An article transfer system and method for a clean room AGV and robot collaborative transfer window

Abstract

The present application relates to the technical field of intelligent manufacturing and clean room automation logistics system, and specifically discloses an article transfer system and method of a clean room AGV and mechanical arm collaborative transfer window, comprising an AGV transfer unit, a mechanical arm operation unit, an intelligent transfer window unit and a central control unit. The central control unit dispatches the outside AGV to transfer the article to the outside of the transfer window, the mechanical arm places the article in the window and then closes the outside door, and starts the ultraviolet sterilization and negative pressure fan; after sterilization is completed, the inside door is opened, the inside mechanical arm takes out the article and transfers it to the inside AGV, and completes the sterile transfer from the outside to the inside. The present application uses laser SLAM navigation and 3D structured light visual guidance to realize high-precision positioning and adaptive grabbing; combined with the particle counter to dynamically adjust the sterilization time, automatically generate an electronic report and upload the MES, and has an abnormal SMS and telephone alarm function, which significantly improves the automation, intelligence and traceability of clean article transfer.

Description

Technical Field

[0001] This invention relates to the field of intelligent manufacturing and cleanroom automated logistics system technology, specifically to a cleanroom AGV and robotic arm collaborative transfer window item transfer system and method. Background Technology

[0002] Pass-through windows, as an auxiliary device in cleanrooms, are primarily used for transferring small items between clean areas and between non-clean areas, reducing the number of times cleanroom doors are opened and minimizing contamination. Pass-through windows are widely used in microtechnology, biological laboratories, pharmaceutical factories, hospitals, food processing industries, LCD manufacturing, and electronics factories—places requiring air purification. In cleanroom production scenarios in industries such as biopharmaceuticals, electronic chips, and precision instruments, item transfer is a crucial link in ensuring production continuity, while simultaneously requiring strict control of microbial and dust contamination, complying with GMP and other industry standards. Traditional cleanroom item transfer relies heavily on manual operation of pass-through windows. Operators must enter the clean area to open the pass-through window door to place and retrieve items, which not only disrupts the cleanroom's airflow barrier, increasing the risk of contamination, but also suffers from low efficiency, high labor costs, and untraceable operational processes.

[0003] The existing technology has the following drawbacks: 1. In existing automation solutions, the collaboration between AGVs and robotic arms is mostly limited to simple loading and unloading. The transfer window still requires manual assistance to complete operations such as disinfection triggering and door opening and closing. The three lack integrated collaborative control.

[0004] 2. Although some transfer windows have automatic disinfection functions, they cannot accurately send signals back to the AGV and robotic arm after disinfection, which can easily lead to a break in the transfer connection.

[0005] 3. The lack of visual positioning correction when the robotic arm picks up and puts down items makes it difficult to adapt to the deviation of the items being placed, which can easily cause damage or secondary contamination of the items and fail to meet the high-precision and low-pollution transportation requirements of cleanrooms. Summary of the Invention

[0006] In view of the above-mentioned technical problems in related technologies, the present invention provides a cleanroom AGV and robotic arm collaborative transfer window item transfer system and method, which can solve the above problems.

[0007] To achieve the above-mentioned technical objectives, the technical solution of the present invention is implemented as follows: A cleanroom AGV and robotic arm collaborative transfer window item transfer system, including... At least two AGV transfer units, including a first AGV transfer trolley and a second AGV transfer trolley; the AGV transfer unit adopts a laser SLAM navigation AGV trolley, equipped with a positioning laser module, a communication module and a cargo carrying platform, with a positioning accuracy of ≤±10mm, used to provide real-time feedback of location information and receive central control commands to move to a designated location.

[0008] At least two robotic arm operation units are included, comprising a first robotic arm operation unit located outside the intelligent transfer window unit and a second robotic arm operation unit located inside the intelligent transfer window unit. Each robotic arm operation unit is a six-axis robotic arm with an integrated electric gripper and a 3D stereoscopic vision module at its end. The 3D stereoscopic vision module integrates a blue stripe laser and a 3-megapixel optical lens, used to sequentially capture 2D images and perform 3D structured light scanning on the object being photographed to obtain a 3D point cloud model. By integrating multiple object models and gripping point settings, and using combinations of different operators, object recognition and optimal gripping pose calculation are achieved. Its field of view is ≥670×390mm, camera positioning accuracy is ±0.1mm, and the maximum repeat photography accuracy after algorithm optimization is ≤0.1mm.

[0009] At least one intelligent pass-through window unit, with its chamber made of 304 stainless steel and featuring a rounded inner wall, includes a double-door interlocking mechanism, a disinfection module, a negative pressure fan, a HEPA high-efficiency filter, a sensing module, and a signal interaction module. The negative pressure fan and HEPA filter work together to maintain a negative pressure of -15 to -20 Pa inside the chamber. The disinfection module uses ultraviolet disinfection and integrates a time relay and a particle counter to dynamically adjust the disinfection time based on the on-site particle count feedback. The sensing module includes a door magnetic switch, a temperature and humidity sensor, and a differential pressure sensor. The signal interaction module uploads disinfection parameters to the central control unit in real time and automatically generates an electronic disinfection report with a timestamp. The double-door interlocking mechanism uses electronic interlocking to forcibly lock the other door when one side is opened.

[0010] The central control unit includes a host computer, an integrated Siemens 1500 series PLC controller, and a Siemens touch screen. The host computer contains scheduling software for AGV path planning and scheduling, and for obtaining the current status information of the AGVs in real time. The central control unit interfaces with the workshop MES system via TCP / IP protocol to store transfer logs and disinfection parameters for a storage time of ≥30 days. The central control unit is also configured to notify the person in charge via SMS and telephone when a door is not closed properly or disinfection parameters are abnormal. During the movement of the AGV transfer unit, the trolley detects pedestrians in real time through a vision system on the top. This vision system uses OrangePi5Plus for lightweight front-end data acquisition and deploys the YOLO model on the server-side GPU to achieve pedestrian detection and voice broadcast.

[0011] The central control unit is communicatively connected to the AGV transfer unit, the robotic arm operation unit, and the intelligent transfer window unit, and is configured to execute the following control logic: When items need to be transferred from the outside to the inside of the intelligent transfer window unit, the first AGV transfer trolley is controlled to transport the items to the waiting transfer position on the outside of the intelligent transfer window unit; the first robotic arm operating unit is controlled to transfer the items from the first AGV transfer trolley to the intelligent transfer window unit, and the outer door is controlled to close after the first robotic arm operating unit resets; the disinfection module and the negative pressure fan are controlled to start to complete the disinfection operation; after disinfection is completed, the inner door is controlled to open; the second robotic arm operating unit is controlled to extend into the intelligent transfer window unit to transfer the items to the second AGV transfer trolley located in the inner waiting position; and the inner door is controlled to close after the second robotic arm operating unit resets, and the disinfection module and the negative pressure fan are turned off, thereby completing the aseptic transfer of items from the outside to the inside.

[0012] Based on the above system, the present invention also provides a method for transferring items using a collaborative transfer window between a cleanroom AGV and a robotic arm, comprising the following steps: External transfer steps: After receiving the transfer task, the central control unit controls the first AGV transfer vehicle to transport the items to the transfer position outside the intelligent transfer window unit; External window entry procedure: Control the first robotic arm operating unit on the outside to transfer the item into the intelligent transfer window unit, and close the outer door after resetting; Disinfection steps: Activate the disinfection module and negative pressure fan of the intelligent transfer window unit to complete the disinfection operation; Inner retrieval steps: After disinfection, open the inner door, control the second robotic arm operating unit inside to extend into the intelligent transfer window unit, retrieve the item and transfer it to the second AGV transfer trolley located in the inner standby position; Reset Completion Steps: Control the second robotic arm operating unit to reset, close the inner door and the disinfection module and negative pressure fan, and complete the transfer of items from the outside to the inside.

[0013] In the outer window entry step and / or the inner object retrieval step, the robotic arm operating unit identifies the door opening button or the location of the object through the 3D stereoscopic vision module at its end, generates a three-dimensional point cloud map and compares it with preset coordinates, automatically corrects the posture, and then performs the gripping or placement operation; the disinfection step further includes dynamically adjusting the disinfection time through a particle counter and automatically generating an electronic disinfection report with a timestamp for archiving and backup; in the outer transfer step, the AGV transfer vehicle achieves precise docking through laser SLAM navigation, with a positioning deviation of ≤±10mm; after the transfer is completed, the central control unit automatically records the transfer log, including disinfection parameters, AGV path, and operation time.

[0014] The beneficial effects of this invention are: The entire process is automated and collaborative, requiring almost no manual intervention in the pass-through window operation. This prevents personnel from entering and exiting the cleanroom and disrupting the airflow barrier. Combined with negative pressure isolation and high-efficiency filtration design, the contamination rate of transferred items is reduced to below 0.1%, meeting cleanroom requirements.

[0015] It achieves precise signal linkage between disinfection and transportation, improves the picking and placing accuracy of the robotic arm through visual positioning correction and force sensing control, adapts to transportation boxes of different sizes and characteristics, avoids damage to items and placement deviations, and greatly improves transportation efficiency.

[0016] Its modular design adapts to various scenarios, supports data traceability and MES system integration, and meets the cleanliness and compliance requirements of different industries such as biopharmaceuticals and electronic chips, making it highly versatile.

[0017] It has a comprehensive alarm and security mechanism, with double-door interlocking, parameter monitoring and SMS and telephone alarm functions forming multiple protections to avoid the risk of pollution caused by misoperation and improve the stability of system operation. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] The present invention will now be described in further detail with reference to the accompanying drawings.

[0020] Figure 1 This is a flowchart of a cleanroom AGV and robotic arm collaborative transfer window item transfer system according to an embodiment of the present invention; Figure 2 This is a comparison of camera positioning accuracy data before and after 3D vision algorithm optimization in an embodiment of the present invention. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention are within the scope of protection of the present invention.

[0022] Example 1 like Figure 1-2 As shown, the present invention discloses a cleanroom AGV and robotic arm collaborative transfer window item transfer system, including... AGV Transfer Unit: This embodiment includes two AGV transfer units: a first AGV transfer trolley and a second AGV transfer trolley. Each AGV transfer trolley uses laser SLAM navigation technology and is equipped with a positioning laser module, a wireless communication module (such as 5GHz industrial WiFi), and a cargo-carrying platform. The positioning laser module has a positioning accuracy of ≤±10mm and can feed back the AGV's planar coordinates and heading angle to the central control unit in real time. The trolley body uses differential drive, has a maximum load capacity of 100kg, and supports automatic charging and obstacle avoidance functions.

[0023] Robotic arm operation units: This embodiment includes two robotic arm operation units: a first robotic arm operation unit (located on the outside of the intelligent transfer window unit, i.e., the non-clean area side) and a second robotic arm operation unit (located on the inside of the intelligent transfer window unit, i.e., the clean area side). Each robotic arm operation unit uses a six-axis collaborative robotic arm (such as UR20e), with an industrial-grade electric gripper (repeatability 0.02mm, maximum gripping force 140N) and a 3D stereo vision module integrated at the end.

[0024] The 3D stereo vision module integrates a blue stripe laser (450nm wavelength) and a 3-megapixel CMOS optical lens. During operation, the module first captures a 2D image of the object to obtain its contour and texture information. Then, it projects blue structured light stripes and uses a phase-shifting method to acquire high-density point cloud data, generating a 3D point cloud model within the field of view. The module has pre-set CAD models and a grasping point library for various objects (such as insulated transport boxes and petri dish racks of different sizes). Using segmentation, registration, and feature matching algorithms from the point cloud library, it achieves object recognition through combinations of different operators and employs the minimum bounding box method to calculate the optimal grasping point and grasping pose. The entire field of view is 700×400mm, with a camera positioning accuracy of ±0.1mm and a maximum repeatability accuracy of ≤0.1mm after algorithm optimization.

[0025] Intelligent Pass-Through Window Unit: The intelligent pass-through window unit's enclosure is made of 304 stainless steel brushed plate, 2.0mm thick, with all inner wall corners featuring rounded transitions of R≥10mm, eliminating any unsanitary corners. The enclosure dimensions are 800mm wide × 800mm high × 600mm deep. The enclosure is equipped with a double-door interlocking mechanism, a disinfection module, a negative pressure fan, a HEPA high-efficiency filter (filtration efficiency 99.97%@0.3μm), a sensing module, and a signal interaction module.

[0026] Double-door interlock mechanism: Electronic interlocking is achieved using an electromagnetic lock and a micro switch. When the outer door is opened, the electromagnetic lock on the inner door is energized and forcibly locked; conversely, when the outer door is closed, the inner door is locked. When both doors are closed simultaneously, the interlock is released.

[0027] Negative pressure and filtration system: The negative pressure fan is a centrifugal fan connected in series with the HEPA filter to create a negative pressure environment of -15~-20Pa inside the chamber (set to -18Pa±2Pa in this embodiment). The airflow passes through the chamber, the HEPA filter, and the negative pressure fan to the outside door environment, so that negative pressure is created inside the chamber to prevent pollutants from overflowing.

[0028] Disinfection Module: Utilizing four 30W ultraviolet germicidal lamps (wavelength 254nm), evenly distributed on the top and sides of the chamber. The module integrates a time relay (settable from 0 to 60 minutes) and a laser particle counter (detecting particle sizes of 0.3μm, 0.5μm, and 5.0μm). The particle counter samples at a frequency of 1Hz. When the detected particle concentration exceeds a set threshold (e.g., ≥1000 0.5μm particles / m³), the ultraviolet irradiation time is automatically extended; conversely, the disinfection process can be terminated prematurely, achieving dynamic intelligent control.

[0029] Sensing module: includes door magnetic switch (detects door opening and closing status), temperature and humidity sensor (range 0~50℃, ±0.3℃; 0~100%RH, ±2%RH) and differential pressure sensor (range -50~+50Pa, accuracy ±0.5Pa).

[0030] Signal interaction module: Using the Profinet protocol, the disinfection parameters (start / end time, duration, UV intensity, real-time particle count, temperature, humidity, and differential pressure) are uploaded in real time to the host computer WINCC of the central control unit. The host computer automatically generates an electronic disinfection report with a timestamp, archives it daily in PDF format, and backs it up to the historical server for at least 30 days.

[0031] Central Control Unit: The central control unit includes an industrial-grade host computer, a Siemens 1518-4PN / DP high-end PLC controller, and a Siemens TP1200 touchscreen. The host computer runs AGV scheduling software (such as K-Master), which can plan AGV paths, assign tasks, and monitor power and location in real time. The PLC, as the control core of the entire system, communicates with the host computer via the S7 protocol and exchanges real-time data with the AGVs, robotic arm controllers, and pass-through windows via the Profinet bus.

[0032] The central control unit is also equipped with an SMS alarm module and a telephone voice alarm module. When the door magnetic switch detects that the door is not closed properly for more than 5 seconds, the differential pressure sensor detects a loss of negative pressure, or the disinfection module fails to meet the standard after three consecutive dynamic adjustments, the system immediately sends SMS and voice alarms to three pre-set levels of responsible persons (operator, engineer, and workshop director). At the same time, the central control unit reports all transfer logs (including AGV path trajectory, robotic arm action sequence, disinfection parameters, operator ID, etc.) to the workshop MES system via TCP / IP protocol, achieving full-process traceability.

[0033] The process of transferring items from the outside to the inside: This embodiment takes the example of sending a box of biological samples requiring aseptic transport (stored in a customized insulated transport box) from a non-clean area (outside) to a clean room (inside) to illustrate the specific working steps of the system.

[0034] Step 1: Task Issuance and AGV External Retrieval Operators initiate an "external-to-internal transfer task" on the touchscreen of the MES system or central control unit, inputting the item type and target cleanroom number. The central control unit's scheduling software automatically plans the path of the first AGV transfer vehicle and issues instructions via wireless network. The first AGV transfer vehicle departs from the charging pile, using laser SLAM navigation to the shelf next to the outer temporary storage area, and loads the insulated transfer box from the item carrying platform onto its own carrying platform using a lifting or side-pulling method. After loading, the first AGV transfer vehicle automatically navigates to the waiting docking point outside the intelligent transfer window unit, uses the positioning laser module to lock onto the ground reflective mark, achieving a precise docking of ±8mm, and sends a "in position" signal to the central control unit.

[0035] Step 2: Place the robotic arm through the window After receiving the positioning signal, the central control unit sends a command to the controller of the first robotic arm operating unit. The first robotic arm operating unit moves from the HOME point to the front of the outer door of the transfer window. Its end effector's 3D stereoscopic vision module first captures the opening button area of ​​the outer door, identifies the button position through 2D template matching, and simultaneously obtains the button's three-dimensional coordinates through structured light scanning. The robotic arm adjusts its posture, and the fingertip of the electric gripper lightly touches the button (pressing pressure 3N, lasting 0.5 seconds), and the outer door automatically flips upward and opens.

[0036] After the door opens, the 3D vision module again captures images of the insulated transfer box on the cargo platform, obtaining its 3D point cloud map. Comparing this with a pre-stored model, the algorithm calculates the optimal gripping point as the grooves on both sides of the box, with a gripping posture of 5° horizontal deflection. The electric gripper grasps the item with a 30N clamping force, and the robotic arm smoothly moves the item into the transfer window compartment, placing it on the central positioning recess at the bottom of the compartment. After placement, the gripper opens, the robotic arm exits the transfer window, and returns to the outer HOME point. The outer door's magnetic switch detects the closing signal, the outer door automatically closes, and the double-door interlock mechanism locks the outer door.

[0037] Step 3: Intelligent disinfection After the outer door closes, the sensor module inside the transfer window detects that the cabin is sealed, and the signal interaction module sends a "door closing complete" signal to the central control unit. Based on the preset type of transported items (biological samples in this example), the central control unit activates the disinfection mode: the ultraviolet germicidal lamp turns on, the negative pressure fan starts and adjusts to its rated speed, and the particle counter begins real-time sampling.

[0038] The system is set to an initial disinfection time of 15 minutes. During the disinfection process, the particle counter uploads data every 10 seconds: initially, the concentration of 0.5μm particles in the chamber is 3500 particles / m³, higher than the standard value (≤1000 particles / m³), and the time relay automatically extends the disinfection time to 25 minutes; at the 20-minute mark, the particle concentration drops to 200 particles / m³, and the system terminates the disinfection prematurely. After disinfection, the ultraviolet lamp is turned off, and the negative pressure fan continues to run for 2 minutes to remove residual ozone. Throughout the process, the temperature and humidity are consistently controlled at 22±2℃ and 45±5%RH, and the pressure difference is stabilized at -18Pa. The disinfection report is automatically generated and stored.

[0039] Step 4: Retrieve the object from the inside After disinfection is completed, the signal interaction module sends a "disinfection complete" signal to the central control unit. The central control unit then instructs the second AGV transfer trolley to move to the standby position inside the transfer window (1.5 meters away from the transfer window), and simultaneously instructs the second robotic arm operating unit to operate.

[0040] The second robotic arm operating unit moves from the inner HOME point to the inner door of the transfer window, identifies the inner door opening button via the vision module, and clicks to open the door. After the inner door opens, the robotic arm extends the 3D vision module into the cabin to re-capture the point cloud of the transfer box and compare it with the preset coordinates. Due to a possible slight offset of ±2mm during placement, the algorithm calculates that adjustments are needed in the X direction +1.2mm, the Z direction +0.8mm, and the rotation around the Y axis -0.5°. After automatically correcting its posture, the robotic arm grips the transfer box with a 35N clamping force, smoothly exits the transfer window, and moves it above the carrying platform of the second AGV transfer trolley. The 3D vision module again captures the positioning groove on the AGV platform to ensure accurate placement. After placement, the gripper releases, and the robotic arm returns to the inner HOME point. The inner door closes, the interlock is released, and the negative pressure fan and ultraviolet lamp are completely turned off.

[0041] Step 5: Transfer Completed and Recorded After receiving the "item placed" signal, the second AGV transfer vehicle automatically closes the cabinet door (if applicable) and transfers the sample to the designated refrigerator location in the cleanroom along the path planned by the scheduling software, triggering an arrival notification. The central control unit summarizes all data from this transfer: AGV path (start point, end point, stopping time, mileage), robotic arm action sequence (grabbing point coordinates, posture, timestamp), disinfection parameters of the transfer window (duration, particle curve, pressure difference, temperature and humidity), and operator ID, generating a complete electronic transfer log, which is stored locally and in the MES system for 90 days. In case of an anomaly, such as the door magnet not triggering after the outer door is closed, the central control unit immediately sends an SMS alarm to the person in charge stating "outer door of transfer window not closed properly".

[0042] 1. Pedestrian detection and collaboration in vision systems During the aforementioned transfer process, as the first and second AGV transfer vehicles move, their top-mounted vision systems (using an Orange Pi 5Plus development board connected to a 2K wide-angle camera) capture real-time video streams from the front. The development board runs a lightweight YOLO model for front-end detection at 30fps. When a pedestrian is detected, the image is cropped and uploaded to the server GPU via the 5G network for secondary confirmation using a larger YOLO model. If a pedestrian is confirmed, the AGV controller triggers a voice announcement "Please be aware and avoid this area" and decelerates to 0.2 m / s.

[0043] 2. Dynamic fetching strategies for different items For items of different shapes (such as petri dish boxes and reagent bottle racks), the 3D vision module of this system adopts a multi-model fusion strategy. Operators can manually add new item models and gripping points through the host computer of the central control unit. For example, for cylindrical reagent bottle racks, the gripping point is set in the central hole; for flat box-shaped objects, suction cup grippers (which can be quickly replaced) are used for aspiration.

[0044] 3. Handling Abnormal Situations Positioning failure: If the 3D vision module fails to match the object model three times in a row, the robotic arm will automatically reset and send an alarm to the central control unit. The system will then pause the process and wait for manual intervention.

[0045] Negative pressure loss: If the differential pressure sensor detects that the pressure inside the chamber is higher than -10Pa for 5 seconds, the system determines that the filter is clogged or the fan is malfunctioning, immediately stops all operations, locks both doors, and issues an emergency alarm.

[0046] AGV path blockage: The scheduling software monitors the map in real time. If it finds that the preset path is blocked by an obstacle for more than 30 seconds, it will automatically replan the detour route and synchronize the status to the central control unit.

[0047] Brief description of the reverse transfer process Through symmetrical operation, the system can also achieve transfer from the inside to the outside (e.g., waste discharge). In this case, simply interchange the roles of the "first AGV" and the "second AGV" in the above steps, and the disinfection step can be turned on or off as needed (disinfection is forcibly turned on when waste is discharged). This reverse process should also be considered within the scope of protection of this invention.

[0048] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A cleanroom AGV and robotic arm collaborative transfer window for item transfer, characterized in that, include: At least two AGV transfer units, including a first AGV transfer trolley and a second AGV transfer trolley; At least two robotic arm operation units, including a first robotic arm operation unit disposed on the outside of the intelligent transfer window unit and a second robotic arm operation unit disposed on the inside of the intelligent transfer window unit; At least one intelligent transfer window unit, whose cabin is equipped with a double-door interlocking mechanism, a disinfection module, a negative pressure fan, a sensing module, and a signal interaction module; The central control unit is communicatively connected to the AGV transfer unit, the robotic arm operation unit, and the intelligent transfer window unit, and is configured to execute the following control logic: When items need to be transferred from the outside to the inside of the intelligent transfer window unit, the first AGV transfer trolley is controlled to transport the items to the waiting transfer position on the outside of the intelligent transfer window unit; the first robotic arm operating unit is controlled to transfer the items from the first AGV transfer trolley to the intelligent transfer window unit, and the outer door is controlled to close after the first robotic arm operating unit resets; the disinfection module and the negative pressure fan are controlled to start to complete the disinfection operation; after disinfection is completed, the inner door is controlled to open; the second robotic arm operating unit is controlled to extend into the intelligent transfer window unit to transfer the items to the second AGV transfer trolley located in the inner waiting position; and the inner door is controlled to close after the second robotic arm operating unit resets, and the disinfection module and the negative pressure fan are turned off, thereby completing the aseptic transfer of items from the outside to the inside.

2. The cleanroom AGV and robotic arm collaborative transfer window item transfer system according to claim 1, characterized in that, The AGV transfer unit adopts a laser SLAM navigation AGV, equipped with a positioning laser module, a communication module and a cargo carrying platform; the positioning laser module has a positioning accuracy of ≤±10mm and is used to feed back the AGV position information to the central control unit in real time.

3. The cleanroom AGV and robotic arm collaborative transfer window item transfer system according to claim 1, characterized in that, The robotic arm operating unit is a six-axis robotic arm with an integrated electric gripper and a 3D stereo vision module at its end. The 3D stereo vision module integrates a blue stripe laser and a 3-megapixel optical lens, used to sequentially capture 2D images and perform 3D structured light scanning on the object to obtain a 3D point cloud model. By integrating multiple object models and gripping point settings, it achieves object recognition and optimal gripping pose calculation through combinations of different operators. The 3D stereo vision module has a field of view ≥670×390mm, a camera positioning accuracy of ±0.1mm, and a maximum repeat shooting accuracy ≤0.1mm after algorithm optimization.

4. The cleanroom AGV and robotic arm collaborative transfer window item transfer system according to claim 1, characterized in that, The intelligent transfer window unit's chamber is made of 304 stainless steel with a rounded inner wall and is equipped with a HEPA high-efficiency filter and a negative pressure fan to maintain a negative pressure of -15 to -20 Pa inside the chamber. The disinfection module uses ultraviolet disinfection and integrates a time relay and a particle counter to dynamically adjust the disinfection time based on the on-site particle count feedback. The sensing module includes a door magnetic switch, a temperature and humidity sensor, and a differential pressure sensor. The signal interaction module uploads disinfection parameters to the central control unit in real time and automatically generates an electronic disinfection report with a timestamp. The double-door interlocking mechanism uses electronic interlocking to forcibly lock the other door when one door is opened.

5. The cleanroom AGV and robotic arm collaborative transfer window item transfer system according to claim 1, characterized in that, The central control unit includes a host computer, an integrated Siemens 1500 series PLC controller, and a Siemens touch screen. The host computer contains scheduling software for AGV path planning and scheduling, and for obtaining the current status information of the AGVs in real time. The central control unit interfaces with the workshop MES system via TCP / IP protocol to store transfer logs and disinfection parameters for a storage time of ≥30 days. The central control unit is also configured to notify the person in charge via SMS and telephone alarms when abnormal situations occur, such as doors not being closed properly or disinfection parameters being abnormal.

6. The cleanroom AGV and robotic arm collaborative transfer window item transfer system according to claim 1, characterized in that, The AGV transfer unit detects pedestrians in real time through a vision system on top during its movement. This vision system uses OrangePi5Plus for lightweight front-end data acquisition and deploys the YOLO model on the server-side GPU to run, enabling pedestrian detection and voice broadcasting.

7. A method for transferring articles based on the system according to any one of claims 1 to 6, characterized in that, Includes the following steps: External transfer steps: After receiving the transfer task, the central control unit controls the first AGV transfer vehicle to transport the items to the transfer position outside the intelligent transfer window unit; External window entry procedure: Control the first robotic arm operating unit on the outside to transfer the item into the intelligent transfer window unit, and close the outer door after resetting; Disinfection steps: Activate the disinfection module and negative pressure fan of the intelligent transfer window unit to complete the disinfection operation; Inner retrieval steps: After disinfection, open the inner door, control the second robotic arm operating unit inside to extend into the intelligent transfer window unit, retrieve the item and transfer it to the second AGV transfer trolley located in the inner standby position; Reset Completion Steps: Control the second robotic arm operating unit to reset, close the inner door and the disinfection module and negative pressure fan, and complete the transfer of items from the outside to the inside.

8. The article transfer method according to claim 7, characterized in that, In the outer window entry step and / or the inner object retrieval step, the robotic arm operation unit identifies the position of the door opening button or the position of the item in the intelligent transfer window through the 3D stereoscopic vision module at its end. By generating a three-dimensional point cloud map and comparing it with preset coordinates, the robotic arm posture is automatically corrected before performing the gripping or placement operation.

9. The article transfer method according to claim 7, characterized in that, The disinfection process further includes: monitoring the number of particles in the chamber in real time using a particle counter and dynamically adjusting the ultraviolet disinfection time; after disinfection is completed, uploading the disinfection parameters to the host computer of the central control unit in real time through a signal interaction module, automatically generating an electronic disinfection report with a timestamp and archiving it.

10. The article transfer method according to claim 7, characterized in that, In the outer transfer step, the first AGV transfer vehicle achieves precise docking through laser SLAM navigation, with a positioning deviation of ≤±10mm; after the inner retrieval step, the central control unit automatically records the transfer log, which includes disinfection parameters, AGV path and operation time.

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