Loading and unloading system, method and equipment based on AGV robot and storage medium

Abstract

The invention provides a loading and unloading system, method and equipment based on an AGV robot and a storage medium, the system comprises a loading and unloading trolley robot, the loading and unloading trolley robot comprises an AGV chassis capable of being driven into a container and a loading and unloading robot, and a mechanical arm of the loading and unloading robot extends out of the front end of the AGV chassis and can rotate based on the AGV chassis; the first end of the drag chain conveying line is connected to the loading and unloading trolley robot through a rotating mechanism and rotates along with the rotating mechanism, and the first end of the drag chain conveying line is switched among three different positions of the rear end, the left side and the right side of the loading and unloading trolley robot. The rotating stroke of the mechanical arm can be shortened through position changes of the loading and unloading trolley robot and the drag chain conveying line, the unit time of single-time carrying is shortened, and the overall carrying efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of container warehousing, and in particular to an AGV robot-based loading and unloading system, method, equipment and storage medium. Background Art

[0002] Traditional automated flexible unloading robots typically consist of a mobile chassis, a robotic arm, and a conveyor line. The conveyor line is typically manually installed on the mobile chassis and positioned behind the robot's forward direction. This ensures smooth travel and minimizes the area required for the wheeled conveyor line. This makes it suitable for narrow locations such as warehouses without platforms or smaller platforms for loading vehicles, or for boarding vehicles with corridors.

[0003] However, in actual use, if the conveyor line dragged by the robot is always located directly behind the robot, the robot needs to rotate 180 degrees each time to place the unloaded goods onto the conveyor line. This structure not only increases the rotation range of the robot arm, extends the unit time of a single transport, but also reduces the overall transport efficiency.

[0004] Therefore, the present invention provides a loading and unloading system, method, device and storage medium based on an AGV robot. Summary of the Invention

[0005] In response to the problems in the prior art, the purpose of the present invention is to provide a loading and unloading system, method, equipment and storage medium based on AGV robots, which overcomes the difficulties of the prior art and can shorten the rotation stroke of the robotic arm, reduce the unit time of a single transport and improve the overall transport efficiency by changing the position of the loading and unloading robot and the drag chain conveyor line.

[0006] An embodiment of the present invention provides an AGV robot-based loading and unloading device, comprising:

[0007] A loading and unloading robot, comprising: an AGV chassis capable of driving into a cargo box and a loading and unloading robot, wherein the loading and unloading robot has a mechanical arm extending toward the front end of the AGV chassis and capable of rotating based on the AGV chassis; and

[0008] A drag chain conveyor line, the first end of which is connected to the loading and unloading trolley robot through a rotating mechanism. As the rotating mechanism rotates, the first end of the drag chain conveyor line switches between three different positions: the rear end, left side, and right side of the loading and unloading trolley robot.

[0009] Preferably, the loading and unloading trolley robot also includes a rotatable elliptical turntable, one end of the long axis of the elliptical turntable is provided with a hinge hole, the first end of the drag chain conveyor line is hinged to the hinge hole, when the long axis direction of the elliptical turntable is coaxial with the forward direction of the loading and unloading trolley robot, the first end of the drag chain conveyor line is connected to the rear end of the loading and unloading trolley robot through a rotating mechanism.

[0010] Preferably, when the long axis direction of the elliptical turntable is perpendicular to the forward direction of the loading and unloading trolley robot and the hinge hole is located on the left side of the loading and unloading trolley robot, the first end of the drag chain conveyor line is located on the left side of the loading and unloading trolley robot.

[0011] Preferably, when the long axis direction of the elliptical turntable is perpendicular to the forward direction of the loading and unloading trolley robot and the hinge hole is located on the right side of the loading and unloading trolley robot, the first end of the drag chain conveyor line is located on the right side of the loading and unloading trolley robot.

[0012] Preferably, the loading and unloading trolley robot also includes a point cloud acquisition device, which scans a row of containers stacked inside the cargo box, and marks the containers as left containers and right containers based on their positions in the cargo box. When the first end of the drag chain conveyor line is located on the right side of the loading and unloading trolley robot, the robotic arm transports the left container and transfers it to the first end of the drag chain conveyor line; when the first end of the drag chain conveyor line is located on the left side of the loading and unloading trolley robot, the robotic arm transports the right container and transfers it to the first end of the drag chain conveyor line.

[0013] Preferably, after all the containers in the current row are transported to the drag chain conveyor line, the loading and unloading robot continues to enter the interior of the cargo box along the length direction of the cargo box and scans the next row of stacked containers again.

[0014] Preferably, the loading and unloading trolley robot also includes a point cloud acquisition device, which scans the internal space of the cargo box and establishes several left container spaces and several right container spaces where containers are expected to be stacked. When the first end of the drag chain conveyor line is located on the right side of the loading and unloading trolley robot, the robotic arm obtains the container from the first end of the drag chain conveyor line and transports it to the corresponding left container space; when the first end of the drag chain conveyor line is located on the left side of the loading and unloading trolley robot, the robotic arm obtains the container from the first end of the drag chain conveyor line and transports it to the corresponding right container space.

[0015] An embodiment of the present invention further provides a method for loading and unloading cargo based on an AGV robot, which uses the above-mentioned loading and unloading device based on an AGV robot and includes the following steps:

[0016] S110, the point cloud acquisition device scans a row of containers stacked inside the cargo box, and marks the containers as a left container and a right container based on their positions in the cargo box;

[0017] S120, when the first end of the drag chain conveyor line is located on the right side of the loading and unloading robot, the robotic arm carries the left container and transfers it to the first end of the drag chain conveyor line;

[0018] S130: The loading and unloading trolley robot moves toward the right side of the interior of the cargo box, and when the first end of the drag chain conveyor line is located on the left side of the loading and unloading trolley robot, the robotic arm carries the right container and transfers it to the first end of the drag chain conveyor line; and

[0019] S140. After all the containers in the current row are moved to the drag chain conveyor line, the loading and unloading robot continues to enter the cargo box along the length direction of the cargo box and executes step S110 until all the containers inside the cargo box are moved.

[0020] An embodiment of the present invention further provides an AGV robot-based loading and unloading device, comprising:

[0021] processor;

[0022] a memory storing executable instructions for the processor;

[0023] Wherein, the processor is configured to perform the steps of the above-mentioned AGV robot-based loading and unloading method by executing the executable instructions.

[0024] An embodiment of the present invention further provides a computer-readable storage medium for storing a program, which, when executed, implements the steps of the above-mentioned AGV robot-based loading and unloading method.

[0025] The purpose of the present invention is to provide a loading and unloading system, method, equipment and storage medium based on AGV robots, which can shorten the rotation stroke of the robot arm, reduce the unit time of a single handling and improve the overall handling efficiency by changing the position of the loading and unloading robot and the drag chain conveyor line. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Other features, objects and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings.

[0027] Figure 1 It is a schematic diagram of the loading and unloading device based on the AGV robot of the present invention.

[0028] Figure 2 It is a schematic diagram of the first state of the loading and unloading device based on the AGV robot of the present invention.

[0029] Figure 3 It is a schematic diagram of the second state of the loading and unloading device based on the AGV robot of the present invention.

[0030] Figure 4 Schematic diagram of the third state of the AGV robot-based loading and unloading device of the present invention.

[0031] Figure 5 It is a schematic diagram of the AGV robot-based loading and unloading device of the present invention entering a container on a container truck.

[0032] Figure 6 It is a schematic diagram of the AGV robot-based loading and unloading device of the present invention scanning the cargo containers in the container.

[0033] Figure 7 It is a schematic diagram of the AGV robot-based loading and unloading device of the present invention transporting the left container.

[0034] Figure 8 It is a schematic diagram of the AGV robot-based loading and unloading device of the present invention transporting the right container.

[0035] Figure 9 It is a flow chart of the loading and unloading method based on the AGV robot of the present invention.

[0036] Figure 10 It is a structural schematic diagram of the loading and unloading equipment based on the AGV robot of the present invention.

[0037] Figure 11 It is a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present invention.

[0038] Reference numerals

[0039] 11 episodes

[0040] 12 containers

[0041] 21 loading and unloading robots

[0042] 211 AGV chassis

[0043] 212 elliptical turntable

[0044] 213 loading and unloading robot

[0045] 214 robotic arm

[0046] 22 drag chain conveyor line DETAILED DESCRIPTION

[0047] The following describes the embodiments of the present application through specific examples. Those skilled in the art can easily understand the other advantages and effects of the present application from the content disclosed in the present application. The present application can also be implemented or applied through different specific embodiments. The details in the present application can also be modified or changed according to different viewpoints and application systems without departing from the spirit of the present application. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other unless they conflict.

[0048] The following is a detailed description of the embodiments of the present application with reference to the accompanying drawings so that those skilled in the art can easily implement the present application. The present application can be embodied in many different forms and is not limited to the embodiments described herein.

[0049] In the description of this application, reference to the terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of this application. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art may combine and integrate different embodiments or examples described in this application, as well as features of different embodiments or examples, unless otherwise contradictory.

[0050] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include at least one such feature. In the context of this application, "plurality" means two or more, unless otherwise specifically defined.

[0051] In order to clearly describe the present application, components not related to the description are omitted, and the same or similar components throughout the specification are given the same reference numerals.

[0052] Throughout this specification, when a device is said to be "connected" to another device, this includes not only "direct connection" but also "indirect connection" with other elements interposed therebetween. Furthermore, when a device is said to "include" a certain component, unless otherwise stated, this does not exclude the inclusion of other components but rather implies that the device may include other components.

[0053] When a device is said to be "on" another device, it may be directly on the other device, but there may also be other devices between it. In contrast, when a device is said to be "directly on" another device, there are no other devices between it.

[0054] Although the terms first, second, etc. are used in some instances herein to represent various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, the first interface and the second interface, etc. are represented. Furthermore, as used in this article, the singular forms "one," "an," and "the" are intended to also include the plural forms, unless there is a contrary indication in the context. It should be further understood that the terms "comprise," "include," and "include" indicate the presence of features, steps, operations, elements, components, items, types, and / or groups, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, types, and / or groups. The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Therefore, "A, B, or C" or "A, B, and / or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B, and C." Exceptions to this definition only occur when the combination of elements, functions, steps, or operations is inherently mutually exclusive in some way.

[0055] The technical terms used herein are intended only to refer to specific embodiments and are not intended to limit this application. The singular form used herein also includes the plural form unless the statement explicitly indicates otherwise. The term "comprising" as used in this specification is intended to specify specific features, regions, integers, steps, operations, elements, and / or components and does not exclude the presence or addition of other features, regions, integers, steps, operations, elements, and / or components.

[0056] Although not defined differently, all terms used herein, including technical and scientific terms, have the same meanings as those generally understood by those skilled in the art to which this application belongs. Terms defined in commonly used dictionaries are to be interpreted as having meanings consistent with the relevant technical literature and current teachings, and unless otherwise defined, they should not be overly interpreted as ideal or highly formalized meanings.

[0057] Figure 1 It is a schematic diagram of the loading and unloading device based on the AGV robot of the present invention. Figure 2 It is a schematic diagram of the first state of the loading and unloading device based on the AGV robot of the present invention. Figure 3 It is a schematic diagram of the second state of the loading and unloading device based on the AGV robot of the present invention. Figure 4 Schematic diagram of the third state of the AGV robot-based loading and unloading device of the present invention. Figure 5 Schematic diagram of the AGV robot-based loading and unloading device of the present invention entering the container of the container truck. Figures 1 to 5As shown, the AGV-based loading and unloading device of the present invention includes a loading and unloading trolley robot 21 and a drag chain conveyor line 22. The loading and unloading trolley robot 21 includes an AGV chassis 211 that can drive into a cargo box (which can also be a container or a carriage) and a loading and unloading robot 213 (AGV stands for Automated Guided Vehicle, and its main function is to automatically transport and transfer goods). The robotic arm 214 of the loading and unloading robot 213 extends toward the front end of the AGV chassis 211 and can rotate based on the AGV chassis 211. The first end of the drag chain conveyor line 22 is connected to the loading and unloading trolley robot 21 via a rotating mechanism. As the rotating mechanism rotates, the first end of the drag chain conveyor line 22 switches between three different positions: the rear end, the left side, and the right side of the loading and unloading trolley robot 21. The present invention can adjust the relative position of the drag chain conveyor line 22 according to the position change of the loading and unloading trolley robot 21 in the cargo box, thereby ensuring that the robotic arm 214 can always rotate 90 degrees or less to place the goods on the conveyor line, thereby improving the loading and unloading efficiency of the robotic arm by at least 50%.

[0058] When the loading and unloading device based on the AGV robot is traveling in the field, the first end of the drag chain conveyor line 22 is located at the rear end of the loading and unloading trolley robot 21 (see Figure 2 ), thereby reducing the width of the AGV-based loading and unloading device, so that it can pass through narrower gaps.

[0059] When the loading and unloading device based on the AGV robot moves the container in the container, in order to be closer to the left side of the container and shorten the rotation stroke of the robot arm, the first end of the drag chain conveyor line 22 is located on the right side of the loading and unloading trolley robot 21 (see Figure 3 On the contrary, when the loading and unloading device based on the AGV robot moves the container in the container, in order to be closer to the right side of the container and shorten the rotation stroke of the robot arm, the first end of the drag chain conveyor line 22 is located on the left side of the loading and unloading trolley robot 21 (see Figure 4 ).

[0060] In a preferred embodiment, the loading and unloading trolley robot 21 also includes a rotatable elliptical turntable 212, and a hinge hole is provided at one end of the long axis of the elliptical turntable 212. The first end of the drag chain conveyor line 22 is hinged to the hinge hole. When the long axis direction of the elliptical turntable 212 is coaxial with the forward direction of the loading and unloading trolley robot 21, the first end of the drag chain conveyor line 22 is connected to the rear end of the loading and unloading trolley robot 21 through a rotating mechanism, and the extension direction of the drag chain conveyor line 22 is coaxial with the long axis of the elliptical turntable 212, but is not limited to this.

[0061] In a preferred embodiment, when the long axis direction of the elliptical turntable 212 is perpendicular to the forward direction of the loading and unloading trolley robot 21 and the hinge hole is located on the left side of the loading and unloading trolley robot 21, the first end of the traction chain conveyor line 22 is located on the left side of the loading and unloading trolley robot 21, and the extension direction of the drag chain conveyor line 22 is parallel to the long axis of the elliptical turntable 212, but not limited to this.

[0062] In a preferred embodiment, when the long axis direction of the elliptical turntable 212 is perpendicular to the forward direction of the loading and unloading trolley robot 21 and the hinge hole is located on the right side of the loading and unloading trolley robot 21, the first end of the traction chain conveyor line 22 is located on the right side of the loading and unloading trolley robot 21, and the extension direction of the drag chain conveyor line 22 is parallel to the long axis of the elliptical turntable 212, but not limited to this.

[0063] Moreover, the position change between the loading and unloading trolley robot 21 and the drag chain conveyor line 22 in the present invention can also reduce the requirements for the arm span of the robot arm and increase the upper limit of the load of the robot arm. The robot body can be closer to the goods, thereby improving the load capacity of the robot arm. (When the posture of the robot arm is relatively straight, that is, when the more standard 6-axis robot arm on the market needs to be almost in a straight line to pick up the goods, the requirements for the load are higher. It is easy to trigger the robot arm alarm.) The present invention shortens the extreme position of the robot and the truck cargo box, and is more adaptable. It can adapt to smaller containers or flatbed trucks, special vehicles, etc. The drag chain conveyor line in the present invention will change with the different spatial positions of the loading and unloading trolley robot 21 in the vehicle, thereby improving overall efficiency and allowing the loading and unloading robot to adapt to more scenarios.

[0064] Figure 6 It is a schematic diagram of the AGV robot-based loading and unloading device of the present invention scanning the cargo containers in the container. Figure 7 It is a schematic diagram of the AGV robot-based loading and unloading device of the present invention transporting the left container. Figure 8 This is a schematic diagram of the AGV robot-based loading and unloading device of the present invention transporting the right container. Figures 6 to 8As shown, in a preferred embodiment, the loading and unloading robot 21 further includes a point cloud acquisition device. The point cloud acquisition device scans a row of containers stacked inside the cargo box and, based on their position within the cargo box, marks the containers as left-side containers and right-side containers. When the first end of the drag chain conveyor line 22 is located to the right of the loading and unloading robot 21, the robotic arm 214 moves the left-side container and transfers it to the first end of the drag chain conveyor line 22. When the first end of the drag chain conveyor line 22 is located to the left of the loading and unloading robot 21, the robotic arm 214 moves the right-side container and transfers it to the first end of the drag chain conveyor line 22. After all the containers in the current row have been moved to the drag chain conveyor line 22, the loading and unloading robot 21 continues to enter the cargo box along its length and scans the next row of stacked containers again, until all the containers in the cargo box have been moved. In this embodiment, the existing laser point cloud scanning method is used to obtain the point cloud data of the scheduled containers, and then the dividing line grid between the containers can be easily obtained by processing the point cloud data (obviously each grid is a container) to distinguish each container, and the containers are partitioned based on the center vertical line of the container. The container to the left of the center vertical line of the container is the left container, and the container to the right of the center vertical line of the container is the right container. The relevant identification process will not be repeated here, but is not limited to this.

[0065] In a preferred embodiment, the loading and unloading trolley robot 21 also includes a point cloud acquisition device, which scans the internal space of the cargo box and establishes several left container spaces and several right container spaces where the containers are expected to be stacked. When the first end of the drag chain conveyor line 22 is located on the right side of the loading and unloading trolley robot 21, the robotic arm 214 obtains the container from the first end of the drag chain conveyor line 22 and transports it to the corresponding left container space; when the first end of the drag chain conveyor line 22 is located on the left side of the loading and unloading trolley robot 21, the robotic arm 214 obtains the container from the first end of the drag chain conveyor line 22 and transports it to the corresponding right container space, but not limited to this.

[0066] In a preferred embodiment, the system architecture of the AGV-based loading and unloading device of the present invention is divided into three layers: perception, decision-making, and execution. A camera transmits visual information about the relative positions of cargo, carriages, conveyor lines, and so on to the core processing unit (GPU). The GPU makes decisions based on the point cloud model, calculating the optimal angle between the suspended conveyor chain and the robotic arm's grasping action. It then sends task instructions to the electric drive mechanism that rotates the drag chain. At this point, it also sends instructions to the GPU to determine whether it has detected any nearby obstacles or people. Once it detects that there are no obstacles nearby and that the movement will not collide with other objects, the GPU sends instructions to rotate the conveyor line to the optimal position.

[0067] Specific embodiments of the present invention include:

[0068] refer to Figure 1 and 2As shown, the AGV-based loading and unloading device of the present invention includes a loading and unloading trolley robot 21 and a drag chain conveyor line 22. The loading and unloading trolley robot 21 comprises an AGV chassis 211 capable of entering the interior of a container at the rear of a container truck, a rotatable elliptical turntable 212, a loading and unloading robot 213, and a point cloud acquisition device (not shown). The loading and unloading robot 213 has a robotic arm 214 extending from the front end of the AGV chassis 211 and capable of rotating relative to the AGV chassis 211. The first end of the drag chain conveyor line 22 is connected to the loading and unloading trolley robot 21 via a rotating mechanism. A hinge hole is provided at one end of the long axis of the elliptical turntable 212, and the first end of the drag chain conveyor line 22 is hinged to the hinge hole. When the long axis of the elliptical turntable 212 is coaxial with the forward direction of the loading and unloading trolley robot 21, the first end of the drag chain conveyor line 22 is connected to the rear end of the loading and unloading trolley robot 21 via the rotating mechanism. As the rotating mechanism rotates, the first end of the drag chain conveyor line 22 switches between three different positions: the rear end, the left side, and the right side of the loading and unloading trolley robot 21.

[0069] When the collection card reaches Figure 2 and 5 The loading and unloading device based on the AGV robot of the present invention is a device with a drag chain conveyor line 22 at the rear end of the loading and unloading trolley robot 21 (see Figure 2 ) and drives across the yard toward the container truck that needs to be unloaded, thereby reducing the width of the AGV-based loading and unloading equipment, allowing it to pass through narrower gaps and improving safety. In addition, another loading and unloading robot 23 is deployed following the second end of the drag chain conveyor line 22 to receive the containers conveyed by the drag chain conveyor line 22 and stack the goods.

[0070] like Figure 6 As shown, the loading and unloading trolley robot 21 also includes a point cloud acquisition device, which scans a row of containers stacked inside the container and marks the containers as left container A and right container B based on their positions in the container.

[0071] In order to get closer to the left side of the container and shorten the rotation stroke of the robot arm, the elliptical turntable 212 is rotated so that its long axis direction is perpendicular to the forward direction of the loading and unloading robot 21 and the hinge hole is located on the right side of the loading and unloading robot 21. The first end of the drag chain conveyor line 22 is located on the right side of the loading and unloading robot 21 (see Figure 3 and 7 ), the robotic arm 214 moves the left container A and transfers it to the first end of the drag chain conveyor line 22.

[0072] When all the containers A on the left are moved, the loading and unloading trolley robot 21 moves to the right side of the container interior, and in order to get closer to the right side of the container and shorten the rotation stroke of the robot arm, the elliptical turntable 212 rotates so that its long axis direction is perpendicular to the forward direction of the loading and unloading trolley robot 21 and the hinge hole is located on the left side of the loading and unloading trolley robot 21. The first end of the drag chain conveyor line 22 is located on the left side of the loading and unloading trolley robot 21 (see Figure 4 and 8 ), the robotic arm 214 moves the right container B and transfers it to the first end of the drag chain conveyor line 22.

[0073] Then, after all the containers in the current row are moved to the drag chain conveyor line 22, the loading and unloading trolley robot 21 continues to enter the container along the length direction of the container and scans the next row of stacked containers again until all the containers inside the container are moved.

[0074] Figure 9 This is a flow chart of the AGV robot-based loading and unloading method of the present invention. Figure 9 As shown, the AGV robot-based loading and unloading method of the present invention adopts the above-mentioned AGV robot, including:

[0075] S110, the point cloud acquisition device scans a row of containers stacked inside the cargo box, and marks the containers as left containers and right containers based on their positions in the cargo box;

[0076] S120, when the first end of the drag chain conveyor line 22 is located on the right side of the loading and unloading robot 21, the robotic arm 214 moves the left container and transfers it to the first end of the drag chain conveyor line 22;

[0077] S130: The loading and unloading trolley robot 21 moves to the right side of the cargo box, and when the first end of the drag chain conveyor line 22 is located on the left side of the loading and unloading trolley robot 21, the robotic arm 214 moves the right container and transfers it to the first end of the drag chain conveyor line 22; and

[0078] S140. After all the containers in the current row are moved to the drag chain conveyor line 22, the loading and unloading robot 21 continues to enter the cargo box along the length direction of the cargo box and executes step S110 until all the containers inside the cargo box are moved.

[0079] The AGV robot-based loading and unloading method of the present invention can shorten the rotation stroke of the robot arm, reduce the unit time of a single handling, and improve the overall handling efficiency by changing the position of the loading and unloading robot and the drag chain conveyor line.

[0080] An embodiment of the present invention further provides an AGV-based loading and unloading device, comprising a processor and a memory storing executable instructions for the processor. The processor is configured to execute the executable instructions to perform the steps of the AGV-based loading and unloading method.

[0081] As shown above, the loading and unloading device based on the AGV robot of this embodiment of the present invention can shorten the rotation stroke of the robot arm, reduce the unit time of a single transport and improve the overall transport efficiency by changing the position of the loading and unloading robot and the drag chain conveyor line.

[0082] Those skilled in the art will appreciate that various aspects of the present invention may be implemented as systems, methods, or program products. Accordingly, various aspects of the present invention may be implemented in the following forms: entirely in hardware, entirely in software (including firmware, microcode, etc.), or in a combination of hardware and software, collectively referred to herein as "circuits," "modules," or "platforms."

[0083] Figure 10 This is a schematic diagram of the structure of the loading and unloading equipment based on the AGV robot of the present invention. Figure 10 An electronic device 600 according to this embodiment of the present invention will be described. Figure 10 The electronic device 600 shown is merely an example and should not limit the functions and scope of use of the embodiments of the present invention.

[0084] like Figure 10 As shown, electronic device 600 is implemented as a general-purpose computing device. Components of electronic device 600 may include, but are not limited to, at least one processing unit 610, at least one storage unit 620, a bus 630 connecting different platform components (including storage unit 620 and processing unit 610), and a display unit 640.

[0085] The storage unit stores program codes, which can be executed by the processing unit 610, so that the processing unit 610 executes the steps according to various exemplary embodiments of the present invention described in the electronic prescription circulation processing method section of this specification. For example, the processing unit 610 can execute the following steps: Figure 6 Follow the steps shown in .

[0086] The storage unit 620 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 6201 and / or a cache memory unit 6202 , and may further include a read-only memory unit (ROM) 6203 .

[0087] The storage unit 620 may also include a program / utility 6204 having a set (at least one) of program modules 6205, such program modules 6205 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0088] Bus 630 may represent one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0089] The electronic device 600 can also communicate with one or more external devices 700 (e.g., a keyboard, a pointing device, a Bluetooth device, etc.), one or more devices that enable a user to interact with the electronic device 600, and / or any device that enables the electronic device 600 to communicate with one or more other computing devices (e.g., a router, a modem, etc.). Such communication can occur via an input / output (I / O) interface 650. Furthermore, the electronic device 600 can communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network such as the Internet) via a network adapter 660. The network adapter 660 can communicate with other modules of the electronic device 600 via the bus 630. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with the electronic device 600, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms.

[0090] An embodiment of the present invention further provides a computer-readable storage medium for storing a program that, when executed, implements the steps of the AGV-based loading and unloading method. In some possible implementations, various aspects of the present invention may also be implemented in the form of a program product, which includes program code. When the program product is executed on a terminal device, the program code is configured to cause the terminal device to execute the steps according to various exemplary embodiments of the present invention described in the aforementioned electronic prescription circulation processing method section of this specification.

[0091] As shown above, the loading and unloading device based on the AGV robot of this embodiment of the present invention can shorten the rotation stroke of the robot arm, reduce the unit time of a single transport and improve the overall transport efficiency by changing the position of the loading and unloading robot and the drag chain conveyor line.

[0092] Figure 11 Schematic diagram of the structure of the computer readable storage medium of the present invention. Figure 11, a program product 800 for implementing the above method according to an embodiment of the present invention is described. The program product 800 may be a portable compact disc read-only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, a readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0093] The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0094] Computer-readable storage media may include a data signal propagated in baseband or as part of a carrier wave, which carries readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The readable storage medium may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination thereof.

[0095] The program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages such as Java, C++, and the like, as well as conventional procedural programming languages such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a stand-alone software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving a remote computing device, the remote computing device may be connected to the user computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0096] In summary, the purpose of the present invention is to provide a loading and unloading system, method, equipment and storage medium based on AGV robots, which can shorten the rotation stroke of the robotic arm, reduce the unit time of a single handling and improve the overall handling efficiency by changing the position of the loading and unloading robot and the drag chain conveyor line.

[0097] The above is a further detailed description of the present invention in conjunction with specific preferred embodiments, and the specific implementation of the present invention should not be considered to be limited to these descriptions. For those skilled in the art of the present invention, without departing from the concept of the present invention, several simple deductions or substitutions can be made, which should be considered to fall within the scope of protection of the present invention.

Claims

1. A loading and unloading device based on an AGV robot, characterized in that: include: A loading and unloading trolley robot (21) comprises: an AGV chassis (211) capable of driving into a cargo box and a loading and unloading robot (213), wherein a mechanical arm (214) of the loading and unloading robot (213) extends toward the front end of the AGV chassis (211) and can rotate based on the AGV chassis (211); and A drag chain conveyor line (22), wherein a first end of the drag chain conveyor line (22) is connected to the loading and unloading trolley robot (21) via a rotating mechanism, and as the rotating mechanism rotates, the first end of the drag chain conveyor line (22) switches between three different positions located at the rear end, left side, and right side of the loading and unloading trolley robot (21).

2. The AGV robot-based loading and unloading device according to claim 1, characterized in that: The loading and unloading trolley robot (21) further comprises a rotatable elliptical turntable (212), one end of the long axis of the elliptical turntable (212) is provided with a hinge hole, the first end of the drag chain conveyor line (22) is hinged to the hinge hole, and when the long axis direction of the elliptical turntable (212) is coaxial with the forward direction of the loading and unloading trolley robot (21), the first end of the drag chain conveyor line (22) is connected to the rear end of the loading and unloading trolley robot (21) through a rotating mechanism.

3. The AGV robot-based loading and unloading device according to claim 2, characterized in that: When the long axis direction of the elliptical turntable (212) is perpendicular to the forward direction of the loading and unloading trolley robot (21) and the hinge hole is located on the left side of the loading and unloading trolley robot (21), the first end of the drag chain conveyor line (22) is located on the left side of the loading and unloading trolley robot (21).

4. The AGV robot-based loading and unloading device according to claim 2, characterized in that: When the long axis direction of the elliptical turntable (212) is perpendicular to the forward direction of the loading and unloading trolley robot (21) and the hinge hole is located on the right side of the loading and unloading trolley robot (21), the first end of the drag chain conveyor line (22) is located on the right side of the loading and unloading trolley robot (21).

5. The AGV robot-based loading and unloading device according to claim 1, characterized in that: The loading and unloading trolley robot (21) further includes a point cloud acquisition device, which scans a row of containers stacked inside the cargo box and marks the containers as left-side containers and right-side containers based on their positions in the cargo box. When the first end of the drag chain conveyor line (22) is located on the right side of the loading and unloading trolley robot (21), the robotic arm (214) carries the left-side container and transfers it to the first end of the drag chain conveyor line (22); when the first end of the drag chain conveyor line (22) is located on the left side of the loading and unloading trolley robot (21), the robotic arm (214) carries the right-side container and transfers it to the first end of the drag chain conveyor line (22).

6. The AGV robot-based loading and unloading device according to claim 5, characterized in that: After all the containers in the current row are transported to the drag chain conveyor line (22), the loading and unloading trolley robot (21) continues to enter the interior of the cargo box along the length direction of the cargo box and scans the next row of stacked containers again.

7. The AGV robot-based loading and unloading device according to claim 1, characterized in that: The loading and unloading trolley robot (21) further includes a point cloud acquisition device, which scans the internal space of the cargo box and establishes a plurality of left container spaces and a plurality of right container spaces where containers are expected to be stacked. When the first end of the drag chain conveyor line (22) is located on the right side of the loading and unloading trolley robot (21), the robotic arm (214) obtains the container from the first end of the drag chain conveyor line (22) and transports it to the corresponding left container space; when the first end of the drag chain conveyor line (22) is located on the left side of the loading and unloading trolley robot (21), the robotic arm (214) obtains the container from the first end of the drag chain conveyor line (22) and transports it to the corresponding right container space.

8. A method for loading and unloading goods based on an AGV robot, characterized in that: The AGV robot-based loading and unloading device according to claim 5 includes the following steps: S110, the point cloud acquisition device scans a row of containers stacked inside the cargo box, and marks the containers as a left container and a right container based on their positions in the cargo box; S120, when the first end of the drag chain conveyor line (22) is located on the right side of the loading and unloading trolley robot (21), the robotic arm (214) carries the left container and transfers it to the first end of the drag chain conveyor line (22); S130, the loading and unloading trolley robot (21) moves to the right side of the interior of the cargo box, and when the first end of the drag chain conveyor line (22) is located on the left side of the loading and unloading trolley robot (21), the robotic arm (214) carries the right container and transfers it to the first end of the drag chain conveyor line (22); and S140. After all the containers in the current row are moved to the drag chain conveyor line (22), the loading and unloading trolley robot (21) continues to enter the interior of the cargo box along the length direction of the cargo box and executes step S110 until all the containers inside the cargo box are moved.

9. A loading and unloading equipment based on AGV robot, characterized in that: include: processor; a memory storing executable instructions for the processor; Wherein, the processor is configured to perform the steps of the AGV robot-based loading and unloading method of claim 8 by executing the executable instructions.

10. A computer-readable storage medium for storing a program, characterized in that: When the program is executed by the processor, the steps of the AGV robot-based loading and unloading method of claim 8 are implemented.

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