Loading and unloading system, method and equipment based on double mechanical arms and storage medium
The dual-arm collaborative unloading system solves the problem of traditional robots needing to rotate 180 degrees to unload, shortens the rotation range of the robotic arms, and improves handling efficiency.
Patent Information
- Application Number
- CN202511009063.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Priority Date
- 2025-06-25
- Filing Date
- 2025-07-22
- Publication Date
- 2025-10-17
AI Technical Summary
Traditional automated flexible unloading robots need to rotate their robotic arms 180 degrees to unload, which increases the rotational stroke, prolongs the single handling time, and reduces overall handling efficiency.
A loading and unloading system based on dual robotic arms is adopted. The two robotic arms work together to unload the cargo, and the left and right sides of the container are picked up respectively. The extension and retraction timing of the robotic arms are staggered to avoid collisions, and the cargo is transported using a drag chain conveyor line.
It effectively shortens the rotation stroke of the robot arm, reduces the single handling time, and improves the overall handling efficiency.
Smart Images
Figure CN120793401A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the field of container storage, in particular to a loading and unloading system, method, device and storage medium based on double mechanical arms. BACKGROUND
[0002] In the conventional automated flexible unloading robot design, a mobile chassis, a mechanical arm and a conveying line are generally included. The conveying line is manually installed on the mobile chassis and located at the back of the advancing direction of the robot, so as to ensure that the conveying line with wheels at the bottom runs smoothly and occupies a smaller area. The robot can be adapted to the scene of narrow space such as no platform or small size platform loading in customer warehouse, and corridor bridge loading.
[0003] However, in actual use, if the conveying line dragged by the robot is always located at the back of the robot, the robot needs to rotate 180 degrees each time to broadcast the unloaded goods onto the conveying line. This structure increases the rotation stroke of the mechanical arm, prolongs the unit time of single handling and reduces the overall handling efficiency.
[0004] Therefore, the present application provides a loading and unloading system, method, device and storage medium based on double mechanical arms. SUMMARY
[0005] In view of the problems in the prior art, the purpose of the present application is to provide a loading and unloading system, method, device and storage medium based on double mechanical arms, which overcomes the difficulties of the prior art and can cooperatively unload the containers in the container by two mechanical arms, effectively shortens the rotation stroke of the mechanical arm, reduces the unit time of single handling and improves the overall handling efficiency.
[0006] The embodiment of the present application provides a loading and unloading device based on double mechanical arms, which comprises:
[0007] a drag chain conveying line having a conveying belt;
[0008] a double-arm loading and unloading robot, the double-arm loading and unloading robot comprising an AGV chassis capable of entering the inside of a container and two mechanical arms, the mechanical arms being arranged on both sides of the upper surface of the AGV chassis, the mechanical arms extending towards the front end of the AGV chassis and being capable of rotating based on the AGV chassis, at least the first end of the drag chain conveying line being detachably connected to the center of the upper surface of the AGV chassis and located between the mechanical arms, and the two mechanical arms sequentially and intermittently carrying goods to the first end of the drag chain conveying line.
[0009] Preferably, the first end of the drag chain conveying line is located in the overlapping area of the rotation ranges of the two mechanical arms.
[0010] Preferably, the length direction of the AGV chassis is perpendicular to the extension direction of the drag chain conveying line, the advancing direction of the AGV chassis in the interior of the container is perpendicular to the length direction of the AGV chassis, and the advancing direction of the AGV chassis in the interior of the container is parallel to the width direction of the AGV chassis.
[0011] Preferably, the system further comprises a sorting robot connected to the second end of the drag chain conveying line, which sorts the goods conveyed by the drag chain conveying line through the mechanical arm.
[0012] Preferably, the dual-arm loading and unloading robot further comprises a point cloud acquisition device, which scans a row of containers stacked in the interior of the container, and labels the containers as left containers and right containers based on the positions of the containers in the container, respectively establishes a left container taking task based on the left mechanical arm and each left container, and establishes a right container taking task based on the right mechanical arm and each right container, the first time period when the mechanical arm enters the first end of the drag chain conveying line in the left container taking task and the second time period when the mechanical arm enters the first end of the drag chain conveying line in the right container taking task are staggered in time sequence.
[0013] Preferably, each left container taking task comprises a first extension taking period and a first retraction depositing period, each right container taking task comprises a second extension taking period and a second retraction depositing period, the first extension taking period of the left container taking task overlaps with the second retraction depositing period of the right container taking task in time sequence, and the first retraction depositing period of the left container taking task overlaps with the second extension taking period of the right container taking task in time sequence.
[0014] Preferably, after all the containers in the current row are transported to the drag chain conveying line, the dual-arm loading and unloading robot continues to enter the interior of the container along the length direction of the container, and scans the next row of stacked containers again.
[0015] The embodiment of the present application also provides a dual-arm based loading and unloading method, which adopts the dual-arm based loading and unloading device described above, and comprises the following steps:
[0016] S110, a point cloud acquisition device scans a row of containers stacked in the interior of the container, and labels the containers as left containers and right containers based on the positions of the containers in the container, respectively;
[0017] S120, a left container taking task based on the left mechanical arm and each left container is established, and a right container taking task based on the right mechanical arm and each right container is established, respectively;
[0018] S130: The left robotic arm picks up goods based on the left-side picking task, and the right robotic arm picks up goods based on the right-side picking task, wherein a first time period during which the robotic arm enters the first end of the drag chain conveyor line in the left-side picking task and a second time period during which the robotic arm enters the first end of the drag chain conveyor line in the right-side picking task are staggered in timing; and
[0019] S140. After all the containers in the current row are moved to the drag chain conveyor line, the dual-arm 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 a loading and unloading device based on a dual robotic arm, 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 dual-robotic-arm-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 method for loading and unloading cargo based on dual robotic arms.
[0025] The purpose of the present invention is to provide a loading and unloading system, method, equipment and storage medium based on dual robotic arms, which can coordinately unload containers in a container through two robotic arms, effectively shorten the rotation stroke of the robotic arms, reduce the unit time of a single handling and improve the overall handling efficiency. 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 dual robotic arms of the present invention.
[0028] Figure 2 It is a schematic diagram of the loading and unloading device based on dual robotic arms of the present invention entering a container.
[0029] Figure 3 Schematic diagram of the present invention's dual-manipulator-based loading and unloading device scanning a container.
[0030] Figure 4 It is a schematic diagram of unloading by the robotic arms of the loading and unloading device based on dual robotic arms of the present invention.
[0031] Figure 5 It is a flow chart of the loading and unloading method based on dual robotic arms of the present invention.
[0032] Figure 6 It is a structural schematic diagram of the loading and unloading equipment based on dual robotic arms of the present invention.
[0033] Figure 7 It is a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present invention.
[0034] Reference numerals
[0035] 11 sets of cards
[0036] 12 containers
[0037] 2. Dual-arm loading and unloading robot
[0038] 20 AGV chassis
[0039] 21 Robotic Arm
[0040] 22 Robotic Arm
[0041] 23 Drag chain conveyor line
[0042] 24 Classification Robot DETAILED DESCRIPTION
[0043] 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.
[0044] 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.
[0045] In the present specification, the expressions "one embodiment", "some embodiments", "exemplary", "detailed example", or "some examples" etc. mean that the particular feature, structure, material, or characteristic being referred to is included in at least one embodiment or example of the present application. Moreover, such expressions do not necessarily refer to the same embodiment or example. Furthermore, such expressions do not necessarily refer to any one or the same embodiment or example. In addition, if a specific feature, structure, material, or characteristic is referred to in a certain embodiment or example, it is understood that such feature, structure, material or characteristic can be combined with one or more other features, structures, materials or characteristics of the same or different embodiments or examples, but are not limited thereto.
[0046] Further, the terms "first", "second", etc. are used herein only to describe various elements, and do not imply or suggest relative importance or a number of the elements indicated. Thus, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the present specification, the meaning of "a plurality of" is two or more, unless specifically limited otherwise.
[0047] For the purpose of clear explanation of the present application, the devices irrelevant to the explanation are omitted, and the same reference numerals are assigned to the same or similar constituent elements throughout the specification.
[0048] In the present specification, when it is said that a certain device is "connected" to another device, this includes not only the case of "direct connection", but also the case of "indirect connection" in which other elements are interposed therebetween. In addition, when it is said that a certain device "includes" a certain constituent element, other constituent elements are not excluded unless specifically stated to the contrary, but it means that other constituent elements can be further included.
[0049] When it is said that a certain device is "on" another device, this can be directly on the other device, but can also be accompanied by other devices therebetween. When it is said in contrast that a certain device is "directly" on another device, there are no other devices therebetween.
[0050] Although the terms first, second, etc. can be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first interface and a second interface, etc. are distinguished from each other. Also, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises", "comprising", "includes" and / or "including", when used herein, specify the presence of stated features, steps, operations, elements, components, items, and / or groups thereof, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, items, and / or groups thereof. As used herein, the terms "or" and "and / or" are to be interpreted as inclusive, i.e., as meaning either item by itself or any combination of items. Thus "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". This definition applies to all uses of the terms "or" and "and / or", unless a context dictates otherwise.
[0051] The professional terms used herein are used only to refer to specific embodiments and are not intended to limit the present application. The singular form used herein, unless the context clearly indicates otherwise, also includes the plural form. The meaning of "include" used in the specification is to specify a particular characteristic, region, integer, step, operation, element, and / or component, and does not exclude the presence or addition of other characteristics, regions, integers, steps, operations, elements, and / or components.
[0052] Although not differently defined, technical and scientific terms used herein include the technical terms and scientific terms commonly used in the art to which the present application pertains. The terms defined in a general dictionary are additionally interpreted to have the same meaning as that commonly understood by those skilled in the art and the currently indicated content, unless defined, and should not be over-interpreted as ideal or very formal meanings.
[0053] Figure 1 is a schematic view of a dual-robot-based cargo loading and unloading apparatus of the present application. Figure 2 is a schematic view of a dual-robot-based cargo loading and unloading apparatus of the present application driving into a container. Figure 3 is a schematic view of a dual-robot-based cargo loading and unloading apparatus of the present application scanning a cargo container. Figure 4 is a schematic view of a dual-robot-based cargo loading and unloading apparatus of the present application unloading cargo by a robot arm. As Figures 1 to 4As shown, the dual-robot-based loading and unloading device of the present application comprises a tow chain conveying line 23 and a dual-arm loading and unloading robot 2. The tow chain conveying line 23 has a conveyor belt. The dual-arm loading and unloading robot 2 comprises an AGV chassis 20 (AGV stands for Automated Guided Vehicle, which is mainly used for automatic logistics transfer) that can enter the inside of a container and two mechanical arms 21 and 22. The mechanical arms 21 and 22 are respectively arranged on the two sides of the upper surface of the AGV chassis 20, extend towards the front end of the AGV chassis 20, and can rotate based on the AGV chassis 20. The first end of the tow chain conveying line 23 is detachably connected to the central part of the upper surface of the AGV chassis 20 and is located between the two mechanical arms 21 and 22. The two mechanical arms 21 and 22 sequentially and intermittently carry the goods to the first end of the tow chain conveying line 23. The present application can cooperatively unload the containers in the container through the two mechanical arms, effectively shorten the rotating stroke of the mechanical arms, reduce the unit time of single carrying, and improve the overall carrying efficiency.
[0054] In a preferred embodiment, the first end of the tow chain conveying line 23 is located in the overlapping area of the rotating ranges of the two mechanical arms 21 and 22, but it is not limited thereto.
[0055] In a preferred embodiment, the length direction of the AGV chassis 20 is perpendicular to the extension direction of the tow chain conveying line 23. The advancing direction of the AGV chassis 20 when driving inside the container is perpendicular to the length direction of the AGV chassis 20, and the advancing direction of the AGV chassis 20 when driving inside the container is parallel to the width direction of the AGV chassis 20, but it is not limited thereto.
[0056] In a preferred embodiment, a sorting robot 24 is further included, which is connected to the second end of the tow chain conveying line 23 and sorts the goods conveyed by the tow chain conveying line 23 through the mechanical arms, but it is not limited thereto.
[0057] In a preferred embodiment, the dual-arm loading and unloading robot 2 further comprises a point cloud acquisition device that scans a row of containers stacked inside the container box and labels each container as a left container and a right container based on the position of the container in the container box, establishes a left container picking task for each left container based on the left arm, and establishes a right container picking task for each right container based on the right arm, and the first time period when the arm enters the first end of the drag chain conveyor 23 in the left container picking task and the second time period when the arm enters the first end of the drag chain conveyor 23 in the right container picking task are staggered in time sequence. In this embodiment, the point cloud data of the containers arranged in the current row is obtained by the existing laser point cloud scanning method, and then the partition line grid between the containers can be easily obtained by processing the point cloud data (each grid is obviously a container), to distinguish each container, and based on the center vertical line of the container, the container is partitioned into a left container on the left side of the center vertical line and a right container on the right side of the center vertical line, and a left container picking task for each left container based on the left arm and a right container picking task for each right container based on the right arm are established. Each left container picking task or right container picking task includes the spatial position of the target container to be carried, the extension motion trajectory of the arm, the extension picking time period of the arm, the retraction motion trajectory of the arm, the retraction depositing time period of the arm, etc. The left arm performs picking based on the left container picking task, and the right arm performs picking based on the right container picking task, and the first time period when the arm enters the first end of the drag chain conveyor 23 in the left container picking task and the second time period when the arm enters the first end of the drag chain conveyor 23 in the right container picking task are staggered in time sequence. The related identification process is not described here, but is not limited thereto.
[0058] In a preferred embodiment, each left container picking task includes a first extension picking time period and a first retraction depositing time period, each right container picking task includes a second extension picking time period and a second retraction depositing time period, the first extension picking time period of the left container picking task overlaps with the second retraction depositing time period of the right container picking task in time sequence, and the first retraction depositing time period of the left container picking task overlaps with the second extension picking time period of the right container picking task in time sequence. Since the width of the container inside the truck is limited, only a very narrow drag chain conveyor 23 can be arranged after the two arms are arranged, which will cause the two arms to be unable to carry containers to the drag chain conveyor 23 at the same time, so the two arms must carry containers to the drag chain conveyor 23 at different times in time sequence to avoid collision between the two arms, but are not limited thereto.
[0059] In a preferred embodiment, after the containers in the current row are all carried to the drag chain conveyor 23, the dual-arm loading and unloading robot 2 continues to enter the container box in the length direction of the container box and scans the next row of stacked containers again, but is not limited thereto.
[0060] The detailed description of the application includes:
[0061] Reference Figure 1 As shown in the figure, the double-arm based loading and unloading device of the application comprises a tow chain conveying line 23 and a double-arm loading and unloading robot 2. The tow chain conveying line 23 has a conveying belt. The double-arm loading and unloading robot 2 comprises an AGV chassis 20 that can enter the inside of the container and two mechanical arms 21 and 22. The mechanical arms 21 and 22 are arranged on the two sides of the upper surface of the AGV chassis 20, extend to the front end of the AGV chassis 20 and can rotate based on the AGV chassis 20. The first end of the tow chain conveying line 23 is detachably connected to the central part of the upper surface of the AGV chassis 20 and is located between the two mechanical arms 21 and 22. The two mechanical arms 21 and 22 sequentially and at intervals carry the goods to the first end of the tow chain conveying line 23. The first end of the tow chain conveying line 23 is located in the overlapping area of the rotation ranges of the two mechanical arms 21 and 22. The length direction of the AGV chassis 20 is perpendicular to the extension direction of the tow chain conveying line 23. The advancing direction of the AGV chassis 20 when driving inside the container is perpendicular to the length direction of the AGV chassis 20, and the advancing direction of the AGV chassis 20 when driving inside the container is parallel to the width direction of the AGV chassis 20.
[0062] When the truck 11 arrives, referring to Figure 2 The double-arm based loading and unloading device of the application enters the inside of the container 12, and a sorting robot 24 is also connected to the second end of the tow chain conveying line 23 to sort the goods conveyed by the tow chain conveying line 23 through the mechanical arms.
[0063] Referring to Figure 3 The double-arm loading and unloading robot 2 scans a row of containers stacked inside the container through a point cloud acquisition device and marks each container as a left container A and a right container B based on the position of the container in the container. The left container A and the right container B are respectively established based on the left mechanical arm and each left container A, and the right container B and each right container B are respectively established based on the right mechanical arm.
[0064] Referring to Figure 4, the first time period in which the robot arm enters the first end of the drag chain conveyor line in the left side picking task and the second time period in which the robot arm enters the first end of the drag chain conveyor line in the right side picking task are staggered in time sequence. Each left side picking task includes a first extension picking time period and a first retraction depositing time period, and each right side picking task includes a second extension picking time period and a second retraction depositing time period, the first extension picking time period of the left side picking task overlaps with the second retraction depositing time period of the right side picking task in time sequence, and the first retraction depositing time period of the left side picking task overlaps with the second extension picking time period of the right side picking task in time sequence. After the extension picking and retraction depositing actions of the two sides are staggered in time sequence, collision between the two robot arms when working together can be avoided because the same drag chain conveyor line 23 must be shared. After the current row of containers is completely transported to the drag chain conveyor line 23, the dual-arm loading and unloading robot 2 continues to enter the inside of the container in the length direction of the container and scans the next row of stacked containers again.
[0065] Figure 5 is a flowchart of the dual-robot arm based loading and unloading method of the application. As shown in Figure 5 , the dual-robot arm based loading and unloading method of the application includes:
[0066] S110, a point cloud acquisition device scans a row of containers stacked in the inside of a container and labels the containers as left side containers and right side containers based on the positions of the containers in the container;
[0067] S120, left side picking tasks based on the left side robot arm and each left side container are established, and right side picking tasks based on the right side robot arm and each right side container are established;
[0068] S130, the left robot arm picks based on the left side picking tasks, and the right robot arm picks based on the right side picking tasks, and the first time period in which the robot arm enters the first end of the drag chain conveyor line in the left side picking task and the second time period in which the robot arm enters the first end of the drag chain conveyor line in the right side picking task are staggered in time sequence; and
[0069] S140, after the current row of containers is completely transported to the drag chain conveyor line, the dual-arm loading and unloading robot continues to enter the inside of the container in the length direction of the container and performs step S110 until the containers in the inside of the container are transported.
[0070] The dual-robot arm based loading and unloading method of the application can cooperatively unload the containers in the container by the two robot arms, effectively shortens the rotation travel of the robot arm, reduces the unit time of single transport and improves the overall transport efficiency.
[0071] The embodiment of the present application also provides a dual-robot-based loading and unloading device, comprising a processor, and a memory having executable instructions of the processor stored therein.
[0072] As shown above, the dual-robot-based loading and unloading device of the embodiment of the present application can cooperatively unload the containers in the container by the two robots, effectively shortening the rotating stroke of the robot, reducing the unit time of single carrying and improving the overall carrying efficiency.
[0073] Those skilled in the art can understand that each aspect of the present application can be implemented as a system, a method or a program product. Therefore, each aspect of the present application can be specifically implemented as a complete hardware embodiment, a complete software embodiment (including firmware, microcode, etc.), or an embodiment combining hardware and software aspects, which can be collectively referred to as "circuitry", "module" or "platform" here.
[0074] Figure 6 is a structural schematic diagram of the dual-robot-based loading and unloading device of the present application. The electronic device 600 according to this embodiment of the present application will be described below with reference to Figure 6 Figure 6 The displayed electronic device 600 is only an example and should not impose any limitation on the functions and use range of the embodiment of the present application.
[0075] As shown in Figure 6 , the electronic device 600 is in the form of a general computing device. The components of the electronic device 600 can 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 the storage unit 620 and the processing unit 610), a display unit 640, etc.
[0076] The storage unit stores program codes, which can be executed by the processing unit 610, so that the processing unit 610 performs the steps according to various exemplary embodiments of the present application described in the above electronic prescription flow processing method part of the specification. For example, the processing unit 610 can perform the steps as shown in Figure 6
[0077] The storage unit 620 can include a readable medium in the form of a volatile storage unit, such as a random access memory (RAM) 6201 and / or a cache memory unit 6202, and can further include a read-only memory (ROM) 6203.
[0078] 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.
[0079] 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.
[0080] 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.
[0081] 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 dual-manipulator-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.
[0082] As shown above, the loading and unloading device based on dual robotic arms of this embodiment of the present invention can collaboratively unload the containers in the container through the two robotic arms, effectively shortening the rotation stroke of the robotic arms, reducing the unit time of a single transport and improving the overall transport efficiency.
[0083] Figure 7 Schematic diagram of the structure of the computer readable storage medium of the present invention. Figure 7As shown, a program product 800 for implementing the above-described method according to an embodiment of the present application is described, which can take the form of a portable compact disc read-only memory (CD-ROM) and includes a program code, and can be run on a terminal device, such as a personal computer. However, the program product of the present application is not limited thereto, and in the present document, the readable storage medium can be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, apparatus or device.
[0084] The program product can take any combination of one or more readable media. The readable media can be a readable signal medium or a readable storage medium. The readable storage medium, for example, can be, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or any suitable combination of the above. More specific examples (a non-exhaustive list) of the readable storage medium include an electrical connection having one or more wires, a portable disc, 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.
[0085] The computer readable storage medium can include a data signal transported, propagated or transmitted, in baseband or as part of a carrier, having readable program code embodied therein. The data signal can take any number of forms, including, but not limited to, electromagnetic signals, optical signals, or any suitable combination thereof. The computer readable storage medium can be any readable medium that can be accessed by a computer. The computer readable storage medium can be a non-transitory computer readable medium. The non-transitory computer readable medium can include a tangible medium that can store programming for use by or in connection with an instruction execution system, apparatus, or device.
[0086] The program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++, or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device or entirely on the remote computing device or server. In the latter scenario, the remote computing device can be connected to the user's computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computing device, such as through the Internet using an Internet Service Provider.
[0087] In summary, the present application aims to provide a dual-robot-based loading and unloading system, method, device and storage medium, which can cooperatively unload the containers in the container through two robots, effectively shorten the rotating stroke of the robot, reduce the unit time of single handling and improve the overall handling efficiency.
[0088] The above is a further detailed description of the present application in combination with specific preferred embodiments, and the specific implementation of the present application should not be limited to these descriptions. For ordinary skilled persons in the technical field to which the present application belongs, without departing from the concept of the present application, a number of simple deductions or substitutions can be made, which should be considered as falling within the protection scope of the present application.
Claims
1. A loading and unloading device based on dual robotic arms, characterized in that: include: A drag chain conveyor line (23) having a conveyor belt; as well as A dual-arm loading and unloading robot (2) includes an AGV chassis (20) capable of driving into a cargo box and two mechanical arms (21, 22), wherein the mechanical arms (21, 22) are arranged on both sides of the upper surface of the AGV chassis (20), the mechanical arms (21, 22) extend toward the front end of the AGV chassis (20) and can rotate based on the AGV chassis (20), at least the first end of the drag chain conveyor line (23) is detachably connected to the center of the upper surface of the AGV chassis (20) and is located between the mechanical arms (21, 22), and the two mechanical arms (21, 22) respectively transport cargo to the first end of the drag chain conveyor line (23) at intervals in time.
2. The dual-arm loading and unloading device according to claim 1, characterized in that: The first end of the drag chain conveyor line (23) is located in the overlapping area of the rotation ranges of the two mechanical arms (21, 22).
3. The dual-manipulator loading and unloading device according to claim 1, characterized in that: The length direction of the AGV chassis (20) is perpendicular to the extension direction of the drag chain conveyor line (23), the forward direction of the AGV chassis (20) traveling inside the cargo box is perpendicular to the length direction of the AGV chassis (20), and the forward direction of the AGV chassis (20) traveling inside the cargo box is parallel to the width direction of the AGV chassis (20).
4. The dual-arm loading and unloading device according to claim 1, characterized in that: It also includes a sorting robot (24) connected to the second end of the drag chain conveyor line (23) and sorting the goods conveyed by the drag chain conveyor line (23) through a mechanical arm.
5. The dual-manipulator loading and unloading device according to claim 1, characterized in that: The dual-arm loading and unloading robot (2) further includes a point cloud acquisition device; 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, respectively, and establishes a left-side picking task based on the robotic arm located on the left and each left-side container, and a right-side picking task based on the robotic arm located on the right and each right-side container, respectively. The first time period in which the robotic arm enters the first end of the drag chain conveyor line (23) in the left-side picking task and the second time period in which the robotic arm enters the first end of the drag chain conveyor line (23) in the right-side picking task are staggered in time sequence.
6. The dual-arm loading and unloading device according to claim 5, characterized in that: Each of the left-side picking tasks includes a first extending-out picking-up period and a first retracting-out placing period, and each of the right-side picking-up tasks includes a second extending-out picking-up period and a second retracting-out placing period. The first extending-out picking-up period of the left-side picking task overlaps in timing with the second retracting-out placing period of the right-side picking task, and the first retracting-out placing period of the left-side picking task overlaps in timing with the second extending-out picking-up period of the right-side picking task.
7. The dual-arm loading and unloading device according to claim 6, characterized in that: After all the containers in the current row are transported to the drag chain conveyor line (23), the dual-arm loading and unloading robot (2) 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.
8. A method for loading and unloading cargo based on dual robotic arms, characterized in that: The dual-manipulator loading and unloading device according to claim 5 comprises 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, establishing a left-side picking task based on the robotic arm located on the left and each left container, and establishing a right-side picking task based on the robotic arm located on the right and each right container; S130: The left robotic arm picks up goods based on the left-side picking task, and the right robotic arm picks up goods based on the right-side picking task, wherein a first time period during which the robotic arm enters the first end of the drag chain conveyor line in the left-side picking task and a second time period during which the robotic arm enters the first end of the drag chain conveyor line in the right-side picking task are staggered in timing; and S140. After all the containers in the current row are moved to the drag chain conveyor line, the dual-arm 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.
9. A loading and unloading equipment based on dual robotic arms, characterized in that: include: processor; a memory storing executable instructions for the processor; Wherein, the processor is configured to perform the steps of the dual-robotic-arm-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 loading and unloading method based on dual robotic arms as described in claim 8 are implemented.