Parallel type posture adjusting conveying device based on multi-view vision closed-loop control

Abstract

The invention discloses a parallel type posture adjusting conveying device based on multi-view vision closed-loop control. The parallel type posture adjusting conveying device mainly comprises an automatic guide conveying vehicle, a multi-degree-of-freedom posture adjusting mechanism, a vision positioning assembly and a control module. The automatic guide conveying vehicle carries out-warehouse and in-warehouse of the automatic docking equipment needing docking and is matched with other equipment; the multi-degree-of-freedom posture adjusting mechanism comprises four modules including three sets of posture adjusting assemblies, a middle posture adjusting assembly, a front posture adjusting assembly and a front auxiliary supporting assembly, each module has three or four degrees of freedom, and automatic butt joint of different types of equipment is completed through cooperation of the multiple modules. The method has the advantages of being short in butt joint time, high in butt joint precision, good in compatibility, capable of adapting to automatic butt joint working conditions of equipment of various models, and capable of meeting the butt joint requirements of equipment of more models.

Description

Technical Field

[0001] This invention belongs to the field of attitude adjustment and docking technology, and relates to a parallel attitude adjustment and conveying device based on multi-view vision closed-loop control. Background Technology

[0002] A large cylindrical high-efficiency storage and intelligent rapid warehousing system needs to achieve efficient storage, automatic conveying, and automatic docking.

[0003] Existing docking equipment mainly relies on manual operation to assemble the equipment, requiring human-machine collaboration. This results in low efficiency, numerous manual operations, a high probability of errors, and significant impact of human experience on docking accuracy. To overcome these shortcomings, it is necessary to develop an automated docking device for multiple equipment models within a highly efficient storage and intelligent rapid retrieval system.

[0004] To address existing technologies, a parallel attitude adjustment and conveying device based on multi-view vision closed-loop control is proposed. The automated guided vehicle (AGV) tracks the entire device's movement within the warehouse; the vision system acts as the device's "eyes"; and the multi-degree-of-freedom attitude adjustment mechanism executes the actions. This problem is solved through a hand-eye coordination design approach combining visual positioning and multi-degree-of-freedom attitude adjustment, thereby improving docking accuracy and reducing personnel workload. Summary of the Invention

[0005] The technical problem to be solved by this invention is to address the difficulties in confirming the attitude of equipment before docking, the low efficiency of attitude adjustment during docking, and the limitations of the coordination between docking equipment and other equipment. This invention provides a parallel attitude adjustment and conveying device based on multi-view vision closed-loop control to achieve automatic and high-precision docking of equipment in an efficient storage and intelligent rapid warehousing system.

[0006] To achieve the above objectives, the present invention provides a parallel attitude adjustment and conveying device based on multi-view vision closed-loop control, which mainly includes an automatic guided conveying vehicle, a multi-degree-of-freedom attitude adjustment mechanism, a multi-view vision positioning component, and a control module.

[0007] An automated guided vehicle (AGV) carries the equipment to be docked, facilitating the automatic docking of equipment and its operation in conjunction with other equipment. A multi-view vision positioning component acquires the position parameters of the target point of the product through a camera, calculates the target attitude parameters of the docking product through attitude analysis, and transmits these parameters to the control module. The control module calculates the motion parameters of the attitude adjustment mechanism based on the initial and target position parameters and transmits these parameters to the attitude adjustment mechanism control system. The attitude adjustment mechanism control system, through two sets of parallel attitude adjustment modules in the multi-degree-of-freedom attitude adjustment mechanism, adjusts the attitude of different products in six degrees of freedom (lateral, vertical, horizontal, yaw, roll, and pitch) according to specified parameters, and automatically docks the equipment. A multi-degree-of-freedom attitude adjustment mechanism is designed, mainly composed of four modules: three sets of attitude adjustment components, a middle attitude adjustment component, a front attitude adjustment component, and a front auxiliary support component. Each module has three or four degrees of freedom. The cooperation of multiple modules completes the automatic docking function for different types of equipment. During equipment docking, the vision positioning component takes pictures and analyzes whether the docking requirements are met. If the docking requirements are met, the equipment docking is completed.

[0008] The overall beneficial effects of this invention are reflected in the following aspects.

[0009] 1) This invention designs a parallel attitude adjustment method, which realizes the attitude adjustment of the product in six degrees of freedom (lateral, vertical, horizontal, yaw, roll and pitch) through two sets of parallel attitude adjustment modules to meet the product docking requirements. 2) The multi-view vision closed-loop control method of the present invention obtains the position of the target point of the product through a camera, and calculates the target posture of the docking product through posture analysis; 3) Short docking time: The docking time of the same equipment is 1 / 3 of that of manual docking; 4) High docking accuracy: Adopting a vision positioning mechanism and servo drive control technology, the axial displacement accuracy is 0.5mm and the angular displacement accuracy is 0.1°, which can meet the docking requirements of more types of equipment; 5) Good compatibility: This invention is mainly for the docking of cylindrical or conical products. The docking surface only needs to be circular, which can adapt to the automatic docking conditions of various types of equipment. Attached Figure Description

[0010] Figure 1 This is a schematic diagram of the structure of a parallel attitude adjustment and conveying device based on multi-view vision closed-loop control according to the present invention. Figure 2 This is an isometric view of a parallel attitude adjustment and conveying device based on multi-view vision closed-loop control according to the present invention. Figure 3 This is a schematic diagram of the chassis vehicle structure in this invention; Figure 4 This is a schematic diagram of the posture adjustment module structure in this invention; Figure 5 This is a schematic diagram of the front auxiliary support component in this invention; Figure 6 , Figure 7 This is a schematic diagram of the camera component structure in this invention. Detailed Implementation

[0011] The present invention will now be described in further detail with reference to the accompanying drawings and preferred embodiments.

[0012] like Figure 1 As shown, a parallel attitude adjustment and conveying device based on multi-view vision closed-loop control mainly includes an automatic guided conveying vehicle 1, a multi-degree-of-freedom attitude adjustment mechanism 2, a multi-view vision positioning component 4, and a control module 103.

[0013] like Figure 2-7 As shown, the automated guided vehicle 1 carries the equipment to be docked, facilitating the automatic docking equipment's outbound and inbound operations, as well as its coordination with other equipment. It includes a chassis frame 101, battery 102, control module 103, guide rail slider module 104, and scheduling antenna module 105. The multi-view vision positioning component 4 includes a traveling slider 401, camera frame 402, explosion-proof glass 403, camera 404, lens 405, and light source 406. The multi-view vision positioning component 4 acquires the position parameters of the product target point through the camera 404, calculates the target attitude parameters of the docked product through attitude analysis, and then... The parameters are transmitted to the control module 103; the control module 103 controls the three parallel attitude adjustment modules and the front auxiliary support component 3 to move according to the specified parameters to complete the attitude adjustment function. The control module 103 calculates the motion parameters of the attitude adjustment modules according to the initial position parameters and target position parameters, and transmits the motion parameter requirements to the attitude adjustment module control system; the attitude adjustment module control system realizes the attitude adjustment of different products in six degrees of freedom (lateral, vertical, horizontal, yaw, roll and pitch) according to the specified parameters through the two sets of parallel attitude adjustment modules in the multi-degree-of-freedom attitude adjustment mechanism 2, and automatically adjusts and docks the attitude. The attitude adjustment module includes a horizontal base plate assembly 201, a triangular wedge lifting assembly 202, a rolling assembly 203, and a traveling drive assembly 204; the multi-degree-of-freedom attitude adjustment mechanism 2 mainly consists of four modules: three sets of attitude adjustment components, a middle attitude adjustment component, a front attitude adjustment component, and a front auxiliary support component 3. Each module has three or four degrees of freedom, and the automatic docking function of different types of equipment is completed through the cooperation of multiple modules; the front auxiliary support component 3 includes a horizontal frame assembly 301, a lifting frame assembly 302, and a traveling drive assembly 303; during the equipment docking process, the vision positioning component takes pictures and analyzes whether the docking requirements are met. If the docking requirements are met, the equipment docking is completed.

Claims

1. A parallel attitude adjustment and conveying device based on multi-view vision closed-loop control, comprising an automatic guided conveyor vehicle, a multi-degree-of-freedom attitude adjustment mechanism, a visual positioning component, and a control module, characterized in that: The automated guided vehicle carries the equipment to be docked, facilitating the automatic docking equipment's entry and exit from the warehouse and its coordination with other equipment. The multi-view vision positioning component acquires the position parameters of the product's target point through a camera, calculates the target attitude parameters of the docking product through attitude analysis, and transmits these parameters to the control module. The control module calculates the motion parameters of the attitude adjustment mechanism based on the initial and target position parameters, and transmits these parameters to the attitude adjustment mechanism control system. The attitude adjustment mechanism control system, through two sets of parallel attitude adjustment modules in the multi-degree-of-freedom attitude adjustment mechanism, performs attitude adjustments for different products in six degrees of freedom (lateral, vertical, horizontal, yaw, roll, and pitch) according to specified parameters, and automatically adjusts the attitude for docking.

2. The parallel attitude adjustment and conveying device based on multi-view vision closed-loop control according to claim 1, characterized in that: The multi-degree-of-freedom attitude adjustment mechanism consists of four main modules: three attitude adjustment components, a middle attitude adjustment component, a front attitude adjustment component, and a front auxiliary support component. Each module has three or four degrees of freedom.

3. The parallel attitude adjustment and conveying device based on multi-view vision closed-loop control as described in claim 1, characterized in that: The automated guided vehicle includes a chassis frame, battery, control module, guide rail slider module, and scheduling antenna module.

4. The parallel attitude adjustment and conveying device based on multi-view vision closed-loop control according to claim 1, characterized in that: Multi-view vision positioning components include a travel slider, camera frame, camera, lens, and light source.

5. The parallel attitude adjustment and conveying device based on multi-view vision closed-loop control according to claim 1, characterized in that: The attitude adjustment module includes a horizontal base plate assembly, a triangular wedge lifting assembly, a rolling assembly, and a travel drive assembly.

6. The parallel attitude adjustment and conveying device based on multi-view vision closed-loop control according to claim 1, characterized in that: The front auxiliary support components include a lateral frame component, a lifting frame component, and a travel drive component.

7. The parallel attitude adjustment and conveying device based on multi-view vision closed-loop control according to claim 1, characterized in that: During the equipment docking process, the visual positioning component takes pictures and analyzes whether the docking requirements are met. If the docking requirements are met, the equipment docking is completed.

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