Multi-scene intelligent robot simulation practice platform device

Abstract

The invention relates to the technical field of intelligent robot simulation practice platforms, in particular to a multi-scene intelligent robot simulation practice platform device which comprises a platform base. The feeding and discharging assembly comprises a conveying belt fastened to the top of the platform base through bolts. The second-stage assembling assembly comprises a second-stage speed reducer assembling part and a gear storage rack; and the delivery component comprises a jetsonorinnano edge computing board, a display screen, a far-field microphone and four types of wireless sensing components. Thus. The robot is reasonable in structure, the two mechanical arms are reasonably arranged, the binocular camera and the conveying belt are combined, traditional industrial feeding and discharging, stack disassembling and logistics sorting scenes are achieved, meanwhile, the high-degree-of-freedom mechanical arms, the two-finger clamping jaw and the 3D camera are combined, and the interaction function of objects in complex shapes is further provided; the problem that a traditional monocular camera cannot separate stacked objects is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent robot simulation practice platforms, and particularly to a multi-scenario intelligent robot simulation practice platform device. Background Art

[0002] At present, there are many simulation practice platforms for industrial intelligent robots on the market, but these simulation practice platforms all have the problems of single function and insufficient expandability. They usually use two three-degree-of-freedom robotic arms arranged at both ends of a conveyor belt, respectively responsible for loading and unloading or palletizing and depalletizing. Although the three-degree-of-freedom robotic arm is easy to control, it will also reduce expandability. This type of robotic arm cannot perform complex actions, so it is difficult to interact with items with a relatively complex structure.

[0003] In addition, the end effector equipped for them is a suction cup, which further reduces expandability and allows them to only interact with items with a smooth and flat surface. Therefore, the entire simulation practice platform can only carry out simulation practices related to item handling scenarios, such as loading and unloading and palletizing and depalletizing, and the function is relatively single.

[0004] Finally, when loading or palletizing, they will design a monocular camera to identify and locate items; some simulation practice platforms of the same type will add distance sensors on the conveyor belt, such as ultrasonic sensors or infrared sensors, to detect items and control the conveyor belt to stop running. The monocular camera adopts the eye-in-hand design, which is a relatively common design in industry. However, the monocular camera has limitations and can only locate items on a fixed plane. If the distance between the plane and the camera changes, it will cause positioning errors. While a 3D camera can directly obtain the physical positioning of items and can be directly migrated to any scenario, so the monocular camera will inevitably be gradually replaced by the 3D camera. Therefore, the forefront of these platforms is insufficient and cannot meet future research needs. Summary of the Invention

[0005] The present invention aims to solve at least one of the technical problems in the related technologies to some extent.

[0006] For this purpose, the object of the present invention is to provide a multi-scenario intelligent robot simulation practice platform device. The structure of the present invention is reasonable. The two robotic arms are reasonably arranged, combined with a binocular camera and a conveyor belt, which not only realizes the traditional industrial loading and unloading, palletizing and depalletizing, and logistics sorting scenarios, but also the combination of high-degree-of-freedom robotic arms, two-finger grippers, and 3D cameras provides the interaction function for objects with complex shapes, and solves the problem that traditional monocular cameras cannot separate stacked items.

[0007] To achieve the above object, the present invention provides a multi-scenario intelligent robot simulation practice platform device, including:

[0008] Platform base: fixedly connected to the bottom plate;

[0009] Loading and unloading assembly: includes a conveyor belt bolted to the top of the platform base. Outside the discharging end of the conveyor belt, a discharging area robotic arm and a camera telescopic base are respectively bolted. Outside the loading end of the conveyor belt, a loading area robotic arm is bolted and is arranged on the same side as the camera telescopic base. A binocular camera is fixedly connected to the binocular camera fixing plate of the camera telescopic base. Robotic arm bottom controllers are respectively fixedly connected to the surfaces of the discharging area robotic arm and the loading area robotic arm. Two-finger grippers are respectively fixedly connected to the ends of the discharging area robotic arm and the loading area robotic arm. A storage bin and a loading area bin are respectively bolted to one side of the discharging area robotic arm and the loading area robotic arm;

[0010] Secondary assembly component: includes a secondary reducer assembly and a gear rack. The secondary reducer assembly and the gear rack are respectively bolted to the top of the platform base and are located outside the loading area robotic arm and the loading area bin;

[0011] Intermediate transmission component: includes a jetson orin nano edge computing board, a display screen, a far-field microphone, and four types of wireless sensing components respectively fixedly connected to the top of the platform base. The conveyor belt, binocular camera, robotic arm bottom controller, secondary reducer assembly, display screen, and far-field microphone are respectively connected to the jetson orin nano edge computing board through a bus system to achieve data transmission and receipt of control instructions. The four types of wireless sensing components are connected to the jetson orin nano edge computing board through a wireless communication module to achieve data transmission and receipt of control instructions.

[0012] In addition, a multi-scenario intelligent robot simulation practice platform device proposed according to the above application may also have the following additional technical features:

[0013] Specifically, the camera telescopic base further includes a camera connecting piece, a bracket end connecting rod, a bracket telescopic rod, an M3 screw and a bracket fixing base. Among them, the bracket fixing base is fixedly connected to the top of the platform base by screws. The camera telescopic base is rotatably connected to the top of the bracket fixing base and is fixedly connected to the top of the bracket fixing base by screws. One end of the bracket telescopic rod is slidably connected to the inner wall of the camera telescopic base. An M3 screw and an inverted J-shaped card slot are respectively arranged at positions corresponding to the surface of the end of the bracket telescopic rod slidably connected to the inner wall of the camera telescopic base and the inner wall of the camera telescopic base. One end of the M3 screw is located inside the inverted J-shaped card slot and is slidably connected to the inner wall of the inverted J-shaped card slot. The bracket end connecting rod is fixedly connected to the top of the end of the bracket telescopic rod away from the camera telescopic base. The camera connecting piece is fixedly connected to the surface of the end of the bracket end connecting rod away from the bracket telescopic rod. The binocular camera fixing plate is fixedly connected to the bottom of the camera connecting piece.

[0014] Specifically, a binocular camera housing is fixedly connected to the bottom of the binocular camera fixing plate, and the binocular camera is fixedly connected to the inner wall of the binocular camera housing.

[0015] Specifically, sorting tools are provided on the loading area warehouse.

[0016] Specifically, the four types of wireless sensing components include a light intensity wireless sensing node, a flame wireless sensing node, a temperature and humidity wireless sensing node, and a ultrasonic wireless sensing node. The light intensity wireless sensing node, the flame wireless sensing node, and the temperature and humidity wireless sensing node are fixedly connected to the top of the platform base in sequence along the horizontal direction and are located outside the camera telescopic base. The ultrasonic wireless sensing node is fixedly connected to the top of the platform base and is located on one side of the loading area warehouse;

[0017] The light intensity wireless sensing node, the flame wireless sensing node, the temperature and humidity wireless sensing node, and the ultrasonic wireless sensing node are respectively connected to the jetson orin nano edge computing board through a wireless communication module to realize data transmission and receipt of control instructions.

[0018] Specifically, the platform base further includes a power supply board, a jetson orin nano fixing base, and a display screen base. The power supply board is bolted to the top of the platform base and is located on one side of the conveyor feeding end. The power supply board is used to supply power to all devices on the platform base. The jetson orin nano fixing base is bolted to the top of the power supply board. The jetson orin nano edge computing board is fixedly connected to the top of the jetson orin nano fixing base. The display screen base is bolted to the top of the platform base and is located on one side of the power supply board. The display screen is obliquely fixedly connected to the display screen base at a preset angle.

[0019] Specifically, the space between the bottom of the platform base and the top of the bottom plate is fixed and sealed around with aluminum profiles. The space between the bottom of the platform base and the top of the bottom plate is a wiring space. Wiring holes are respectively provided at positions corresponding to the conveyor belt, the camera telescopic base, the manipulator in the blanking area, the manipulator in the feeding area, the secondary reducer assembly, the display screen, the far-field microphone, the power supply board, the light intensity wireless sensing node, the flame wireless sensing node, the temperature and humidity wireless sensing node, and the ultrasonic wireless sensing node on the top of the platform base, and are communicated with the inside of the wiring space.

[0020] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention.

[0021] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0022] 1. The structure of the present invention is reasonable. After reasonable arrangement of the two manipulators, combined with the binocular camera and the conveyor belt, it not only realizes the traditional industrial loading and unloading, palletizing and depalletizing, and logistics sorting scenarios, but also the combination of the high-degree-of-freedom manipulator, two-finger gripper, and 3D camera provides the interaction function for objects with complex shapes, solving the problem that traditional monocular cameras cannot separate stacked items.

[0023] 2. The present invention adds a secondary reducer assembly scenario. Combined with the binocular camera, it can perform spatial positioning on the assembly position to realize the assembly scenario.

[0024] 3. The present invention uses the jetson orin nano edge computing board with more powerful computing power and stronger versatility, which not only meets the computing power requirements of visual classification, but also combines with the microphone and speaker to expand the voice interaction control function. Combined with four types of sensors, it realizes the intelligent industrial scenario.

[0025] 4. The present invention combines the two-finger gripper, 3D camera, high-degree-of-freedom manipulator, conveyor belt, and various warehouses and tools, etc., to meet the industry scenarios of flexible manufacturing. Users can customize the production process through the software panel or voice to achieve flexible manufacturing.

[0026] 5. The present invention designs a telescopic bracket for the binocular camera. The bracket can be telescopic and can also rotate, so that its field of view can be switched between the blanking area and the assembly area according to requirements. While ensuring the stability of the camera, the camera bracket also ensures that the position is consistent every time it is reset and restored, avoiding the invalidation of the previous calibration data due to position changes.

[0027] 6. The display screen of the present invention is fixed to the platform through a fixed base. After the display screen is installed, it has a certain angle, which is convenient for users to view the screen. At the same time, a wiring position is reserved on the platform base to hide the connecting wires and keep the equipment clean and beautiful. Brief Description of the Drawings

[0028] The above and / or additional aspects and advantages of the present invention will become apparent and be readily understood from the following description of embodiments in conjunction with the accompanying drawings, wherein:

[0029] Figure 1 is a schematic three-dimensional structure diagram of a multi-scenario intelligent robot simulation practice platform device of the present invention;

[0030] Figure 2 is a right view of a multi-scenario intelligent robot simulation practice platform device of the present invention;

[0031] Figure 3 is a schematic plan view of a multi-scenario intelligent robot simulation practice platform device of the present invention;

[0032] Figure 4 is a schematic structure diagram of a camera telescopic base frame in a multi-scenario intelligent robot simulation practice platform device of the present invention;

[0033] Figure 5 is a schematic structure diagram of a bracket fixed base in a multi-scenario intelligent robot simulation practice platform device of the present invention;

[0034] Figure 6 is a schematic structure diagram of a display base in a multi-scenario intelligent robot simulation practice platform device of the present invention.

[0035] As shown in the figure: 1. Platform base; 2. Gear shelf; 3. Jetson Orin Nano fixed base; 4. Power supply board; 5. Jetson Orin Nano edge computing board; 6. Display base; 7. Display screen; 8. Far-field microphone; 9. Storage bin; 10. Manipulator in the blanking area; 11. Manipulator bottom layer controller; 12. Two-finger gripper; 13. Conveyor belt; 14. Binocular camera fixing plate; 15. Sorting prop; 16. Camera telescopic base frame; 17. Light intensity wireless sensing node; 18. Flame wireless sensing node; 19. Temperature and humidity wireless sensing node; 20. Two-stage reducer assembly; 21. Feeding area bin; 22. Ultrasonic wireless sensing node; 23. Manipulator in the feeding area; 141. Binocular camera housing; 161. Camera connector; 162. Bracket end connecting rod; 163. Bracket telescopic rod; 164. M3 screw; 165. Bracket fixed base. Detailed Embodiments

[0036] Embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present invention, and should not be construed as limiting the present invention. On the contrary, the embodiments of the present invention include all variations, modifications and equivalents falling within the spirit and scope of the appended claims.

[0037] A multi-scenario intelligent robot simulation practice platform device according to an embodiment of the present invention will be described below in conjunction with the accompanying drawings.

[0038] As Figures 1-6 shown, a multi-scenario intelligent robot simulation practice platform device according to an embodiment of the present invention includes:

[0039] Platform base 1: fixedly connected to the bottom plate;

[0040] Loading and unloading assembly: including a conveyor belt 13 bolted to the top of the platform base 1. On the outer sides of the unloading ends of the conveyor belt 13, a mechanical arm 10 in the unloading area and a camera telescopic base 16 are respectively bolted. On the outer side of the loading end of the conveyor belt 13, a mechanical arm 23 in the loading area is bolted and is arranged on the same side as the camera telescopic base 16. A binocular camera is fixedly connected to the binocular camera fixing plate 14 of the camera telescopic base 16. Mechanical arm bottom controllers 11 are respectively fixedly connected to the surfaces of the mechanical arm 10 in the unloading area and the mechanical arm 23 in the loading area. Two-finger grippers 12 are respectively fixedly connected to the ends of the mechanical arm 10 in the unloading area and the mechanical arm 23 in the loading area. A storage bin 9 and a loading area bin 21 are respectively bolted to one side of the mechanical arm 10 in the unloading area and the mechanical arm 23 in the loading area;

[0041] Secondary assembly component: including a secondary reducer assembly 20 and a gear shelf 2. The secondary reducer assembly 20 and the gear shelf 2 are respectively bolted to the top of the platform base 1 and are located outside the mechanical arm 23 in the loading area and the loading area bin 21;

[0042] Transmission component: including a jetson orin nano edge computing board 5, a display screen 7, a far-field microphone 8 and four types of wireless sensing components respectively fixedly connected to the top of the platform base 1. The conveyor belt 13, the binocular camera, the mechanical arm bottom controller 11, the secondary reducer assembly 20, the display screen 7 and the far-field microphone 8 are respectively connected to the jetson orin nano edge computing board 5 through a bus system to achieve data transmission and receipt of control instructions. The four types of wireless sensing components are connected to the jetson orin nano edge computing board 5 through a wireless communication module to achieve data transmission and receipt of control instructions.

[0043] It should be noted that the manipulator 10 in the blanking area and the manipulator 23 in the loading area described in this embodiment are respectively connected to two groups of manipulator base controllers 11 through a bus system, receive control instructions and feedback status information.

[0044] It should also be noted that the manipulator 10 in the blanking area and the manipulator 23 in the loading area described in this embodiment are both five-degree-of-freedom manipulators.

[0045] It should also be noted that the edge computing board selects jetson orin nano, which has CUDA built in the environment, has powerful computing power, uses m.2 solid-state storage, has a fast read and write speed, and can directly run many native advanced deep learning projects without quantifying the model for redeployment.

[0046] It should also be noted that the image plane of the binocular camera described in this embodiment is parallel to the plane of the platform base 1. The binocular camera can select the monocular mode and the binocular image mode, covering traditional industrial scenarios and possible future 3D vision industrial scenarios.

[0047] It should also be noted that the display screen 7 is equipped with a speaker.

[0048] Specifically, the simulation practice platform belongs to the desktop scenario. According to its scenario functions, the devices are divided into a loading area, a blanking and sorting area, an assembly area, and an operation area.

[0049] In the operation area, the display screen 7 is fixedly connected to the display screen base 6 and fixed to the platform base 1. After installation, a certain angle is formed between the display screen 7 and the platform plane, which is convenient for users to view the screen. At the same time, wiring holes are reserved in the area of the display screen base 6 and are connected to the internal wiring space to hide the connection wires. Finally, the display screen 7 is connected to the jetson orin nano edge computing board 5. The jetson orin nano edge computing board 5 is fixed on the power supply board 4 through the jetson orin nano fixing base 3, and the power supply board 4 is fixed to the platform base 1 through studs. The power supply board 4 is responsible for supplying power to all devices of the simulation practice platform.

[0050] The loading area and the assembly area take the manipulator 23 in the loading area as the core and are responsible for loading and the assembly of the secondary reducer. The blanking and sorting area takes the manipulator 10 in the blanking area as the core. After classifying the items according to the visual classification results, the items are placed in the corresponding bins. The above two manipulators are both controlled by their respective manipulator base controllers 11. Finally, the far-field microphone 8 collects sound information to achieve the voice control function.

[0051] The loading / unloading and palletizing / depalletizing scenarios overlap to a certain extent. The workflow is as follows: The robotic arm picks up goods from the warehouse in the loading area and places them on conveyor belt 13. Conveyor belt 13 transports the goods to the unloading area. The camera in the unloading area detects and classifies the targets. Finally, the robotic arm in the unloading area picks up the goods and places them in the corresponding classified warehouses.

[0052] In this equipment, the ultrasonic wireless sensing node 22 will detect whether there are items in the warehouse 21 in the loading area. If there are, the robotic arm 23 in the loading area will pick up the sorting tool 15 and place it on conveyor belt 13. Conveyor belt 13 transports the tool to the unloading area. When the binocular camera detects a sorting item, it will control conveyor belt 13 to stop. Finally, the item category is identified, and the robotic arm 10 in the unloading area picks up the item and places it in the storage warehouse 9.

[0053] The location where the secondary reducer assembly 20 is located is the assembly area. The gear shelf 2 is used to place gears. During assembly, the robotic arm 23 in the loading area picks up gears from the gear shelf 2 in sequence and places the gears one by one according to the position of the assembly shaft located by the binocular camera.

[0054] The depth measurement of the binocular camera has a certain working range. To ensure a certain distance between the camera plane and the working plane, this equipment is designed with a telescopic camera bracket, which is convenient for storage and ensures the working height.

[0055] Structurally, the camera telescopic base 16 and the bracket telescopic rod 163 are connected by M3 screws 164, restricting the displacement of the bracket telescopic rod 163 on the inverted J-shaped card slot of the camera telescopic base 16. When in use, push the M3 screw 164 to the top and let it fall on the hooked part of the inverted J-shaped card slot. When storing, push the M3 screw 164 back to the bottom position of the vertical part.

[0056] When the bracket is too long, the camera fixed at the end is prone to shaking, affecting the positioning accuracy. Therefore, in the design, the length of the bracket needs to be controlled. In this equipment, the connecting rod 162 at the end of the bracket is the crossbar of the bracket, which has a certain angle with the plane. It increases the distance between the camera plane and the working plane under the condition of limited length. Finally, using the complementary relationship, the fixed plane of the connecting rod 162 at the end of the bracket is perpendicular to the working plane. At this time, a camera connector 161 with a right angle is designed to connect with the binocular camera fixing plate 14 to ensure the parallel relationship between the image plane of the binocular camera and the working plane. The binocular camera fixing plate 14 is also connected to the binocular camera housing 141, playing a role in protecting the binocular camera.

[0057] In addition, according to the design of the loading and unloading and assembly scenarios, the binocular camera needs to simultaneously consider the item classification and assembly positioning requirements on the conveyor belt 13. Since the two areas cannot be covered by the camera at the same time, in the design of the telescopic bracket, a bracket fixed base 165 is added to the bottom of the camera telescopic base 16. The bracket fixed base 165 is fixed to the platform base 1 by screws. At this time, the camera telescopic base 16 can rotate arbitrarily. When it rotates to the corresponding position, the relative position of the camera telescopic base 16 and the bracket fixed base 165 can be fixed with screws. In the scenario, the binocular camera with the original field of view in the unloading area can be rotated 90 degrees to the assembly area to achieve the consideration of the two scenarios.

[0058] This device is equipped with a jetson orin nano edge computing board 5, which comes with a CUDA environment, supports M.2 solid-state drives, and has powerful computing power, providing good environmental support for local voice recognition and speech synthesis. This device is equipped with a far-field microphone 8 for collecting voices. After being processed by the jetson orin nano edge computing board 5, the synthesized voice is played through the speaker integrated on the display screen 7, finally realizing the voice interaction function.

[0059] At the same time, this device is also equipped with multiple wireless sensing nodes for monitoring the production environment. Among them, there is a light intensity wireless sensing node 17 for detecting the environmental light intensity to maintain the brightness level of the production environment; a temperature and humidity wireless sensing node 19 for detecting the environmental temperature and humidity to maintain the temperature and humidity levels of the production environment; and finally a flame wireless sensing node 18 for monitoring whether a fire occurs. The three types of sensors simulate basic intelligent industrial scenarios.

[0060] In an embodiment of the present invention, as Figure 4 shown, the camera telescopic base 16 further includes a camera connecting piece 161, a bracket end connecting rod 162, a bracket telescopic rod 163, M3 screws 164, and a bracket fixed base 165. Among them, the bracket fixed base 165 is fixedly connected to the top of the platform base 1 by screws. The camera telescopic base 16 is rotatably connected to the top of the bracket fixed base 165. The camera telescopic base 16 is fixedly connected to the top of the bracket fixed base 165 by screws. One end of the bracket telescopic rod 163 is slidably connected to the inner wall of the camera telescopic base 16. M3 screws 164 and inverted J-shaped slots are respectively provided at positions corresponding to the surface of the end of the bracket telescopic rod 163 slidably connected to the inner wall of the camera telescopic base 16 and the inner wall of the camera telescopic base 16. One end of the M3 screw 164 is located inside the inverted J-shaped slot and is slidably connected to the inner wall of the inverted J-shaped slot. The bracket end connecting rod 162 is fixedly connected to the top of the end of the bracket telescopic rod 163 away from the camera telescopic base 16. The camera connecting piece 161 is fixedly connected to the surface of the end of the bracket end connecting rod 162 away from the bracket telescopic rod 163. The binocular camera fixing plate 14 is fixedly connected to the bottom of the camera connecting piece 161.

[0061] Specifically, the structure and connection relationship of the camera telescopic base 16 will be further described. The depth measurement of the binocular camera has a certain working range. To ensure a certain distance between the camera plane and the working plane, this device designs a telescopic camera bracket, which is convenient for storage and ensures the working height. Structurally, the camera telescopic base 16 and the bracket telescopic rod 163 are connected by M3 screws 164, and the displacement of the bracket telescopic rod 163 is restricted on the inverted J-shaped card slot of the camera telescopic base 16. When in use, the M3 screw 164 is pushed to the top and falls on the hook-shaped part of the inverted J-shaped card slot. When storing, the M3 screw 164 is pushed back to the bottom position of the vertical part. Since the camera fixed at the end is prone to shaking when the bracket is too long, affecting the positioning accuracy, the bracket length needs to be controlled in the design. In this device, the connecting rod 162 at the end of the bracket is a cross bar of the bracket, which has a certain angle with the plane, increasing the distance between the camera plane and the working plane under the condition of limited length. Finally, using the complementary relationship, the fixed plane of the connecting rod 162 at the end of the bracket is perpendicular to the working plane. At this time, a camera connector 161 with a right angle is designed to be connected to the binocular camera fixing plate 14 to ensure the parallel relationship between the image plane of the binocular camera and the working plane. The binocular camera fixing plate 14 is also connected to the binocular camera housing 141, playing a role in protecting the binocular camera. In addition, according to the design of the loading and unloading and assembly scenarios, the binocular camera needs to simultaneously consider the item classification and assembly positioning requirements on the conveyor belt 13. Since the two areas cannot be covered by the camera at the same time, in the design of the telescopic bracket, a bracket fixing base 165 is added to the bottom of the camera telescopic base 16. The bracket fixing base 165 is fixed to the platform base 1 by screws. At this time, the camera telescopic base 16 can rotate arbitrarily. When rotated to the corresponding position, the relative position of the camera telescopic base 16 and the bracket fixing base 165 can be fixed by screws. In the scenario, the binocular camera with the original field of view in the unloading area can be rotated 90 degrees to the assembly area to achieve the consideration of the two scenarios.

[0062] In an embodiment of the present invention, as Figure 4 shown, the bottom of the binocular camera fixing plate 14 is fixedly connected to the binocular camera housing 141, and the binocular camera is fixedly connected to the inner wall of the binocular camera housing 141.

[0063] It should be noted that a limit buffer seat is provided on the inner wall of the binocular camera housing 141 described in this embodiment. The inside of the limit buffer seat is adapted to the outer dimension of the binocular camera housing 141. The setting of the limit buffer seat achieves the effects of quick positioning and installation, protection, and shock absorption.

[0064] Specifically, the setting of the binocular camera housing 141 plays a role in protecting the binocular camera.

[0065] In an embodiment of the present invention, asFigures 1-3 As shown, a sorting tool 15 is provided on the storage bin 21 in the loading area.

[0066] Specifically, by providing a sorting tool 15 on the storage bin 21 in the loading area, simulated items are provided for subsequent simulation use.

[0067] In an embodiment of the present invention, as Figures 1-3 shown, the four types of wireless sensing components include a light intensity wireless sensing node 17, a flame wireless sensing node 18, a temperature and humidity wireless sensing node 19, and a ultrasonic wireless sensing node 22. The light intensity wireless sensing node 17, the flame wireless sensing node 18, and the temperature and humidity wireless sensing node 19 are fixedly connected to the top of the platform base 1 in sequence along the horizontal direction and are located outside the camera telescopic base 16. The ultrasonic wireless sensing node 22 is fixedly connected to the top of the platform base 1 and is located on one side of the storage bin 21 in the loading area;

[0068] The light intensity wireless sensing node 17, the flame wireless sensing node 18, the temperature and humidity wireless sensing node 19, and the ultrasonic wireless sensing node 22 are respectively connected to the jetson orin nano edge computing board 5 through a wireless communication module to realize data transmission and receipt of control instructions.

[0069] Specifically, the structure and connection relationship of the four types of wireless sensing components are further described. The four types of wireless sensing components are used to monitor the production environment. Among them, the light intensity wireless sensing node 17 detects the ambient light intensity and is used to maintain the brightness level of the production environment. The temperature and humidity wireless sensing node 19 is used to detect the ambient temperature and humidity and is used to maintain the temperature and humidity levels of the production environment. The flame wireless sensing node 18 is used to monitor whether a fire occurs. The three types of sensors can simulate basic intelligent industrial scenarios, while the ultrasonic wireless sensing node 22 is used to detect whether there are items in the storage bin 21 in the loading area, that is, the sorting tool 15.

[0070] In an embodiment of the present invention, as Figures 1-3 and Figure 6 shown, the platform base 1 further includes a power supply board 4, a jetson orin nano fixed base 3, and a display base 6. The power supply board 4 is bolted to the top of the platform base 1 and is located on one side of the feeding end of the conveyor belt 13. The power supply board 4 is used to supply power to all devices on the platform base 1. The jetson orin nano fixed base 3 is bolted to the top of the power supply board 4. The jetson orin nano edge computing board 5 is fixedly connected to the top of the jetson orin nano fixed base 3. The display base 6 is bolted to the top of the platform base 1 and is located on one side of the power supply board 4. The display screen 7 is obliquely fixedly connected to the display base 6 at a preset angle.

[0071] Specifically, the power supply board 4 is used to supply power to all devices on the platform base 1. The jetson orin nano fixed base 3 is used to install the jetson orin nano edge computing board 5, and the display base 6 is used to install the display screen 7. To facilitate the user to view the screen, the installed display screen 7 needs to be installed obliquely and form a certain angle with the plane of the platform base 1.

[0072] In an embodiment of the present invention, as Figure 1 shown, aluminum profiles are used to fix and seal the four sides between the bottom of the platform base 1 and the top of the bottom plate. The space between the bottom of the platform base 1 and the top of the bottom plate is a wiring space. Wiring holes are respectively opened at positions corresponding to the conveyor belt 13, the camera telescopic base 16, the manipulator in the blanking area 10, the manipulator in the loading area 23, the secondary reducer assembly 20, the display screen 7, the far-field microphone 8, the power supply board 4, the light intensity wireless sensor node 17, the flame wireless sensor node 18, the temperature and humidity wireless sensor node 19, and the ultrasonic wireless sensor node 22 on the top of the platform base 1, and are connected to the inside of the wiring space.

[0073] It should be noted that the wiring space and the wiring holes described in this embodiment are not shown in the figure.

[0074] Specifically, in order to prevent the device wiring from being messy, a wiring space is reserved between the bottom of the platform base 1 and the top of the bottom plate. To facilitate the threading of the lines, wiring holes are preset at the preset positions on the top of the platform base 1. Through the mutual cooperation of the wiring space and the wiring holes, the connecting wires can be effectively hidden, making the device look more concise and beautiful, and having a good use effect.

[0075] In summary, for the multi-scenario intelligent robot simulation practice platform device of the embodiment of the present invention, the structure of the present invention is reasonable. The two manipulators are reasonably arranged, combined with the binocular camera and the conveyor belt 13, which not only realizes the traditional industrial loading and unloading, palletizing and depalletizing, and logistics sorting scenarios, but also the combination of the high-degree-of-freedom manipulator, the two-finger gripper 12, and the 3D camera provides the interaction function for objects with complex shapes, and solves the problem that the traditional monocular camera cannot separate stacked items.

[0076] In the description of this specification, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of these features. In the description of the present invention, "a plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0077] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0078] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A multi-scenario intelligent robot simulation practice platform device, characterized in that: include: Platform base (1): fixedly connected to the bottom plate; The loading and unloading assembly comprises a conveyor belt (13) bolted to the top of the platform base (1), a unloading area robot arm (10) and a camera telescopic base frame (16) are bolted to the outer side of the unloading end of the conveyor belt (13), a loading area robot arm (23) is bolted to the outer side of the loading end of the conveyor belt (13), and is arranged on the same side as the camera telescopic base frame (16), a binocular camera is fixedly connected to the binocular camera fixing plate (14) of the camera telescopic base frame (16), a robot bottom controller (11) is fixedly connected to the surface of the unloading area robot arm (10) and the loading area robot arm (23), a two-finger gripper (12) is fixedly connected to the ends of the unloading area robot arm (10) and the loading area robot arm (23), and a storage warehouse (9) and a loading area warehouse (21) are bolted to one side of the unloading area robot arm (10) and the loading area robot arm (23); Secondary assembly components: including a secondary reducer assembly (20) and a gear rack (2), wherein the secondary reducer assembly (20) and the gear rack (2) are respectively bolted to the top of the platform base (1) and are located outside the loading area mechanical arm (23) and the loading area cargo bin (21); The transmission component comprises a Jetson orinno edge computing board (5), a display screen (7), a far-field microphone (8) and four types of wireless sensor components which are respectively fixedly connected to the top of the platform base (1); the conveyor belt (13), the binocular camera, the bottom controller of the robot arm (11), the secondary reducer assembly (20), the display screen (7) and the far-field microphone (8) are respectively connected to the Jetson orinno edge computing board (5) through a bus system to realize data transmission and reception of control instructions; the four types of wireless sensor components are connected to the Jetson orinno edge computing board (5) through a wireless communication module to realize data transmission and reception of control instructions.

2. The multi-scenario intelligent robot simulation practice platform device according to claim 1 is characterized in that: The camera telescopic base (16) also includes a camera connecting piece (161), a bracket end connecting rod (162), a bracket telescopic rod (163), an M3 screw (164) and a bracket fixing base (165), wherein the bracket fixing base (165) is fixedly connected to the top of the platform base (1) by screws, the camera telescopic base (16) is rotatably connected to the top of the bracket fixing base (165), the camera telescopic base (16) is fixedly connected to the top of the bracket fixing base (165) by screws, one end of the bracket telescopic rod (163) is slidably connected to the inner wall of the camera telescopic base (16), and the bracket telescopic rod (163) is slidably connected to the inner wall of the camera telescopic base (16). An M3 screw (164) and an inverted J-shaped slot are respectively arranged at a position corresponding to the position of the inner wall of the camera telescopic base (16) on one end surface connected to the inner wall of the camera telescopic base (16); one end of the M3 screw (164) is located inside the inverted J-shaped slot and is slidably connected to the inner wall of the inverted J-shaped slot; the bracket end connecting rod (162) is fixedly connected to the top of one end of the bracket telescopic rod (163) away from the camera telescopic base (16); the camera connecting piece (161) is fixedly connected to the surface of one end of the bracket end connecting rod (162) away from the bracket telescopic rod (163); and the binocular camera fixing plate (14) is fixedly connected to the bottom of the camera connecting piece (161).

3. The multi-scenario intelligent robot simulation practice platform device according to claim 2 is characterized in that: A binocular camera housing (141) is fixedly connected to the bottom of the binocular camera fixing plate (14), and the binocular camera is fixedly connected to the inner wall of the binocular camera housing (141).

4. The multi-scenario intelligent robot simulation practice platform device according to claim 1 is characterized in that: The loading area warehouse (21) is provided with a sorting tool (15).

5. The multi-scenario intelligent robot simulation practice platform device according to claim 1 is characterized in that: The four types of wireless sensor components include a light intensity wireless sensor node (17), a flame wireless sensor node (18), a temperature and humidity wireless sensor node (19), and an ultrasonic wireless sensor node (22). The light intensity wireless sensor node (17), the flame wireless sensor node (18), and the temperature and humidity wireless sensor node (19) are fixedly connected to the top of the platform base (1) in sequence along the horizontal direction, and are located outside the camera telescopic base (16). The ultrasonic wireless sensor node (22) is fixedly connected to the top of the platform base (1), and is located on one side of the loading area warehouse (21); The light intensity wireless sensor node (17), the flame wireless sensor node (18), the temperature and humidity wireless sensor node (19) and the ultrasonic wireless sensor node (22) are respectively connected to the jetsonorinnano edge computing board (5) via wireless communication modules to achieve data transmission and control command reception.

6. The multi-scenario intelligent robot simulation practice platform device according to claim 1 is characterized in that: The platform base (1) also includes a power supply board (4), a jetsonorinnano fixed base (3) and a display screen base (6), wherein the power supply board (4) is bolted to the top of the platform base (1) and is located on one side of the feeding end of the conveyor belt (13), and the power supply board (4) is used to supply power to all devices on the platform base (1), the jetsonorinnano fixed base (3) is bolted to the top of the power supply board (4), the jetsonorinnano edge computing board (5) is fixedly connected to the top of the jetsonorinnano fixed base (3), the display screen base (6) is bolted to the top of the platform base (1) and is located on one side of the power supply board (4), and the display screen (7) is fixedly connected to the display screen base (6) at a preset angle.

7. The multi-scenario intelligent robot simulation practice platform device according to claim 6 is characterized in that: The bottom of the platform base (1) and the top of the base plate are fixed and sealed with aluminum profiles on all sides. The space between the bottom of the platform base (1) and the top of the base plate is a wiring space. The top of the platform base (1) is provided with wiring holes at positions corresponding to the positions of the conveyor belt (13), the camera telescopic base (16), the unloading area robot arm (10), the loading area robot arm (23), the secondary reducer assembly (20), the display screen (7), the far-field microphone (8), the power supply board (4), the light intensity wireless sensor node (17), the flame wireless sensor node (18), the temperature and humidity wireless sensor node (19) and the ultrasonic wireless sensor node (22), and the wiring holes are connected to the inside of the wiring space.

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