Unmanned storehouse material accurate carrying device based on machine vision

Abstract

The unmanned storehouse material accurate carrying device based on machine vision comprises a machine body, a controller is installed in the machine body, a moving mechanism is installed on the machine body, the moving mechanism is used for driving the machine body to move, a support is fixedly installed on the machine body, and a shooting mechanism is installed on the support. The shooting mechanism is used for shooting the feeding and discharging positions of the machine body, an adjusting mechanism is installed on the machine body, the shooting mechanism transmits shot images to the controller, a first camera in the shooting mechanism shoots road surface images, a second camera shoots the feeding and discharging positions of the machine body, and road surface and goods allocation information is collected and transmitted to the controller. The controller processes and analyzes the image, then plans a moving path, controls the self-propelled vehicle to reach the position below the target goods allocation, and then controls the adjusting mechanism to drive the bearing plate to accurately ascend and descend to a proper height according to visual feedback, so that accurate carrying and positioning of the materials in the warehouse are achieved, the carrying accuracy and efficiency are improved, and manual operation errors are reduced.

Description

Technical Field

[0001] This invention relates to the field of unmanned warehouse material conveying devices, specifically to a machine vision-based precision material handling device for unmanned warehouses. Background Technology

[0002] In the field of modern warehousing and logistics, the efficiency and accuracy of warehouse material handling have a crucial impact on overall operating costs and the quality of goods management. Traditional warehouse material handling methods mainly rely on manual operation of handling equipment, such as forklifts and stackers.

[0003] Manual handling is highly dependent on the skill level and experience of the operators. Different operators have varying levels of proficiency in operating the equipment, making it difficult to guarantee accurate placement of materials in designated locations every time. This is especially true in warehouse environments with multi-layered shelving or complex storage layouts, where precise positioning and placement are even more challenging, easily leading to placement deviations that affect storage order and subsequent retrieval efficiency. Furthermore, manual handling is physically demanding, and prolonged periods of high-intensity work can easily cause operator fatigue, further reducing handling accuracy and potentially leading to safety accidents, threatening the personal safety of operators. Simultaneously, with the continuous rise in labor costs, reliance on manual material handling significantly increases the operating costs for businesses.

[0004] Furthermore, traditional material handling methods often fall short of actual needs when dealing with large-scale, high-frequency material handling tasks. Manual operation requires time to complete each handling action, including operating equipment, adjusting positions, and loading / unloading materials. In large-scale operations, the overall handling cycle is long, failing to achieve rapid and efficient material flow. To address these issues, we propose a machine vision-based precision material handling device for unmanned warehouses. Summary of the Invention

[0005] To address this issue, the present invention provides a machine vision-based unmanned warehouse material handling device to solve the problem in the prior art where different operators have varying skills and experience, making it difficult to accurately locate and place materials when faced with multi-layered shelves or complex storage layouts, which can easily lead to material placement deviations.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A machine vision-based unmanned warehouse material handling device includes a body, a controller installed inside the body, a moving mechanism mounted on the body for moving the body, a bracket fixedly mounted on the body, and a camera mechanism mounted on the bracket for capturing images of the loading and unloading points of the body. A support plate for placing materials is located above the body, and an adjustment mechanism is mounted on the body and connected to the support plate for moving the support plate to different heights. The camera mechanism transmits the captured images to the controller, which controls the operation of the moving mechanism and the adjustment mechanism.

[0008] Preferably, the mobile mechanism includes a self-propelled vehicle, which is installed below the machine body and is operated by a controller. A first camera is installed in front of the machine body, and the first camera is tilted downward to capture images of the road surface.

[0009] Preferably, a voice broadcaster is installed on the body, the voice broadcaster is electrically connected to a controller, and the controller is used to control the operation of the voice broadcaster.

[0010] Preferably, the shooting mechanism includes a support base located on one side above the machine body, the support base being located inside the bracket, a connecting shaft being fixedly installed on the support base, the connecting shaft being rotatably installed inside the bracket, and a second camera being fixedly installed on both sides of the support base, the second camera being located at a high position, the second camera being used to shoot at the loading and unloading point of the machine body, and the second camera transmitting the image to the controller;

[0011] The shooting mechanism also includes a servo motor fixedly installed on the outside of the bracket. The output shaft of the servo motor is fixedly connected to the connecting shaft. The servo motor is electrically connected to the controller, which is used to control the operation of the servo motor.

[0012] Preferably, a protective plate is provided above each of the second cameras, and the protective plate is fixedly installed on the support base.

[0013] Preferably, the adjustment mechanism includes two spaced-apart support plates, which are fixedly mounted on the machine body. Two pulleys spaced vertically are rotatably mounted on opposite sides of each support plate. A linkage shaft is provided between the two support plates, and both ends of the linkage shaft are fixedly connected to the two pulleys located below. A synchronous belt is installed on each of the two pulleys located on the same side. A stepper motor is fixedly mounted on the support plate, and the output shaft of the stepper motor is fixedly connected to the linkage shaft. The stepper motor is electrically connected to a controller, which is used to control the operation of the stepper motor.

[0014] A strip plate is provided on the top of the machine body. The strip plate is fixedly connected to the synchronous belts on both sides. A sliding groove is provided on the strip plate. A slot is provided on both sides of the sliding groove. Side strips are fixedly installed on both sides of the bearing plate. The bearing plate is slidably installed in the sliding groove. The side strips are slidably installed in the slots on the same side.

[0015] Preferably, the support plate is provided with limiting parts on both sides, the limiting parts are used to limit the material on the support plate laterally, and the side strip is provided with protrusions at both ends, the protrusions prevent the side strip from sliding off the slot.

[0016] Preferably, the adjustment mechanism further includes an electric telescopic rod fixedly installed on the machine body. A movable plate is fixedly installed at the output end of the electric telescopic rod. A slide rail is provided on the movable plate. The slide rail is vertically arranged. A cross block is fixedly installed at one end of the bearing plate. The cross block is slidably installed in the slide rail. The electric telescopic rod is electrically connected to a controller. The controller is used to control the operation of the electric telescopic rod.

[0017] Preferably, the top of the support plate has a groove, and two spaced-apart rollers are rotatably mounted in the groove. A conveyor belt is installed between the two rollers and extends above the groove. The support plate has a mounting cavity, and a motor is installed in the mounting cavity. The output shaft of the motor is fixedly connected to one side of the roller, and the motor is electrically connected to a controller for controlling the operation of the motor.

[0018] Preferably, a sealing plate is provided above the mounting cavity, and a heat dissipation groove is formed on the sealing plate. The sealing plate is fixedly installed on the support plate.

[0019] The present invention has the following advantages:

[0020] The machine captures road images using a first camera and images of the loading and unloading points using a second camera. This information is then transmitted to the controller, which processes and analyzes the images to plan the movement path. The controller then controls the self-propelled vehicle to reach the target location and, based on visual feedback, controls the adjustment mechanism to precisely lift and lower the load-bearing plate to the appropriate height. This enables precise handling and positioning of materials within the warehouse, improving the accuracy and efficiency of handling and reducing human error.

[0021] The stepper motor in the adjustment mechanism drives the pulley to rotate synchronously, which in turn drives the synchronous belt to rise and fall, enabling the strip plate and the support plate fixed on the synchronous belt to move precisely vertically. This design can accurately adjust the support plate to the appropriate height based on the height of the goods identified by the vision system, meeting the material storage and retrieval needs of goods at different heights, and greatly improving the adaptability and handling accuracy of the device in complex warehouse environments.

[0022] The electric telescopic rod allows the support plate to move back and forth. Its telescopic movement pushes or pulls the movable plate, precisely adjusting the distance between the support plate and the storage location to ensure materials land accurately at different positions on the support plate. This forward and backward adjustment function further enhances the flexibility of the device during material handling, adapting to storage locations of different layouts and sizes, ensuring accurate placement and retrieval of materials. Attached Figure Description

[0023] Figure 1 A schematic diagram of the structure of a machine vision-based precision material handling device for unmanned warehouses provided in an embodiment of the present invention. Figure 1 .

[0024] Figure 2 A schematic diagram of the structure of a machine vision-based precision material handling device for unmanned warehouses provided in an embodiment of the present invention. Figure 2 .

[0025] Figure 3 This is a front view of a machine vision-based unmanned warehouse material handling device provided in an embodiment of the present invention.

[0026] Figure 4 A side view of a machine vision-based precision material handling device for unmanned warehouses, provided as an embodiment of the present invention;

[0027] Figure 5 An exploded view of the movable plate and the bearing plate in a machine vision-based unmanned warehouse material precision handling device provided in an embodiment of the present invention;

[0028] Figure 6 An exploded view of the strip plate and side strip in a machine vision-based unmanned warehouse material precision handling device provided in an embodiment of the present invention;

[0029] Figure 7 An exploded view of the conveyor belt and bearing plate in a machine vision-based unmanned warehouse material handling device provided in an embodiment of the present invention.

[0030] In the diagram: 1. Body; 2. Controller; 3. Moving mechanism; 4. Shooting mechanism; 5. Carrier plate; 6. Bracket; 7. Adjustment mechanism; 8. Self-propelled vehicle; 9. First camera; 10. Voice broadcaster; 11. Support base; 12. Connecting shaft; 13. Second camera; 14. Servo motor; 15. Protective plate; 16. Support plate; 17. Pulley; 18. Linkage shaft; 19. Synchronous belt; 20. Stepper motor; 21. Strip plate; 22. Slide groove; 23. Slot; 24. Side strip; 25. Limiting part; 26. Protrusion; 27. Electric telescopic rod; 28. Movable plate; 29. ​​Slide rail; 30. Cross block; 31. Groove; 32. Rotating roller; 33. Conveyor belt; 34. Mounting cavity; 35. Motor; 36. Sealing plate. Detailed Implementation

[0031] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] Example 1

[0033] like Figures 1 to 7 As shown, a machine vision-based unmanned warehouse material handling device includes a body 1, a controller 2 installed inside the body 1, a moving mechanism 3 installed on the body 1 for moving the body 1, a bracket 6 fixedly installed on the body 1, and a shooting mechanism 4 installed on the bracket 6 for capturing images of the loading and unloading points of the body 1. A support plate 5 for placing materials is provided above the body 1, and an adjustment mechanism 7 is installed on the body 1. The adjustment mechanism 7 is connected to the support plate 5 and is used to move the support plate 5 to different heights. The shooting mechanism 4 transmits the captured images to the controller 2, and the controller 2 controls the operation of the moving mechanism 3 and the adjustment mechanism 7.

[0034] The mobile mechanism 3 includes a self-propelled vehicle 8, which is installed below the body 1. The self-propelled vehicle 8 is operated by a controller 2. A first camera 9 is installed at the front of the body 1, and the first camera 9 is tilted downwards to capture images of the road surface. A voice broadcaster 10 is installed on the body 1, and the voice broadcaster 10 is electrically connected to the controller 2. The controller 2 is used to control the operation of the voice broadcaster 10.

[0035] The shooting mechanism 4 includes a support base 11 located on one side above the machine body 1, inside the bracket 6. A connecting shaft 12 is fixedly mounted on the support base 11 and rotatably mounted inside the bracket 6. Second cameras 13 are fixedly mounted on both sides of the support base 11, positioned at a high position. The second cameras 13 are used to capture images of the loading and unloading points of the machine body 1 and transmit the images to the controller 2. The shooting mechanism 4 also includes a servo motor 14 fixedly mounted on the outside of the bracket 6. The output shaft of the servo motor 14 is fixedly connected to the connecting shaft 12 and electrically connected to the controller 2. The controller 2 controls the operation of the servo motor 14. Protective plates 15 are provided above each of the second cameras 13 and are fixedly mounted on the support base 11.

[0036] The device's workflow begins with visual perception of the environment. Road surface and cargo location information is collected via a first camera 9 and a second camera 13, and the image data is transmitted to a controller 2. After processing and analyzing the images, the controller 2 plans a movement path and controls the self-propelled vehicle 8 to reach the target cargo location. Subsequently, based on visual feedback, the controller 2 controls the adjustment mechanism 7 to precisely raise and lower the support plate 5 to the appropriate height, completing the retrieval or placement of goods and ensuring intelligent movement and precise positioning within the warehouse. The device also features a voice broadcast function; a voice broadcaster 10 is used to indicate status or issue alarms.

[0037] Example 2

[0038] like Figures 2 to 7 As shown, a machine vision-based unmanned warehouse material handling device includes all the contents of Embodiment 1. In addition, the adjustment mechanism 7 includes two spaced support plates 16, which are fixedly installed on the machine body 1. Two vertically spaced pulleys 17 are rotatably installed on opposite sides of the support plates 16. A linkage shaft 18 is provided between the two support plates 16. The two ends of the linkage shaft 18 are fixedly connected to the two pulleys 17 located below. A synchronous belt 19 is installed on the two pulleys 17 located on the same side. A stepper motor 20 is fixedly installed on the support plate 16. The output shaft of the stepper motor 20 is fixedly connected to the linkage shaft 18. The stepper motor 20 is electrically connected to the controller 2. The controller 2 is used to control the operation of the stepper motor 20.

[0039] A strip plate 21 is provided on the top of the machine body 1. The strip plate 21 is fixedly connected to the synchronous belts 19 on both sides. A sliding groove 22 is provided on the strip plate 21, and a slot 23 is provided on both sides of the sliding groove 22. Side strips 24 are fixedly installed on both sides of the support plate 5. The support plate 5 is slidably installed in the sliding groove 22, and the side strips 24 are slidably installed in the slots 23 on the same side. Limiting parts 25 are provided on both sides of the support plate 5 to limit the material on the side of the support plate 5. Protrusions 26 are provided at both ends of the side strips 24 to prevent the side strips 24 from sliding off the slots 23.

[0040] The adjustment mechanism 7 also includes an electric telescopic rod 27 fixedly installed on the body 1. A movable plate 28 is fixedly installed at the output end of the electric telescopic rod 27. A slide 29 is provided on the movable plate 28. The slide 29 is vertically arranged. A cross block 30 is fixedly installed at one end of the bearing plate 5. The cross block 30 is slidably installed in the slide 29. The electric telescopic rod 27 is electrically connected to the controller 2. The controller 2 is used to control the operation of the electric telescopic rod 27.

[0041] The top of the support plate 5 has a groove 31, on which two spaced-apart rollers 32 are rotatably mounted. A conveyor belt 33 is installed between the two rollers 32, extending above the groove 31. The support plate 5 has a mounting cavity 34, in which a motor 35 is installed. The output shaft of the motor 35 is fixedly connected to one side of the roller 32. The motor 35 is electrically connected to a controller 2, which controls the operation of the motor 35. A sealing plate 36 is provided above the mounting cavity 34, with heat dissipation grooves on it. The sealing plate 36 is fixedly mounted on the support plate 5.

[0042] The first camera 9 at the front of the device continuously tilts downwards to capture images of the road surface, identifying preset path markers (such as color-coded QR codes) or natural features. The controller 2 analyzes these images to calculate the deviation between the current position and the target route, and then controls the driving direction and speed of the self-propelled vehicle 8 to achieve automatic guidance and obstacle avoidance.

[0043] Two secondary cameras 13, positioned at a high elevation, are specifically designed to capture images of the loading and unloading area (shelf locations). They can identify location numbers or determine the specific location of materials to be stored or retrieved through image comparison. Based on the identification results, the controller 2 controls the servo motor 14 to rotate the support base 11, fine-tuning the camera's angle to obtain a better field of view and ensure positioning accuracy. The collected location information is crucial for subsequent precise adjustments to the actuators. Simultaneously, it can also capture images of the materials on the support plate 5.

[0044] The posture of the support plate 5 is adjusted by the adjustment mechanism 7 to adapt to different heights of the goods and ensure stable storage and retrieval of materials. The controller 2 controls the stepper motor 20 to rotate according to the height of the goods identified by the vision system. The stepper motor 20 drives all the pulleys 17 to rotate synchronously through the linkage shaft 18, thereby driving the synchronous belt 19 to rise and fall. The strip plate 21 fixed on the synchronous belt 19, together with the support plate 5, can achieve precise vertical movement.

[0045] By activating the electric telescopic rod 27, its telescopic movement pushes or pulls the movable plate 28. The movable plate 28 moves synchronously with the cross block 30 and the bearing plate 5, thereby driving the bearing plate 5 to move back and forth, so as to precisely adjust the distance between the bearing plate 5 and the cargo position and ensure that the material can accurately fall on different positions on the bearing plate 5.

[0046] Once the height and angle of the support plate 5 are adjusted to the correct position, the controller 2 starts the motor 35, which drives the roller 32 to rotate the conveyor belt 33. Utilizing the friction between the conveyor belt 33 and the bottom of the material, the material is smoothly placed in the storage location. The device then moves the support plate 5 away from the storage location, completing the material transfer. The position of the material is subsequently corrected by a nearby robotic arm.

[0047] Throughout the operation, the voice broadcaster 10 can broadcast voice messages under the control of the controller 2, such as indicating the working status and abnormal situations. The protective plate 15 protects the second camera 13 from falling objects and damaging it. The sealing plate 36 above the mounting cavity 34 seals the mounting cavity 34, and the heat dissipation slots on it help dissipate heat from the motor 35.

Claims

1. A machine vision-based unmanned warehouse material handling device, comprising a body (1), characterized in that, The machine body (1) is equipped with a controller (2), and a moving mechanism (3) is installed on the machine body (1). The moving mechanism (3) is used to move the machine body (1). A bracket (6) is fixedly installed on the machine body (1). A shooting mechanism (4) is installed on the bracket (6). The shooting mechanism (4) is used to shoot the loading and unloading area of ​​the machine body (1). A support plate (5) for placing materials is provided above the machine body (1). An adjustment mechanism (7) is installed on the machine body (1). The adjustment mechanism (7) is connected to the support plate (5). The adjustment mechanism (7) is used to move the support plate (5) to different heights. The shooting mechanism (4) transmits the captured images to the controller (2). The controller (2) is used to control the operation of the moving mechanism (3) and the adjustment mechanism (7).

2. The machine vision-based unmanned warehouse material handling device according to claim 1, characterized in that, The mobile mechanism (3) includes a self-propelled vehicle (8), which is installed below the body (1). The self-propelled vehicle (8) is operated by a controller (2). A first camera (9) is installed in front of the body (1). The first camera (9) is tilted downwards and captures images of the road surface.

3. The machine vision-based unmanned warehouse material handling device according to claim 2, characterized in that, The body (1) is equipped with a voice broadcaster (10), which is electrically connected to a controller (2). The controller (2) is used to control the operation of the voice broadcaster (10).

4. The machine vision-based unmanned warehouse material handling device according to claim 1, characterized in that, The shooting mechanism (4) includes a support base (11) located on one side above the machine body (1). The support base (11) is located inside the bracket (6). A connecting shaft (12) is fixedly installed on the support base (11). The connecting shaft (12) is rotatably installed inside the bracket (6). A second camera (13) is fixedly installed on both sides of the support base (11). The second camera (13) is located at a high position. The second camera (13) is used to shoot the loading and unloading area of ​​the machine body (1). The second camera (13) transmits the image to the controller (2). The shooting mechanism (4) also includes a servo motor (14) fixedly installed on the outside of the bracket (6). The output shaft of the servo motor (14) is fixedly connected to the connecting shaft (12). The servo motor (14) is electrically connected to the controller (2). The controller (2) is used to control the operation of the servo motor (14).

5. The machine vision-based unmanned warehouse material handling device according to claim 4, characterized in that, Each of the second cameras (13) is provided with a protective plate (15), which is fixedly installed on the support base (11).

6. The machine vision-based unmanned warehouse material handling device according to claim 1, characterized in that, The adjustment mechanism (7) includes two spaced support plates (16), which are fixedly mounted on the body (1). Two pulleys (17) are rotatably mounted on opposite sides of the support plates (16), and a linkage shaft (18) is provided between the two support plates (16). The two ends of the linkage shaft (18) are fixedly connected to the two pulleys (17) located below. A synchronous belt (19) is installed on the two pulleys (17) located on the same side. A stepper motor (20) is fixedly mounted on the support plate (16). The output shaft of the stepper motor (20) is fixedly connected to the linkage shaft (18). The stepper motor (20) is electrically connected to the controller (2), and the controller (2) is used to control the operation of the stepper motor (20). The machine body (1) is provided with a strip plate (21) on the top. The strip plate (21) is fixedly connected to the synchronous belts (19) on both sides. The strip plate (21) is provided with a sliding groove (22). The sliding groove (22) is provided with slots (23) on both sides. The support plate (5) is fixedly installed with side strips (24) on both sides. The support plate (5) is slidably installed in the sliding groove (22). The side strips (24) are slidably installed in the slots (23) on the same side.

7. The machine vision-based unmanned warehouse material handling device according to claim 6, characterized in that, Both sides of the bearing plate (5) are provided with limiting parts (25). The limiting parts (25) are used to limit the material on the side of the bearing plate (5). Both ends of the side strip (24) are provided with protrusions (26). The protrusions (26) prevent the side strip (24) from sliding off the slot (23).

8. The machine vision-based unmanned warehouse material handling device according to claim 7, characterized in that, The adjustment mechanism (7) also includes an electric telescopic rod (27) fixedly installed on the body (1). A movable plate (28) is fixedly installed at the output end of the electric telescopic rod (27). A slide rail (29) is provided on the movable plate (28). The slide rail (29) is vertically arranged. A cross block (30) is fixedly installed at one end of the bearing plate (5). The cross block (30) is slidably installed in the slide rail (29). The electric telescopic rod (27) is electrically connected to the controller (2). The controller (2) is used to control the operation of the electric telescopic rod (27).

9. A machine vision-based precision material handling device for unmanned warehouses according to claim 8, characterized in that, The top of the support plate (5) is provided with a groove (31), and two spaced rollers (32) are rotatably mounted in the groove (31). A conveyor belt (33) is installed between the two rollers (32). The conveyor belt (33) extends above the groove (31). The support plate (5) is provided with an installation cavity (34), and a motor (35) is installed in the installation cavity (34). The output shaft of the motor (35) is fixedly connected to one side of the roller (32). The motor (35) is electrically connected to a controller (2), and the controller (2) is used to control the operation of the motor (35).

10. A machine vision-based precision material handling device for unmanned warehouses according to claim 9, characterized in that, A sealing plate (36) is provided above the mounting cavity (34), and a heat dissipation groove is provided on the sealing plate (36). The sealing plate (36) is fixedly installed on the bearing plate (5).

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