexibly configured according to different usage scenarios and needs, such as Figure 5 and Figure 6 As shown. The driving wheel of the item placement cabinet (4) is designed as a steering wheel (13), so that the device can be flexibly moved in a small space. The cabinet (4) is provided with an adjustable partition (14) and a buffer device (15) inside to accommodate items of different sizes and shapes to ensure safety during transportation. The support plate (16) of the mechanical arm (1) extends outside the item placement cabinet (4), and is also equipped with an item classification label (17) to realize automatic registration and management of items. The cabinet body (18) is made of wear-resistant and impact-resistant composite materials, which can maintain good performance under various environmental conditions. In addition, the design of the placement cabinet (4) supports rapid replacement and maintenance, which improves the overall utilization efficiency of the device.

[0033] 4. Power system (3)

[0034] The power system (3) adopts a high-efficiency electric drive structure (10) to support the robot arm (1) and the item placement cabinet (4) to work continuously for a long time. The intelligent power management module (11) dynamically adjusts the output power according to the current task requirements to optimize energy consumption. The image recognition system (2) can analyze information about the surrounding environment, such as obstacles and paths, to provide navigation support for the power system (3) to ensure reliable operation of the device in a dynamic environment. Combined with the path planning information provided by the camera (8) of the image recognition system (2), such as the guide line pasted on the ground, the power system (3) can drive the cabinet (4) as needed, such as Figure 7 and Figure 8 As shown. The camera (8) is installed on the front and rear ends of the cabinet (4) and is used as a camera device to monitor the external environment of the cabinet (4). The camera (8) converts the collected image into two-dimensional data, and then performs pattern recognition on the collected image, identifies the route and signs during driving through an image matching algorithm, and finally estimates the relative distance and relative speed between the target object and the vehicle based on the movement pattern of the target object. In addition, the system is equipped with a fault diagnosis device (12) to ensure the long-term stable operation of the device. The power system (3) is also equipped with an automatic charging function, which further improves the convenience of use of the device.

[0035] Operation process

[0036] 1. Initialization: After starting the device, the system performs self-checking through the fault diagnosis device (12) to ensure that all components are operating normally. The image recognition system (2) scans the surrounding environment through the camera (8) to establish a preliminary environmental model.

[0037] 2. Navigation and movement: Combining the environmental model and the information database of the area where the items are located in the system, the system generates the optimal path for the movement of the entire loader and plans the movement route of the device, such as Fig. 9 As shown. Under the guidance of the navigation, the power system (3) drives the cabinet (4) to move to the designated area along the ground guide line (19). During the driving process of the loader, the perception module in the navigation system will collect information about the surrounding environment in real time through the camera (8) to help the loader achieve observation capabilities. The light reflected from the surface of the object is incident on the CMOS / CCD image sensor through the lens of the camera (8). The image sensor converts the received light signal into a digital signal and transmits it to the image signal processor, and serializes the image information through the serializer and transmits it to the domain controller. Among them, the front-view camera (8) is used for target recognition and distance and speed measurement, the rear-view camera (8) is mainly used to realize parking assistance, and the side-view camera (8) is mainly used to detect the lateral object mark area, and make judgments and execute movement tasks after recognition.

[0038] 3. Item recognition: When the mobile item placement cabinet (4) reaches the area where the item is located, the image recognition system (2) obtains the item image through the camera (8), analyzes the item's feature information using the algorithm in the image processing program (9), and determines the item's shape, size, and location. The object recognition process of the camera (8) is similar to the above-mentioned navigation process.

[0039] 4. Object grabbing: The height of the mechanical arm (1) on the placement cabinet (4) is adjusted by the support plate lifting device (20). The mechanical arm (1) moves the clamp (7) to the object position according to the path instruction of the image recognition system (2), adjusts the gripping force of the clamp (7), and completes the object grabbing operation. Specifically, after the image is processed by the camera (8) of the image recognition system (2), the position of the mechanical arm and the object is obtained, and then the trajectory of the mechanical arm is planned to achieve grabbing and placement. The entire grasping process is specifically as follows: the camera (8) and the robot arm (1) are calibrated for hand and eye; the camera (8) information is read; the target object is identified and the position and posture are obtained; the two-dimensional coordinates of the object in the camera (8) are converted into three-dimensional coordinates relative to the optical center of the camera (8); and then converted into coordinates relative to the base of the robot arm (1); the position and posture of the end effector of the robot arm (1) when grasping the object is calculated; the angle that each motor on the robot arm (1) should rotate is calculated based on the known target position and the position and posture information of the end effector; a suitable path is planned according to the presence or absence of obstacles, path distance requirements, and time requirements; each joint of the robot arm (1) is driven to reach a suitable position; and the end effector (7) grasps the object.

[0040] 5. Item placement: The robot arm (1) places the grabbed items in the item placement cabinet (4). The system automatically records the item information and adjusts the partitions (14) in the cabinet to ensure that the items are stored securely.

[0041] 6. Movement and delivery: The power system (3) moves the cabinet (18) according to the planned route in the above steps, avoiding obstacles, ensuring that the device safely and quickly leaves the item storage area and reaches the destination to deliver the required items.

[0042] 7. Task completion and charging: When the above tasks are completed and the power is low, the power system (3) drives the cabinet (4) back to the charging station for automatic charging, preparing for the next operation.

[0043] The intelligent loader can be used for the selection and management of rocket engine parts, and can also be widely used in warehousing, logistics, and fresh food markets. Through automated operation, it reduces manpower input and improves work efficiency and safety.

[0044] The contents not described in detail in the present invention are well known to those skilled in the art.

Claims

1. The loading vehicle comprises a mechanical arm (1), an image recognition system (2), a power system (3) and an article placement cabinet (4). The mechanical arm (1) is characterized in that: A multi-axis link (5) design is adopted to achieve high-precision and high-flexibility operation. The side of the robot arm (1) is equipped with an image recognition system (2) to monitor its position and posture in real time, thereby ensuring accuracy when grasping and placing objects. The material of the robot arm (1) is a lightweight and high-strength alloy to reduce energy consumption and improve durability. The robot arm (1) can automatically adjust the grasping force and angle of the mechanical clamp (7) according to the shape and size of the object through linkage with the image recognition system (2), thereby ensuring stability and reliability when handling a variety of objects.

2. The image recognition system (2) according to claim 1, characterized in that High-resolution cameras (8) and advanced image processing programs (9) are used on the sides of the robot arm (1) and the front and rear ends and sides of the object placement cabinet (4) to achieve rapid recognition and processing in complex environments. The system has deep learning capabilities and can improve recognition accuracy by continuously learning and accumulating data. The image recognition system (2) can not only recognize the appearance characteristics of the object, but also analyze the information of the surrounding environment, such as obstacles and paths, so as to provide accurate operating instructions for the robot arm (1) and the power system (3). The real-time and high-efficiency of the system ensure the reliable operation of the device in different environments.

3. The power system (3) according to claim 1, characterized in that: A high-efficiency electric drive structure (10) is adopted to support the robot arm (1) and the item placement cabinet (4) to work continuously for a long time and has an automatic charging function. The power system (3) can dynamically adjust the output power according to the current task requirements through the intelligent power management module (11), thereby optimizing energy consumption. Combined with the path planning information provided by the image recognition system (2), the power system (3) can achieve accurate navigation and positioning. The power system (3) is also equipped with a fault diagnosis device (12) to ensure the long-term stable operation of the device.

4. The object storage cabinet (4) according to claim 1, characterized in that: The modular design can be flexibly configured according to different usage scenarios and requirements. The driving wheel of the item placement cabinet (4) is designed as a steering wheel (13), so that the device can be flexibly moved in a small space. An adjustable partition (14) and a buffer device (15) are arranged inside the placement cabinet to accommodate items of different sizes and shapes to ensure safety during transportation. The support plate (16) of the extended mechanical arm (1) of the item placement cabinet (4) is also equipped with an item classification label (17) to realize automatic registration and management of items. The cabinet body (18) is made of wear-resistant and impact-resistant composite materials, which can maintain good performance under various environmental conditions. In addition, the design of the placement cabinet (4) supports rapid replacement and maintenance, thereby improving the overall use efficiency of the device.

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