Loading and unloading robot capable of operating in gooseneck type carriage

Abstract

The utility model relates to the technical field of loading and unloading robots, in particular to a loading and unloading robot capable of operating in a gooseneck type carriage, which comprises a movable lifting platform and a loading and unloading robot, the movable lifting platform comprises a movable chassis, a supporting platform arranged above the movable chassis and a lifting mechanism arranged between the movable chassis and the supporting platform, the whole loading and unloading robot is located on a supporting platform of the movable lifting platform. According to the loading and unloading robot provided by the utility model, the loading and unloading robot is provided with the movable lifting platform, the articulated mechanical arm and the freely movable three-dimensional visual identification device, and the movable lifting platform enables the loading and unloading robot to work on a carriage gooseneck with any length and height; the three-dimensional visual recognition device capable of freely moving can accurately and fully scan and measure the space of the gooseneck of the carriage, the measurement accuracy of the loading and unloading robot on the space of the gooseneck carriage is improved, and the flexible loading and unloading operation capacity of the loading and unloading robot is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of loading and unloading robots, in particular to a loading and unloading robot capable of operating on a gooseneck carriage. Background Art

[0002] In the warehousing and logistics sector, with a shrinking labor force and rising loading and unloading costs, loading and unloading robots are increasingly replacing human workers in truck loading and unloading operations. Some container trucks have goosenecks (steps above the floor), and the height, width, and length of each gooseneck vary. This poses significant challenges for loading and unloading robots, as they accurately identify the gooseneck's position and size, enter and exit it, and perform loading and unloading operations in the space above it.

[0003] Existing loaders or loading and unloading robots that operate above goosenecks use telescopic platforms, forward movement of the main frame, and lengthening of the stacking mechanism to expand the forward operating range of the loaders or loading and unloading robots. However, they are not suitable for goosenecks of any length and height. As a result, the loading and unloading robots have poor adaptability to gooseneck carriages and poor loading and unloading flexibility.

[0004] Furthermore, existing loaders and loading and unloading robots typically use a single-line laser radar, multi-line laser radar, or 3D camera fixed to the front of their bodies for navigation and identification of the gooseneck's position and dimensions. However, the height of a gooseneck on a train carriage is uncertain (e.g., H = 10-50 cm), which may limit the laser radar's or 3D camera's field of view, making it impossible to fully inspect the gooseneck's space. Therefore, the aforementioned methods and results of measuring the gooseneck on a train carriage using only a fixed single-line laser radar, multi-line laser radar, or multiple fixed 3D cameras are inaccurate and unreliable. Utility Model Content

[0005] The purpose of the present utility model is to solve the problem of insufficient adaptability of existing loading and unloading robots to the gooseneck size of carriages as described above, and to propose a loading and unloading robot that can operate on gooseneck carriages.

[0006] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0007] A loading and unloading robot capable of operating on a gooseneck carriage comprises a mobile lifting platform and the loading and unloading robot, wherein the mobile lifting platform comprises a mobile chassis, a support platform arranged above the mobile chassis, and a lifting mechanism installed between the mobile chassis and the support platform;

[0008] The loading and unloading robot is located as a whole on the supporting platform of the mobile lifting platform. The loading and unloading robot includes a body, a walking mechanism installed under the body, a conveying platform installed in the middle of the upper end of the body, an articulated robotic arm symmetrically installed on the upper end of the body and on both sides of the conveying platform, a gripper installed on the free end of the articulated robotic arm, and a navigation and measurement mechanism provided on the loading and unloading robot for walking navigation of the loading and unloading robot and for all-round image acquisition and measurement of the carriage space and gooseneck.

[0009] As a further description of the above technical solution:

[0010] The navigation and measurement mechanism includes a navigation laser radar installed below the front of the vehicle body, a three-dimensional visual recognition device installed on the front side of the free end of the articulated mechanical arm, and a control terminal installed above the rear of the vehicle body.

[0011] As a further description of the above technical solution:

[0012] A touch screen and a keyboard are installed on the operating surface of the control terminal, and a remote control data receiving module, a microcomputer controller, a wireless signal transmission module and a power supply module are installed inside the control terminal.

[0013] As a further description of the above technical solution:

[0014] The output ends of the three-dimensional visual recognition device and the navigation laser radar are electrically connected to the input ends of the control terminal, and the output ends of the control terminal are electrically connected to the input ends of the servo cylinder, walking mechanism, articulated robotic arm, gripper and conveying platform respectively.

[0015] As a further description of the above technical solution:

[0016] The navigation laser radar is one of a single-line laser radar or a multi-line laser radar.

[0017] As a further description of the above technical solution:

[0018] The three-dimensional visual recognition device is one of a three-dimensional camera, a solid-state laser radar, and a semi-solid-state laser radar, or a combination thereof.

[0019] As a further description of the above technical solution:

[0020] The mobile chassis is one of a crawler chassis, a wheel chassis or a Mecanum wheel chassis.

[0021] As a further description of the above technical solution:

[0022] A servo electric cylinder is installed in the middle of the upper end of the mobile chassis, and the telescopic end of the servo electric cylinder is transmission-connected to the lifting mechanism.

[0023] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0024] 1. The present invention provides a combined system of a mobile lifting platform that can move within a carriage and a loading and unloading robot that can climb above the gooseneck and move, so that the loading and unloading robot can load and unload goods on various types of carriages, including gooseneck carriages, thereby improving the adaptability and flexible operation capabilities of the loading and unloading robot.

[0025] 2. In the present invention, a three-dimensional visual recognition device is installed on the multi-joint robotic arm of the loading and unloading robot, taking advantage of the fact that the joint robotic arm can move and rotate freely in the compartment space and has a high degree of freedom, thereby expanding the recognition field of view and range of the visual recognition system of the loading and unloading robot.

[0026] 3. In the present invention, the loading and unloading robot uses a navigation laser radar to roughly locate and measure the gooseneck of the carriage, and then uses a three-dimensional visual recognition device to accurately locate and measure the gooseneck of the carriage at close range, thereby improving the recognition accuracy of the loading and unloading robot for the gooseneck of the carriage.

[0027] 4. In the present invention, the walking navigation of the mobile lifting platform and the loading and unloading robot are centrally controlled by the control terminal on the loading and unloading robot, which reduces the control difficulty and redundancy of the system and ensures the operation accuracy of the loading and unloading robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a working schematic diagram of a loading and unloading robot that can operate on a gooseneck carriage proposed by the present invention;

[0029] Figure 2 This is a structural diagram of the mobile lifting platform in the utility model;

[0030] Figure 3 This is a structural diagram of the loading and unloading robot in the present utility model.

[0031] Legend:

[0032] 1. Mobile lifting platform; 101. Mobile chassis; 102. Lifting mechanism; 103. Support platform; 104. Servo cylinder; 2. Loading and unloading robot; 201. Walking mechanism; 202. Navigation laser radar; 203. Articulated robotic arm; 2031. Gripper; 204. Three-dimensional visual recognition device; 205. Vehicle body; 206. Control terminal; 207. Conveying platform; 3. Carriage floor; 4. Carriage gooseneck. DETAILED DESCRIPTION

[0033] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0034] See also Figure 1-3 The utility model provides a technical solution: a loading and unloading robot that can operate in a gooseneck carriage, including a mobile lifting platform 1 and a loading and unloading robot 2, the mobile lifting platform 1 includes a mobile chassis 101, a support platform 103 arranged above the mobile chassis 101 and a lifting mechanism 102 installed between the mobile chassis 101 and the support platform 103.

[0035] Specifically, such as Figure 1 and Figure 2 As shown, a servo electric cylinder 104 is installed in the middle of the upper end of the mobile chassis 101, and the telescopic end of the servo electric cylinder 104 is transmission-connected to the lifting mechanism 102. By controlling the servo electric cylinder 104 to retract inward or extend outward, the lifting mechanism 102 can be driven to perform longitudinal lifting or lowering operations, thereby driving the support platform 103 to carry the loading and unloading robot 2 to lift or lower the entire body upward. The support platform 103 can be adjusted to be flush with the carriage gooseneck 4, which facilitates the loading and unloading robot 2 to move to the carriage gooseneck 4 for operation. According to actual usage requirements and usage scenarios, one of the crawler chassis, wheeled chassis or Mecanum wheel chassis can be selected as the mobile chassis 101.

[0036] The loading and unloading robot 2 is located as a whole on the supporting platform 103 of the mobile lifting platform 1. The loading and unloading robot 2 includes a vehicle body 205, a walking mechanism 201 installed under the vehicle body 205, a conveying platform 207 installed in the middle of the upper end of the vehicle body 205, an articulated robotic arm 203 symmetrically installed on the upper end of the vehicle body 205 and located on both sides of the conveying platform 207, a gripper 2031 installed on the free end of the articulated robotic arm 203, and a navigation and measurement mechanism provided on the loading and unloading robot 2 for walking navigation of the loading and unloading robot and for all-round image acquisition and measurement of the carriage space and gooseneck.

[0037] Specifically, such as Figure 1 and Figure 3As shown, the navigation and measurement mechanism includes a navigation laser radar 202 installed at the lower front of the vehicle body 205, a three-dimensional visual recognition device 204 installed at the front side of the free end of the articulated robotic arm 203, and a control terminal 206 installed above the rear of the vehicle body 205. The navigation laser radar 202 can collect position data of the carriages in front and on both sides of the loading and unloading robot 2 for walking navigation of the loading and unloading robot 2; the gripper 2031 is used to grab or suck goods, and the articulated robotic arm 203 grabs goods through the gripper 2031 for moving and loading and unloading operations.

[0038] The control terminal 206 has a touchscreen display and keyboard installed on its operating surface. It also houses a remote control data receiving module, a microcomputer controller, a wireless signal transmission module, and a power supply module. The outputs of the three-dimensional visual recognition device 204 and the navigation lidar 202 are electrically connected to the inputs of the control terminal 206. The outputs of the control terminal 206 are also electrically connected to the inputs of the servo cylinder 104, the travel mechanism 201, the articulated robotic arm 203, the gripper 2031, and the conveying platform 207. Mobile lift platform 1 and loading and unloading robot 2 can communicate wirelessly or electrically via control terminal 206, with loading and unloading robot 2 controlling the navigation, movement, and lifting of mobile lift platform 1. That is, when loading and unloading robot 2 is parked on mobile lifting platform 1, it uses its onboard navigation lidar 202 (navigation system) and 3D visual recognition device 204 (visual recognition system) to identify and measure the three-dimensional space of the carriage, the gooseneck, and the operating environment. Based on the measurement results, it controls the movement and lifting of mobile lifting platform 1, and also controls the position and lifting of loading and unloading robot 2. When loading and unloading robot 2 needs to move or operate on mobile lifting platform 1 or the gooseneck, mobile lifting platform 1 remains stationary, and loading and unloading robot 2 uses its onboard navigation system and visual recognition system to control its own movement and loading and unloading operations.

[0039] Furthermore, the navigation laser radar 202 is either a single-line laser radar or a multi-line laser radar. Fixed single-line laser radars and multi-line laser radars (which may be one or more) are common navigation methods for autonomous mobile robots, self-driving cars, and other devices that utilize autonomous navigation technology. In this embodiment, a multi-line laser radar is used, which provides rich measurement data. Furthermore, the navigation laser radar 202 can be installed below the rear of the loading and unloading robot 2 to assist in navigation during reverse movement.

[0040] Because navigation LiDAR 202 is fixedly mounted below loading and unloading robot 2, the gooseneck blocks its field of view when the robot approaches. Whether using a single-line or multi-line LiDAR, navigation LiDAR 202 cannot accurately measure the gooseneck's dimensions or the shape of the space above it. Therefore, a 3D vision recognition device 204 mounted on an articulated robotic arm 203 is required to capture images, perform visual recognition, and perform dimensional measurement of the gooseneck 4 and the space above it.

[0041] The 3D visual recognition device 204 can be one of a 3D camera, a solid-state laser radar, or a semi-solid-state laser radar, or a combination thereof. In this embodiment, a semi-solid-state laser radar is used, which offers advantages such as a large scanning range, high 3D data granularity, high scanning frequency, and short response time. Because the articulated robotic arm 203 can drive the 3D visual recognition device 204 to capture images at various locations within the vehicle compartment and perform 3D image fusion and analysis via the control terminal 206, the 3D visual recognition device 204's field of view and angle of view are expanded. For example, the 3D visual recognition device 204 can capture and measure the vehicle compartment's gooseneck 4 from various angles and close range, thereby obtaining highly accurate data on the gooseneck's position and dimensions. The 3D visual recognition device 204 can also perform comprehensive scanning and close-range measurement of the front, rear, and top walls of the loading and unloading robot 2. This provides a more comprehensive scanning range and viewing angle, and higher accuracy, than the fixed navigation laser radar 202 or other fixed 3D vision devices used in existing technologies.

[0042] Method and process for loading and unloading robot 2 to mount on the gooseneck for loading:

[0043] The operation process of the present invention is described by taking the loading and unloading robot 2 entering a carriage with a gooseneck to automatically load a vehicle as an example.

[0044] (1) After the truck is parked at the designated parking spot, the loading and unloading robot 2 uses the navigation laser radar 202 to measure and identify the position of the inner walls of the vehicle compartment (the front wall and the left and right side walls of the vehicle compartment) and the position of the gooseneck. The loading and unloading robot 2 controls the mobile lifting platform 1 to enter the vehicle compartment and, under the guidance of the navigation system, drives on the vehicle compartment floor to the front of the gooseneck (for example, 50 cm away from the gooseneck);

[0045] In this step, the navigation laser radar 202 is used to roughly locate the position of the gooseneck.

[0046] (2) The articulated robotic arm 203 drives the three-dimensional visual recognition device 204 to an appropriate position near the gooseneck, collects three-dimensional image data of the gooseneck at an appropriate angle (image collection and image fusion can be performed from multiple positions and angles), and measures the precise size (height, length and width) of the gooseneck 4 of the carriage and the horizontal distance between the gooseneck and the front of the mobile lifting platform 1 of the loading and unloading robot 2;

[0047] (3) The loading and unloading robot 2 continues to control the mobile lifting platform 1 to move forward to a position close to the gooseneck (for example, 5 cm away from the gooseneck), and then controls the support platform 103 of the mobile lifting platform 1 to rise to a height consistent with the height of the gooseneck;

[0048] (4) Under the guidance of the navigation system, the loading and unloading robot 2 enters the gooseneck and moves to the vicinity of the front wall of the carriage;

[0049] (5) The articulated robotic arm 203 drives the three-dimensional visual recognition device 204 to identify and measure the precise size of the space in front of the gooseneck 4 of the carriage from multiple positions and angles. The articulated robotic arm 203 then uses the gripper 2031 to grab the cargo and start loading.

[0050] (6) The loading and unloading robot 2 starts from the front of the gooseneck 4 of the carriage while stacking and loading, and gradually moves backward to the raised support platform 103 of the mobile lifting platform 1;

[0051] Since the height of the supporting platform 103 is consistent with the height of the carriage gooseneck 4 , the loading and unloading robot 2 can work stably near the carriage gooseneck 4 .

[0052] When the loading and unloading robot 2 retreats to the support platform 103, the articulated robotic arm 203 can also drive the three-dimensional visual recognition device 204 to measure the precise position of the gooseneck and the mobile lifting platform 1, so that the loading and unloading robot 2 can accurately retreat to the specified precise position on the support platform 103.

[0053] (7) When the loading and unloading robot 2 completely returns to the support platform 103, the support platform 103 descends to its initial position; the loading and unloading robot 2 then controls the mobile lifting platform 1 to retreat on the carriage floor 3;

[0054] (8) The loading and unloading robot 2 controls the articulated robotic arm 203 to drive the three-dimensional visual recognition device 204 to measure the precise position of the gooseneck, and then controls the articulated robotic arm 203 and the gripper 2031 to grab the goods and complete the stacking and loading at the gooseneck;

[0055] (9) The loading and unloading robot 2 controls the mobile lifting platform 1 to move backward while stacking and loading the vehicle until all loading operations in the vehicle compartment are completed.

[0056] The method and process for unloading cargo from a carriage with a gooseneck are as follows:

[0057] (1) The loading and unloading robot 2 starts unloading from the rear of the vehicle compartment using the gripper 2031 under the guidance of the three-dimensional visual recognition device 204, and navigates under the guidance of the navigation laser radar 202, controlling the mobile lifting platform 1 to enter the vehicle compartment while unloading;

[0058] (2) When the loading and unloading robot 2 and the mobile lifting platform 1 advance to the gooseneck 4 of the carriage, the gripper 2031 is used to continue unloading the cargo above the gooseneck 4 of the carriage;

[0059] (3) When the cargo above the gooseneck 4 of the carriage is too far away for the gripper 2031 to grab, the loading and unloading robot 2 first controls the articulated robotic arm 203 to drive the three-dimensional visual recognition device 204 to measure the precise position and size of the gooseneck, and then controls the mobile lifting platform 1 to approach the gooseneck and raise the support platform 103 to the same height as the gooseneck 4 of the carriage;

[0060] (4) The loading and unloading robot 2 moves forward from the mobile lifting platform 1 to the top of the carriage gooseneck 4, and completes the unloading operation of the cargo above the carriage gooseneck 4 while moving forward.

[0061] The above is only a preferred specific implementation method of the present invention, but the protection scope of the present invention is not limited to this. Any technician familiar with the technical field within the technical scope disclosed by the present invention can make equivalent replacements or changes based on the technical solution and utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A loading and unloading robot capable of operating on a gooseneck carriage, characterized in that: It comprises a mobile lifting platform (1) and a loading and unloading robot (2), wherein the mobile lifting platform (1) comprises a mobile chassis (101), a support platform (103) arranged above the mobile chassis (101), and a lifting mechanism (102) installed between the mobile chassis (101) and the support platform (103); The loading and unloading robot (2) is located as a whole on the supporting platform (103) of the mobile lifting platform (1), and comprises a vehicle body (205), a walking mechanism (201) installed under the vehicle body (205), a conveying platform (207) installed in the middle of the upper end of the vehicle body (205), an articulated mechanical arm (203) symmetrically installed on the upper end of the vehicle body (205) and located on both sides of the conveying platform (207), a gripper (2031) installed on the free end of the articulated mechanical arm (203), and a navigation and measurement mechanism provided on the loading and unloading robot (2) for walking and navigating the loading and unloading robot and performing all-round image acquisition and measurement of the vehicle compartment space and the gooseneck.

2. A loading and unloading robot capable of operating on a gooseneck carriage according to claim 1, characterized in that: The navigation measurement mechanism comprises a navigation laser radar (202) installed below the front of a vehicle body (205), a three-dimensional visual recognition device (204) installed on the front side of the free end of an articulated mechanical arm (203), and a control terminal (206) installed above the rear of the vehicle body (205).

3. The loading and unloading robot capable of operating on a gooseneck carriage according to claim 2, characterized in that: A touch screen and a keyboard are installed on the operating surface of the control terminal (206), and a remote control data receiving module, a microcomputer controller, a wireless signal transmission module and a power supply module are installed inside the control terminal (206).

4. The loading and unloading robot capable of operating on a gooseneck carriage according to claim 3, characterized in that: The output ends of the three-dimensional visual recognition device (204) and the navigation laser radar (202) are electrically connected to the input end of the control terminal (206), and the output end of the control terminal (206) is electrically connected to the input ends of the servo electric cylinder (104), the walking mechanism (201), the articulated robotic arm (203), the gripper (2031) and the conveying platform (207).

5. The loading and unloading robot capable of operating on a gooseneck carriage according to claim 2, characterized in that: The navigation laser radar (202) is one of a single-line laser radar or a multi-line laser radar.

6. The loading and unloading robot capable of operating on a gooseneck carriage according to claim 2, characterized in that: The three-dimensional visual recognition device (204) is one of a three-dimensional camera, a solid-state laser radar, and a semi-solid-state laser radar, or a combination thereof.

7. The loading and unloading robot capable of operating on a gooseneck carriage according to claim 1, characterized in that: The mobile chassis (101) is one of a crawler chassis, a wheel chassis or a Mecanum wheel chassis.

8. The loading and unloading robot capable of operating on a gooseneck carriage according to claim 1, characterized in that: A servo electric cylinder (104) is installed in the middle of the upper end of the mobile chassis (101), and the telescopic end of the servo electric cylinder (104) is transmission-connected to the lifting mechanism (102).

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