Intelligent storage autonomous picking robot

Abstract

The invention discloses an intelligent warehousing autonomous goods picking robot which is used for placing goods to be sorted on corresponding goods shelves from a sorting conveying belt and can ensure that the goods are kept stable in the sorting process of a mechanical arm. The mechanical arm is installed on the movable base, the lifting table is used for bearing materials, the lifting mechanism drives the lifting table to ascend and descend, a mechanical claw and a visual recognition assembly are installed at the tail end of the mechanical arm, the visual recognition assembly is arranged close to the mechanical claw, and the optical collection direction of the visual recognition assembly faces the mechanical claw. A walking mechanism is arranged on the movable base; the tail end of the mechanical arm is further provided with a telescopic joint connected with the mechanical claw, the lifting table is arranged below the mechanical claw, the mechanical claw is used for clamping goods to be sorted, and the telescopic joint is used for driving the mechanical claw to stretch and retract and retracts after the mechanical claw clamps the goods to be sorted, so that the goods to be sorted are supported by the lifting table.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent warehousing and logistics equipment, and in particular to an intelligent warehousing autonomous picking robot. Background Art

[0002] Sorting robots are intelligent industrial equipment used in logistics, express delivery, manufacturing, and other fields. Using QR code recognition, image analysis, and path planning technologies, the robots can autonomously scan, weigh, and sort goods. In specialized scenarios, such as placing goods from a conveyor belt onto corresponding shelves, autonomous picking robots consist of a robot body and a robotic arm mounted on the robot body. The robotic arm uses vision to detect the goods to be sorted and places them in the corresponding storage compartments on the shelves.

[0003] Existing sorting robot arms typically use mechanical grippers to hold the goods to be sorted. This works well for regularly packaged goods, such as those in rectangular logistics boxes. However, because the goods being sorted are not uniform, using mechanical grippers to maintain stability during sorting can be difficult for irregular or heavy goods. Summary of the Invention

[0004] In view of the deficiencies in the existing technology, the technical problem to be solved by the present invention is to provide an intelligent warehousing autonomous picking robot that can adapt to more forms of goods and ensure that the goods remain stable during the sorting process of the robotic arm.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] An intelligent warehouse autonomous picking robot is used to place the goods to be sorted from the sorting conveyor belt onto the corresponding shelves. The autonomous picking robot includes a movable base, a robotic arm mounted on the movable base, a lifting platform for receiving materials, and a lifting mechanism for driving the lifting platform up and down. A mechanical claw and a visual recognition component are mounted at the end of the robotic arm, and the optical collection direction of the visual recognition component is toward the mechanical claw. A walking mechanism is provided on the movable base.

[0007] The end of the robotic arm is also provided with a telescopic joint connected to the mechanical claw. The lifting platform is arranged below the mechanical claw. The mechanical claw is used to clamp the goods to be sorted. The telescopic joint is used to drive the mechanical claw to extend and retract, and retract after the mechanical claw clamps the goods to be sorted, so that the goods to be sorted are supported by the lifting platform.

[0008] Preferably, the lifting platform is provided with a supporting platform for supporting the goods to be sorted, and the supporting platform includes a first supporting platform and a second supporting platform arranged side by side.

[0009] Preferably, the first supporting platform and the second supporting platform are rectangular structures, and each of the first supporting platform and the second supporting platform is provided with a supporting roller.

[0010] Preferably, the first supporting platform and the second supporting platform are driven by the adjusting motor to be flush or at a set angle.

[0011] Preferably, the lifting platform further comprises a supporting platform arranged below the supporting platform, the supporting platform is provided with a first sliding rail and a second sliding rail, the first sliding rail is slidably connected with a first sliding block, the second sliding rail is slidably connected with a second sliding block, the first sliding block is hingedly connected with the first supporting platform through a first supporting rod, the second sliding block is hingedly connected with the second supporting platform through a second supporting rod, the first sliding block is connected with a first rack, the second sliding block is connected with a second rack, the first rack and the second rack are arranged side by side and are engaged with a driving gear, and the driving gear is connected with the adjusting motor.

[0012] Preferably, the mechanical arm is provided with a light supplementing lamp, and a light emitting direction of the light supplementing lamp is towards the mechanical gripper; the light supplementing lamp comprises an LED light supplementing lamp and an infrared light supplementing lamp.

[0013] Preferably, the left and right side walls of the movable base are provided with anti-collision sensing strips, and the anti-collision sensing strips are electrically connected with a controller of the autonomous picking robot; and / or, one of the side walls of the movable base is provided with an ultrasonic positioner and a contact type charging seat, and the ultrasonic positioner and the contact type charging seat are respectively electrically connected with the controller of the autonomous picking robot.

[0014] Preferably, the movable base is provided with a state indicating lamp, a control panel, a sound emitting element, a 3D camera and a laser radar, and the state indicating lamp, the control panel, the sound emitting element, the 3D camera and the laser radar are electrically connected with the controller of the autonomous picking robot.

[0015] Preferably, the laser radar comprises a front laser radar and a rear laser radar, a sensing direction of the front laser radar is towards the front side of the movable base, and a sensing direction of the rear laser radar is towards the rear side of the movable base; the state indicating lamp comprises a warning lamp arranged on the top of the movable base and a state display lamp strip arranged on the side wall of the movable base.

[0016] Preferably, the visual recognition assembly comprises a visual camera and a first code reading head; and the movable base is provided with a second code reading head.

[0017] The technical scheme adopted by the present application realizes that the warehouse robot performs three-dimensional coordinate positioning on goods through the visual identification component, drives the lifting platform to the target shelf layer through the lifting mechanism, adapts to different warehouse shelf specifications, improves the accessibility of the high-level area of the shelf, and thus realizes that the autonomous picking robot is more accurate in identifying and grabbing and adapts to the operation requirements of multi-layer shelves. In addition, the visual identification component can also assist in monitoring whether there are abnormal hidden dangers affecting the safety of transfer at the grabbing position, thereby improving the safety of the material transfer process.

[0018] In some special use scenarios, for example, putting the goods to be sorted from the sorting conveyor belt into the corresponding shelf, in order to adapt to more forms of goods and ensure the stability of the goods during the mechanical arm sorting process, the lifting platform is arranged below the mechanical claw and cooperates with the mechanical claw. Before sorting the goods, the autonomous picking robot stops at one side of the sorting conveyor belt, and the mechanical arm starts to work, wherein the mechanical claw is higher than the conveying plane of the sorting conveyor belt, and the supporting platform of the lifting platform is flush with or slightly lower than the conveying plane of the sorting conveyor belt. Then, the mechanical claw of the mechanical arm obtains the goods to be sorted from the sorting conveyor belt through vision; the mechanical claw clamps the goods to be sorted when the claw is closed, and then the extension joint drives the mechanical claw to retract backward, pulls the goods to be sorted to move, and when the goods to be sorted are separated from the conveying plane of the sorting conveyor belt, they fall on the supporting platform of the lifting platform. Then, the autonomous picking robot moves along the pre-planned path according to the shelf position where the goods to be sorted are stored, and finally moves in front of the shelf. At this time, the mechanical arm starts to work, wherein the mechanical claw is higher than the inner bottom wall of the corresponding storage compartment of the shelf, and the supporting platform of the lifting platform is flush with or slightly higher than the inner bottom wall of the storage compartment. Then, the extension joint of the mechanical arm extends to drive the mechanical claw to extend forward and push the goods to be sorted to move, and when the goods to be sorted are separated from the supporting platform of the lifting platform, they completely enter the storage compartment. At this time, the mechanical claw of the mechanical arm is opened to release the goods, and then the extension joint drives the mechanical claw to reset backward to complete one goods sorting. This cycle is repeated to realize autonomous picking.

[0019] On the basis of the conventional mechanical arm structure, the mechanical claw in the present application is driven to extend and retract by the extension joint, and a supporting platform is additionally arranged below the mechanical claw. Therefore, when the goods to be sorted are clamped by the mechanical claw, they are also supported by the supporting platform. In this way, even in the case that the mechanical claw cannot or is not suitable for clamping the goods to be sorted with great force, the goods to be sorted can be supported by the supporting platform, which can adapt to more forms of goods and ensure the stability of the goods during the mechanical arm sorting process.

[0020] These features and advantages of the present application will be disclosed in detail in the following specific embodiments and drawings. BRIEF DESCRIPTION OF DRAWINGS

[0021] The invention will be further described below with reference to the accompanying drawings:

[0022] Figure 1 This is a schematic diagram of the structure of the intelligent warehouse autonomous picking robot in embodiment 1 of the present invention. Figure 1 ;

[0023] Figure 2 This is a schematic diagram of the structure of the intelligent warehouse autonomous picking robot in embodiment 1 of the present invention. Figure 2 ;

[0024] Figure 3 This is a schematic diagram of an application scenario of the intelligent warehousing autonomous picking robot in the second embodiment of the present invention;

[0025] Figure 4 A top view of the supporting platform in the second embodiment of the present invention;

[0026] Figure 5 It is a side view of the supporting platform in the second embodiment of the present invention;

[0027] Figure 6 Schematic diagram of the first rack and the second rack meshing with the driving gear in the second embodiment of the present invention;

[0028] Reference numerals: movable base 1, robotic arm 2, lifting platform 3, lifting mechanism 4, mechanical claw 5, visual recognition component 6, camera 6.1, first barcode reader 6.2, walking mechanism 7, power roller line 8, fill light 9, LED fill light 9.1, infrared fill light 9.2, anti-collision sensor bar 10, ultrasonic locator 11, contact charging base 12, status indicator 13, warning light 13.1, status display light strip 13.2, control panel 14, 3D camera 16, front laser radar 17.1, rear laser radar 17.2, enclosure 18, through-beam laser sensor 20, contact sensor 21;

[0029] Autonomous picking robot 100, supporting platform 3.1, first supporting platform 3.11, second supporting platform 3.12, hinge 3.13, supporting platform 3.2, first slide rail 3.21, second slide rail 3.22, supporting part 3.3, first support rod 3.4, second support rod 3.5, driving gear 3.6, first rack 3.7, second rack 3.8, telescopic joint 5.1, sorting conveyor belt 200, shelf 300. DETAILED DESCRIPTION

[0030] The following is an explanation and description of the technical solutions of the embodiments of the present invention in conjunction with the drawings of the embodiments of the present invention. However, the following embodiments are only preferred embodiments of the present invention and are not exhaustive. Based on the embodiments in the implementation manner, other embodiments obtained by those skilled in the art without creative work are all within the scope of protection of the present invention.

[0031] Those skilled in the art will appreciate that, unless there is any conflict, the features in the following embodiments and implementations may be combined with each other.

[0032] The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. For example, terms such as "upper," "lower," "front," and "rear" that indicate orientation or positional relationships are based solely on the orientation or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the disclosure. They do not indicate or imply that the device or component referred to must have a specific orientation or be constructed or operated in a specific orientation. Therefore, they should not be construed as limiting the disclosure.

[0033] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "fixed," etc. should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0034] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0035] Example 1:

[0036] like Figure 1 and Figure 2 As shown, the intelligent warehouse autonomous picking robot includes a movable base 1, a robotic arm 2 mounted on the movable base 1, a lifting platform 3 connected to the movable base 1 for lifting and lowering, and a lifting mechanism 4 for driving the movable lifting platform 3 up and down. A mechanical claw 5 and a visual recognition component 6 are mounted at the end of the robotic arm 2. The visual recognition component 6 is located near the mechanical claw 5, and the optical collection direction of the visual recognition component 6 is toward the mechanical claw 5. The movable base 1 is provided with a walking mechanism 7 that drives the movable base 1 to move on the ground. The walking mechanism 7 includes a plurality of universal driven wheels and a universal driving wheel.

[0037] The active base 1 is a load-bearing platform with autonomous movement capability, providing stable support for the mechanical arm 2 and the lifting mechanism 4. The walking mechanism 7 enables the robot to autonomously navigate and move in the warehouse environment. The mechanical arm 2 is a multi-degree-of-freedom articulated manipulator, which can be implemented using a serial six-axis mechanical arm 2 structure. The lifting platform 3 is a vertical motion load-bearing platform with a maximum lifting height of 3.5 meters. The visual recognition component 6 is a near-field optical acquisition system. The omnidirectional drive wheel is a driven unit with omnidirectional movement capability, which can be implemented using a Mecanum wheel or an omni-wheel with independent steering control module. The wheel hub surface is distributed with diagonal roller structures, which are driven by motors to achieve vector propulsion in any direction. The omnidirectional driven wheel is a support wheel with free steering characteristics, which can be implemented using a spherical wheel or a double-row ball bearing. The wheel body can automatically adjust the contact angle with the change of the motion direction, forming a constraint-free rolling track.

[0038] Specifically, when the lifting mechanism 4 drives the lifting platform 3 to reach the target shelf layer, the visual recognition component 6 locates the goods in three-dimensional coordinates, and the mechanical arm 2 adjusts the grabbing posture according to the visual data. When the mechanical gripper 5 performs the grabbing action, the vision system continuously monitors the position change of the goods and corrects the grabbing trajectory through closed-loop control. The vertical motion range of the lifting platform 3 and the horizontal working space of the mechanical arm 2 form a three-dimensional working area, realizing three-dimensional warehouse storage and retrieval operation.

[0039] Through the above technical solutions, the warehouse robot locates the goods in three-dimensional coordinates through the visual recognition component 6, drives the lifting platform 3 to reach the target shelf layer through the lifting mechanism 4, adapts to different warehouse shelf specifications, and improves the accessibility of high-level shelf areas, thereby realizing precise visual recognition and grabbing of the autonomous picking robot and adapting to the operation requirements of multi-layer shelves. Through the walking mechanism 7, the robot can realize precise lateral displacement operation in the warehouse environment, directly execute the lateral displacement instructions issued by the system without adjusting the vehicle body direction, effectively improving the passing efficiency in narrow shelf channels. The walking mechanism 7 eliminates the dependence on fixed path barcodes, supports the robot to autonomously plan the optimal movement path according to real-time environmental perception data, and reduces the mechanical structure wear caused by path deviation.

[0040] The present application further proposes to set an auxiliary transmission device on the lifting platform. In this embodiment, the auxiliary transmission device is a power roller line 8. The power roller line 8 refers to a rotatable conveying device composed of a plurality of rollers arranged in parallel. Specifically, a motor can be used in conjunction with a chain or belt drive to drive the rollers to rotate, thereby realizing the horizontal displacement of the logistics box on the lifting platform 3. The roller bodies arranged at intervals refer to a layout method in which gaps are retained between adjacent rollers. The roller drive member refers to a device that provides rotational power to the roller body. Specifically, a reduction motor can be used in conjunction with a gearbox structure to transmit power to the shaft ends of each roller through a coupling to realize synchronous rotation of the rollers.

[0041] Specifically, the roller drive rotates the roller body, moving the logistics boxes placed on the roller line in a predetermined direction. The conveying surface formed by the intervals between the roller bodies supports the bottom of the logistics boxes while also preventing movement blockage caused by residual material. This structure allows logistics boxes to be automatically loaded and unloaded without manual intervention after the height adjustment of the lifting platform 3, making it particularly suitable for material transfer between high-bay racks and conveyor lines.

[0042] Through the above technical solution, this application realizes the automated transportation of logistics boxes at the work point, allowing the autonomous picking robot to directly complete material handover in the lifting or lowering state, shortening the transfer path of goods from the shelf to the conveyor line.

[0043] The present application further proposes that the edge of the lifting platform 3 is provided with an enclosure 18 extending up and down, and the enclosure 18 encloses a placement slot with an opening on one side. The power roller line 8 is arranged in the placement slot, and the transmission direction of the power roller line 8 is toward the opening of the placement slot. A beam-type laser sensor 20 is provided at the opening position of the placement slot, and a contact sensor 21 is provided on the side wall of the enclosure 18 away from the opening of the placement slot.

[0044] In the above technical solution, the fence 18 uses physical limits extending up and down to restrain the lateral deviation of the goods during lifting or moving to prevent them from slipping; the directional transmission of the power roller line 8 can autonomously push the goods to the opening (or push them out of the opening). The through-beam laser sensor 20 detects whether the goods have reached the waiting position of the opening by blocking the light beam, and the contact sensor 21 confirms the fit between the goods and the fence through contact triggering. The two work together to form a "position-state" dual verification. When the through-beam laser sensor 20 is blocked, it means that the goods have not been transported to the designated position and the lifting platform 3 should be avoided from lifting. When the through-beam laser sensor 20 is not blocked and the contact sensor 21 is triggered, it means that the goods are already on the lifting platform 3 and have been transported to the designated position. The lifting platform 3 can be lifted and lowered. This design effectively solves the problems of unstable cargo transportation, positioning deviation and unreliable status detection on the lifting platform 3: the cooperation between the fence 18 and the power roller line 8 improves the stability of cargo transfer; the precise detection of the dual sensor linkage provides reliable feedback for the robot to pick up the goods, avoiding misoperation.

[0045] The present application further proposes that a fill light 9 is provided at the end of the robotic arm 2, and the fill light 9 emits light toward the robotic claw 5; the fill light 9 includes an LED fill light 9.1 and an infrared fill light 9.2.

[0046] The fill light 9 refers to a light source device installed at the end of the robotic arm 2, which is used to provide auxiliary lighting for the operating area of ​​the robotic claw 5. This can be achieved by using an adjustable-angle lamp structure, which ensures uniform illumination of the target object's surface by adjusting the light projection angle. The LED fill light 9.1 refers to a visible light lighting component based on light-emitting diode technology, which can be implemented using a high-color rendering white light LED module. It provides sufficient brightness for conventional working environments and restores the true color characteristics of objects. The infrared fill light 9.2 refers to a lighting device that emits an invisible infrared spectrum. When it is necessary to avoid visible light interference or in low-light environments, night vision mode is activated to cooperate with the visual system to complete image acquisition.

[0047] Specifically, when the robotic arm 2 performs a grasping operation, the LED fill light 9.1 automatically adjusts its brightness based on the ambient light intensity, ensuring that the visual recognition component 6 captures clear color and texture information. During nighttime operations in warehouses or in environments with strong reflections, the infrared fill light 9.2 activates, illuminating the target object with invisible light, while the visual system switches to infrared imaging mode to capture contour feature data. The two light sources are intelligently switched via a controller, ensuring continuous and effective illumination of the robotic gripper 5's working area while preventing recognition errors caused by sudden changes in ambient light.

[0048] Compared with existing technologies, traditional warehouse robots rely solely on ambient lighting or a single visible light source, which can easily lead to recognition failures in complex lighting scenarios. This solution, through a dual-spectrum collaborative working mechanism, not only meets the high-precision recognition requirements under conventional working conditions, but also maintains its operational capabilities in the absence of visible light, eliminating the need for fixed-position auxiliary lighting facilities.

[0049] Through the above technical solution, this application effectively solves the problem of visual positioning inaccuracy in complex lighting environments and improves the environmental adaptability of the mechanical claw 5's grasping operation. The combined use of visible and infrared light enables the robot to operate stably in various working conditions such as day and night, strong light interference, etc., while also meeting the needs of concealed operations in special scenarios and avoiding the impact of visible light pollution on the storage environment.

[0050] The present application further proposes to set anti-collision sensor strips 10 on the left and right side walls of the movable base 1, and the anti-collision sensor strips 10 are electrically connected to the controller of the autonomous picking robot.

[0051] Specifically, the anti-collision sensor strip 10 is arranged to extend laterally along the left and right side walls of the movable base 1, forming a detection area covering both sides of the robot's moving direction. When the robot performs lateral movement or turning movements, the sensor strips on both sides continuously monitor the state of the lateral space. If the contact pressure of the obstacle is detected, the sensor strip immediately generates an electrical signal and transmits it to the control unit through the controller electrical connection. After receiving the signal, the control unit immediately interrupts the current motion command and starts the emergency braking program, while replanning the obstacle avoidance path according to the navigation system. This technical solution forms a closed-loop control system with the sensor strips and the controller arranged symmetrically on both sides, effectively eliminating the hidden dangers of visual blind spots when the robot moves sideways.

[0052] In the above technical solution, the robot in the storage environment can promptly sense lateral collisions and perform emergency braking while moving, thereby improving the reliability of equipment operation.

[0053] The present application further proposes that an ultrasonic locator 11 and a contact charging seat 12 are provided on one of the side walls of the movable base 1, and the ultrasonic locator 11 and the contact charging seat 12 are electrically connected to the controller of the autonomous picking robot respectively.

[0054] The ultrasonic locator 11 is a device that measures spatial position by emitting high-frequency sound waves and receiving reflected signals. It calculates the distance to obstacles based on the time difference between sound wave reflections, providing centimeter-level positioning accuracy for the robot. The contact charging station 12 is an interface device that conducts electrical energy through physical contacts to achieve charging. Specifically, it can be implemented using a metal contact module with a spring-loaded pin structure. It automatically docks with the contacts of the charging base station, completing the physical connection for the charging process.

[0055] Through the above technical solution, this application realizes the autonomous positioning function based on acoustic ranging and the automated charging function of physical contact docking, enabling the robot to navigate accurately and complete the charging process without manual operation.

[0056] The present application further proposes that a status indicator light 13, a control panel 14, a sound element, a 3D camera 166.1 and a laser radar are provided on the movable base 1. The status indicator light 13, the control panel 14, the sound element, the 3D camera 166.1 and the laser radar are all electrically connected to the controller of the autonomous picking robot. The laser radar includes a front laser radar 17.1 and a rear laser radar 17.2. The sensing direction of the front laser radar 17.1 is toward the front side of the movable base 1, and the sensing direction of the rear laser radar 17.2 is toward the rear side of the movable base 1.

[0057] The status indicator 13 is a device that transmits the robot's operating status via optical signals. Specifically, it can be implemented as a multi-color LED light assembly, distinguishing operating modes, fault alarms, or task completion status by different colors or flashing frequencies. The control panel 14 is an interactive device that integrates a touchscreen and physical buttons. Specifically, it can be implemented as an embedded industrial-grade touchscreen. It is used for local parameter settings, emergency stops, or task priority adjustments. The sound element is an audio device that generates voice prompts and warning sounds. Specifically, it can be implemented as a combination of a piezoelectric buzzer and a digital audio chip. It is used to announce operating status or safety warnings. The 3D camera 166.1 is a visual sensor with depth perception capabilities. Specifically, it can be implemented as a binocular stereo vision module or a Time of Flight sensor. It is used to construct a three-dimensional spatial model and identify the position and posture of objects. The lidar is an environmental scanning device based on the principle of laser ranging. Specifically, it can be implemented as a rotating or solid-state LiDAR module. The front lidar 17.1 detects obstacles in the direction of travel, while the rear lidar 17.2 monitors the rear area. Together, they eliminate detection blind spots.

[0058] Specifically, the front laser radar 17.1 and the rear laser radar 17.2 are symmetrically arranged to cover the front and rear directions of the movable base 1, respectively. They generate 360-degree environmental point cloud data through real-time scanning, and combine it with the stereoscopic visual information collected by the 3D camera 166.1 to achieve multi-sensor data fusion positioning. The status indicator light 13 displays the robot's charging, running or fault status through preset coding rules. The control panel 14 provides a localized operating interface for emergency intervention, and the sound element synchronously outputs voice prompts to enhance human-computer interaction. The laser radar realizes dynamic path planning through obstacle detection, avoiding the collision risk caused by blind spots in traditional solutions. The 3D camera 166.1 assists the robot arm 2 in accurately locating the target object through stereoscopic vision modeling, which complements the scanning data of the laser radar to form a three-dimensional environmental perception capability.

[0059] Through the above technical solutions, this application effectively improves the navigation and positioning accuracy of robots in dense warehousing environments, and achieves centimeter-level spatial positioning through multi-sensor fusion; enhances the real-time perception capability of dynamic obstacles and ensures the reliability of obstacle avoidance under complex paths; improves the efficiency of operating status recognition and reduces the intensity of manual monitoring through the sound and light collaborative feedback mechanism; integrates the localized control interface and voice prompt function to achieve rapid response and safety warnings in emergency situations.

[0060] The present application further proposes that the status indicator light 13 includes a warning light 13.1 disposed on the top of the movable base 1 and a status display light strip 13.2 disposed on the side wall of the movable base 1. The status display light strip 13.2 can be disposed on each side of the movable base 1.

[0061] Warning light 13.1 refers to a high-position visual warning device mounted on top of the robot. This device utilizes a high-brightness LED light source module, which transmits abnormal status information such as emergency shutdowns and blocked paths through flashing frequency or color changes. Its high-position installation allows the warning signal to penetrate warehouse shelves, making it easier for operators to identify from a distance. Status display light strip 13.2 refers to a continuous light strip assembly that wraps around the robot's side walls. This light strip utilizes a multi-segment programmable LED light strip, which displays the robot's current operating mode, operating phase, or system status through dynamic lighting effects or color zoning. Its lateral layout enables simultaneous transmission of information to operators located at different locations around the robot.

[0062] Through the above technical solution, this application solves the problem of a single method for indicating the robot's operating status, enabling rapid identification of abnormal conditions and real-time synchronization of operating information. Top warning lights 13.1 ensure that emergency conditions are promptly transmitted to remote warehouse personnel, and side wall light strips use dynamic lighting effects to provide near-field operators with key information such as direction of travel and operating stage, effectively preventing personnel from accidentally entering the robot arm 2's operating area or colliding with the mobile chassis.

[0063] The present application further proposes that the visual recognition component 6 includes a visual camera 6.1 and a first code scanning reader 6.2, and a second code scanning reader is provided on the movable base 1.

[0064] Among them, the visual camera 6.1 refers to a device for collecting image information on the surface of an object, which can be specifically implemented by a high-resolution industrial camera, and is identified by capturing the texture and shape features of the object. The first barcode reader 6.2 refers to a device for reading the identification code on the surface of an object, which can be specifically implemented by a laser scanning module or an image scanning module, and is used to directly obtain the barcode or QR code information of the object. Specifically, the visual camera 6.1 and the first barcode reader 6.2 form a collaborative working mode at the end of the robotic arm 2. The visual camera 6.1 extracts the physical characteristics of the object through image analysis, and the first barcode reader 6.2 synchronously scans the identification code of the object. The data of the two are fused to generate a composite recognition result. The two can also be used separately. The second barcode reader refers to an auxiliary scanning device installed on the movable base 1. When the manual follow mode is turned on, the barcode or QR code information of the goods is read by the second barcode reader when the goods are manually picked up.

[0065] Through the above technical solution, this application achieves dual collection of object characteristics and location information, solving the problem of insufficient flexibility caused by traditional robots' reliance on preset QR code positioning. The collaborative working mode of the visual camera 6.1 and the barcode reader enhances the robustness of object recognition in complex storage environments. The independent configuration of the base barcode scanner expands the environmental perception range and provides data support for autonomous navigation and precise grasping.

[0066] The present application further proposes to provide a wireless connection component on the movable base 1 .

[0067] The wireless connection component is a hardware module used to establish a communication link between the robot and external systems. Specifically, it can be implemented using a 5G communication module or a Wi-Fi module, such as an integrated 5G module or a dual-band Wi-Fi chip. This component transmits data via a wireless network, enabling the robot to interact with back-end systems in real time when local computing power is insufficient.

[0068] Specifically, when the robot's built-in visual recognition model is unable to determine the characteristics of the target object, the wireless connection component uploads the collected visual data to a cloud server. Based on the pre-trained large model, the cloud server performs secondary analysis and generates operational instructions, such as the object's grasping location or path planning information. These instructions are then transmitted back to the robot via the wireless network. The robot adjusts the movement or movement path of robotic arm 2 based on these instructions, thus avoiding operational interruptions caused by the limitations of the local model. For example, when the robotic gripper 5 encounters an unusually shaped package with no pre-stored features, the wireless connection component uploads an image of the package to the cloud. The cloud completes a 3D reconstruction and returns the grasping coordinate parameters, which the robot uses to perform a precise grasp.

[0069] In some embodiments, the wireless connection component can be configured as a communication module that supports multi-band switching, for example, automatically switching to the Wi-Fi 6 protocol when 5G signal coverage is insufficient to ensure stable data transmission. Furthermore, the component can integrate an encryption chip, such as one using the AES-256 encryption algorithm, to prevent data leakage in the communication link.

[0070] Compared to existing technologies, traditional AGVs rely on local QR code recognition and fixed program control, requiring manual recalibration when encountering unknown objects. This solution, however, uses wireless connectivity components to enable cloud-based collaborative decision-making, enabling complex scenarios to be handled without interrupting workflows. For example, even if the height of a warehouse shelf exceeds the recognition range of the local model, lift height parameters can still be obtained through cloud-based modeling.

[0071] Through the above technical solution, this application solves the problem of robot operation stalling due to insufficient local computing power. It achieves collaborative decision-making between the cloud and the local end through wireless communication, ensuring full unmanned operation in scenarios such as unknown object recognition and complex path planning. For example, if Robot Arm 2 cannot determine the order in which to grab stacked goods, the cloud system can generate the optimal solution based on historical data and issue instructions, avoiding the efficiency loss caused by manual intervention.

[0072] Example 2:

[0073] In some special usage scenarios, such as placing the goods to be sorted from the sorting conveyor belt to the corresponding shelves, in order to adapt to more types of goods and ensure that the goods remain stable during the sorting process of the robotic arm, the lifting platform is set under the robotic claw and keeps in cooperation with the robotic claw. At the same time, the structure of the lifting platform is improved, such as Figures 3 to 6 As shown in this embodiment, the intelligent warehouse autonomous picking robot 100 is used to place the goods to be sorted from the sorting conveyor belt 200 onto the corresponding shelf 300. The goods to be sorted can be logistics boxes or other forms of packages. The end of the robotic arm is also provided with a telescopic joint 5.1 connected to the mechanical claw 5. The lifting platform 3 is provided below the mechanical claw 5. The mechanical claw 5 is used to clamp the goods to be sorted. The telescopic joint 5.1 is used to drive the mechanical claw to extend and retract, and after the mechanical claw 5 clamps the goods to be sorted, it retracts so that the goods to be sorted are supported by the lifting platform 3. The lifting platform 3 is provided with a supporting platform 3.1 for supporting the goods to be sorted.

[0074] Before sorting items, the autonomous picking robot stops at the side of the sorting conveyor belt. The robotic arm begins operation, with its gripper elevated above the conveyor belt's conveying plane and the platform of the lift table flush with, or slightly below, the conveyor belt's conveying plane. The robotic arm's gripper then uses vision to retrieve the item from the conveyor belt. The gripper closes, gripping the item. The telescopic joint then retracts the gripper, pulling the item forward. Once the item clears the conveyor belt's conveying plane, it lands squarely on the platform's support platform. The autonomous picking robot then moves along a pre-planned path based on the shelf where the item is stored, ultimately reaching the front of the shelf. At this point, the robotic arm begins operation, with its gripper elevated above the inner bottom wall of the corresponding storage compartment on the shelf and the platform's support table flush with, or slightly above, the inner bottom wall of the compartment. Next, the telescopic joint of the robotic arm extends, driving the mechanical claw forward to push the goods to be sorted. When the goods to be sorted are lifted off the support platform of the lifting platform and completely enter the storage compartment, the mechanical claw of the robotic arm opens to release the goods. The telescopic joint then drives the mechanical claw back to complete the sorting process. This cycle repeats, realizing autonomous picking.

[0075] Based on the conventional robotic arm structure, the robotic claw in this invention is driven to extend and retract by a telescopic joint, and a support platform is added below the robotic claw. Therefore, while the robotic claw grips the goods to be sorted, the goods are also supported by the support platform. This allows the support platform to support the goods even when the robotic claw is unable or unsuitable to firmly grip the goods, accommodating a wider range of cargo types and ensuring the stability of the goods during the robotic arm sorting process.

[0076] In some embodiments, the support platform 3.1 includes a first support platform 3.11 and a second support platform 3.12 arranged side by side, with the line connecting the first support platform 3.11 and the second support platform 3.12 being located on an extension of the centerline of the mechanical gripper. This increases the overall area of ​​the support platform, and the alignment with the mechanical gripper facilitates ensuring that the items to be sorted are positioned relatively centrally on the support platform when they land on it, maintaining a relatively stable placement.

[0077] Specifically, the first support platform 3.11 and the second support platform 3.12 are both rectangular in structure and are equipped with support rollers supported by rolling bearings, allowing for smooth rotation. The axial direction of the multiple support rollers is perpendicular to the direction of movement of the goods to be sorted. This allows the goods to be sorted to move smoothly on the support platforms, entering or leaving the support platforms.

[0078] Furthermore, a hinge 3.13 may be provided between the first supporting platform 3.11 and the second supporting platform 3.12, and a support portion 3.3 may be provided below the junction of the first supporting platform 3.11 and the second supporting platform 3.12. The hinge 3.13 connects the first supporting platform 3.11 and the support portion 3.3, as well as the second supporting platform 3.12 and the support portion 3.3. The first supporting platform 3.11 and the second supporting platform 3.12 are driven by an adjusting motor so that the first supporting platform and the second supporting platform are flush or at a set angle. For some irregularly shaped goods, such as cylindrical goods, if the supporting platform is a plane and the mechanical claw has difficulty in completely clamping the goods, the autonomous picking robot may shake during movement, and the goods may fall off the supporting platform. At this time, the first supporting platform and the second supporting platform may form a certain angle, so that the mechanical claw and the supporting platform can cooperate to maintain the stability of the goods.

[0079] Furthermore, the lifting platform 3 also includes a support platform 3.2 located below the supporting platform 3.1, and a first slide rail 3.21 and a second slide rail 3.22 are provided on the supporting platform 3.2. The first slide rail is slidably connected to a first slider, and the second slide rail is slidably connected to a second slider. The first slider is hinged to the first supporting platform 3.11 via a first support rod 3.4, and the second slider is hinged to the second supporting platform 3.12 via a second support rod 3.5. The first slider is connected to a first rack 3.7, and the second slider is connected to a second rack 3.8. The first rack and the second rack are arranged side by side and mesh with a drive gear 3.6, and the drive gear is connected to an adjustment motor. The output shaft of the adjustment motor is connected to the drive gear, so that the output shaft of the adjustment motor drives the drive gear to rotate, and the drive gear drives the first rack and the second rack to move synchronously, so that the first supporting platform and the second supporting platform finally move synchronously to adjust the angle.

[0080] The above description is merely a specific embodiment of the invention, but the scope of protection of the invention is not limited thereto. Those skilled in the art will understand that the invention includes, but is not limited to, the drawings and the contents described in the above specific embodiments. Any modifications that do not deviate from the functional and structural principles of the invention are intended to be included within the scope of the claims.

Claims

1. Intelligent warehouse autonomous picking robot, used to place the goods to be sorted from the sorting conveyor belt to the corresponding shelf, characterized by: The autonomous picking robot includes a movable base, a robotic arm mounted on the movable base, a lifting platform for receiving materials, and a lifting mechanism for driving the lifting platform up and down. A mechanical claw and a visual recognition component are mounted at the end of the robotic arm, and the optical collection direction of the visual recognition component is toward the mechanical claw. A walking mechanism is provided on the movable base. The end of the robotic arm is also provided with a telescopic joint connected to the mechanical claw. The lifting platform is arranged below the mechanical claw. The mechanical claw is used to clamp the goods to be sorted. The telescopic joint is used to drive the mechanical claw to extend and retract, and retract after the mechanical claw clamps the goods to be sorted, so that the goods to be sorted are supported by the lifting platform.

2. The intelligent warehouse autonomous picking robot according to claim 1, characterized in that: The lifting platform is provided with a supporting platform for supporting the goods to be sorted, and the supporting platform includes a first supporting platform and a second supporting platform arranged side by side.

3. The intelligent warehouse autonomous picking robot according to claim 2, characterized in that: The first supporting platform and the second supporting platform are both rectangular structures, and support rollers are provided on the first supporting platform and the second supporting platform.

4. The intelligent warehouse autonomous picking robot according to claim 3, characterized in that: The first supporting platform and the second supporting platform are driven by an adjusting motor so that the first supporting platform and the second supporting platform are aligned or at a set angle.

5. The intelligent warehouse autonomous picking robot according to claim 4, characterized in that: The lifting platform also includes a supporting platform arranged below the supporting platform, and a first slide rail and a second slide rail are provided on the supporting platform, the first slide rail is slidably connected to the first slider, and the second slide rail is slidably connected to the second slider, the first slider is hinged to the first supporting platform through a first support rod, and the second slider is hinged to the second supporting platform through a second support rod, the first slider is connected to the first rack, and the second slider is connected to the second rack, the first rack and the second rack are arranged side by side and meshed with the driving gear, and the driving gear is connected to the adjusting motor.

6. The intelligent warehouse autonomous picking robot according to claim 1, characterized in that: A fill light is provided at the end of the robotic arm, and the light direction of the fill light is toward the robotic claw; the fill light includes an LED fill light and an infrared fill light.

7. The intelligent warehouse autonomous picking robot according to claim 1, characterized in that: Anti-collision sensor strips are provided on the left and right side walls of the movable base, and the anti-collision sensor strips are electrically connected to the controller of the autonomous picking robot; and / or, an ultrasonic locator and a contact charging seat are provided on one of the side walls of the movable base, and the ultrasonic locator and the contact charging seat are respectively electrically connected to the controller of the autonomous picking robot.

8. The intelligent warehouse autonomous picking robot according to claim 1, characterized in that: The movable base is provided with a status indicator light, a control panel, a sound element, a 3D camera and a laser radar, and the status indicator light, the control panel, the sound element, the 3D camera and the laser radar are all electrically connected to the controller of the autonomous picking robot.

9. The intelligent warehouse autonomous picking robot according to claim 8, characterized in that: The laser radar includes a front laser radar and a rear laser radar, the front laser radar sensing direction is toward the front side of the movable base, and the rear laser radar sensing direction is toward the rear side of the movable base; the status indicator light includes a warning light located on the top of the movable base and a status display light strip located on the side wall of the movable base.

10. The intelligent warehouse autonomous picking robot according to claim 1, characterized in that: The visual recognition component includes a visual camera and a first code scanning reader; a second code scanning reader is provided on the movable base.

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