Large-rotation four-direction palletizing robot based on visual navigation

Abstract

The utility model relates to the technical field of palletizing robots, in particular to a large-rotation four-direction palletizing robot based on visual navigation, which comprises a machine body and a visual navigation type rotation palletizing assembly, the visual navigation type rotation palletizing assembly comprises a rotary disc, a mechanical arm, a rotating motor, a depth camera and a light supplementing lamp, the rotary disc is rotatably connected with the machine body, and the mechanical arm is connected with the machine body. The mechanical arm is detachably connected with the rotary disc, the rotary motor is detachably connected with the rotary disc and located on the upper side, away from the mechanical arm, of the rotary disc, the depth camera is rotationally connected with the rotary motor and located above the rotary motor, and the light supplementing lamp is detachably connected with the depth camera and located in the depth camera. An original palletizing robot is modified and replaced with the visual navigation type rotary palletizing assembly, and therefore the problems that a traditional palletizing robot usually moves through a fixed track or in a pre-programming mode, flexibility and adaptability are poor, and complex and changeable working environment requirements are difficult to meet are effectively solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to a stacking robot technical field especially relates to a big rotary four -way stacking robot based on vision navigation. BACKGROUND

[0002] With the continuous development of industrial automation, the application of stacking operation in logistics, warehousing and other industries is more and more widely.

[0003] And the traditional stacking robot usually adopts fixed track or preprogrammed way to move, and its flexibility and adaptability are poor, which is difficult to meet the demand of complex and changeable working environment. For example, in some warehouses, the storage position and layout of goods may be frequently adjusted, and the traditional stacking robot is difficult to quickly adapt to such changes, resulting in low working efficiency.

[0004] To solve the above problems, we propose a big rotary four-way stacking robot based on visual navigation. UTILITY MODEL CONTENT

[0005] The utility model is to provide a big rotary four -way stacking robot based on vision navigation, solve the problem that the traditional stacking robot usually adopts fixed track or preprogrammed way to move, and its flexibility and adaptability are poor, which is difficult to meet the demand of complex and changeable working environment.

[0006] To achieve the above purpose, the utility model adopts a big rotary four-way stacking robot based on visual navigation, including body and vision navigation type rotary stacking assembly, the vision navigation type rotary stacking assembly includes rotary disc, mechanical arm, rotating motor, depth camera and light supplementing lamp, the rotary disc is connected with the body rotation, and is located the upper center of the body, the mechanical arm is connected with the rotary disc disassembly, and is located the upper side of the rotary disc, the rotating motor is connected with the rotary disc disassembly, and is located the upper side of the rotary disc away from the mechanical arm, and the rotating motor is vertically arranged with the rotary disc, the depth camera is connected with the rotating motor rotation, and is located the upper side of the rotating motor, the light supplementing lamp is connected with the depth camera disassembly, and is located the inside of the depth camera, and the light supplementing lamp is arranged in the inside one side of the depth camera close to the mechanical arm.

[0007] Among them, the vision navigation type rotary stacking assembly further includes navigation camera, charging port and three -color lamp, the navigation camera is fixedly connected with the body, and is located the side of the body, the charging port is connected with the body disassembly, and is located the side of the body close to the navigation camera, and the charging port is arranged below the navigation camera, the three -color lamp is arranged on the outer surface of the body.

[0008] The visual navigation rotary code stacking assembly further comprises a body cover plate, an emergency stop button and a manual interface, the body cover plate is detachably connected with the machine body and located on one side of the machine body, and the body cover plate is vertically arranged with the navigation camera, the emergency stop button is detachably connected with the machine body and located on the side of the machine body close to the body cover plate, and the emergency stop button is arranged on one side of the body cover plate, the manual interface is fixedly connected with the machine body and located on the side of the machine body close to the body cover plate, and the manual interface is arranged below the emergency stop button.

[0009] The visual navigation rotary code stacking assembly further comprises a display screen and a control button, the display screen is fixedly connected with the machine body and located above the side of the machine body away from the navigation camera, and the control button is fixedly connected with the machine body and located on the side of the machine body close to the display screen, and the control button is arranged below the display screen.

[0010] The visual navigation rotary code stacking assembly further comprises a collision avoidance edge, a driving wheel, a follow-up wheel and an obstacle avoidance radar, the collision avoidance edge is detachably connected with the machine body and located on the lower outer surface of the machine body, the driving wheel is rotatably connected with the machine body and located on the lower side of the machine body, the follow-up wheel is rotatably connected with the machine body and located on the lower side of the machine body, and the follow-up wheel is arranged on one side of the driving wheel, one end of the obstacle avoidance radar passes through the collision avoidance edge and is arranged above the collision avoidance edge on one side, and the obstacle avoidance radar is arranged below the machine body.

[0011] The visual navigation rotary code stacking assembly further comprises an industrial control box, a power module and a control cabinet, the industrial control box is fixedly connected with the machine body and located below the inside of the machine body, and the industrial control box is arranged on the side of the driving wheel away from the follow-up wheel, the power module is fixedly connected with the machine body and located below the center of the inside of the machine body, the control cabinet is detachably connected with the machine body and located on the lower side of the machine body, and the control cabinet is arranged on the side of the power module away from the industrial control box, and the control cabinet is further arranged between the follow-up wheel and the driving wheel.

[0012] The utility model discloses a big rotation four -way stacker robot based on visual navigation, including organism and visual navigation formula rotary stack component, visual navigation formula rotary stack component includes rotary disc, mechanical arm, rotating electrical machine, depth camera and light supplementing lamp, the rotary disc with organism rotatory connection is located the top center of organism, the mechanical arm with rotary disc dismounts and is located rotary disc's top one side, rotating electrical machine with rotary disc dismounts and is located rotary disc's top one side away from mechanical arm, and rotating electrical machine with rotary disc is vertically set up, depth camera with rotating electrical machine rotatory connection is located rotating electrical machine's top, light supplementing lamp with depth camera dismounts and is located depth camera's inside, and light supplementing lamp sets up depth camera's inside one side close to mechanical arm, because the original stacker robot is modified and replaced for visual navigation formula rotary stack component, thereby will effectively solved the problem that traditional stacker robot usually adopts fixed track or preprogrammed mode and moves, and its flexibility and adaptability are poor, and it is difficult to meet the demand of complex and changeable working environment. BRIEF DESCRIPTION OF DRAWINGS

[0013] In order to more clearly illustrate the technical scheme in the embodiment of the utility model or prior art, below will to the drawing needed to be used in the embodiment or prior art description simple introduction, obviously, below description's drawing only some embodiments of the utility model, for ordinary skilled person in the art comes, under the premise of not paying creative labor, can also obtain other drawings according to these drawings.

[0014] Figure 1 It is the overall structure diagram of the utility model.

[0015] Figure 2 It is the side view of the overall structure of the utility model.

[0016] Figure 3 It is the bottom view of the overall structure of the utility model.

[0017] Figure 4 It is the rear view of the overall structure of the utility model.

[0018] 101-organism, 102-rotary disc, 103-mechanical arm, 104-rotating electrical machine, 105-depth camera, 106-light supplementing lamp, 107-navigation camera, 108-charging port, 109-three color lamp, 110-vehicle body cover plate, 111-anti -collision edge, 112-driving wheel, 113-power module, 114-obstacle avoidance radar, 115-control cabinet, 116-follower wheel, 117-industrial computer box, 118-quick stop button, 119-manual interface, 120-display, 121-control button. DETAILED DESCRIPTION

[0019] Embodiments of the present application will be described in detail below, examples of which are shown in the drawings, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by reference to the drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0020] Please refer to Figures 1-4 , Figure 1 is a structural schematic diagram of the whole of the present application, Figure 2 is a side view of the whole of the present application, Figure 3 is a bottom view of the whole of the present application, Figure 4 is a rear view of the whole of the present application.

[0021] The utility model provides a kind of big rotation four-way stacker robot based on visual navigation, including body 101 and visual navigation rotary stack component, the visual navigation rotary stack component includes rotary disc 102, mechanical arm 103, rotating motor 104, depth camera 105, light supplement lamp 106, navigation camera 107, charging port 108, three-color lamp 109, car body cover plate 110, emergency stop button 118, manual interface 119, display screen 120, control button 121, anti-collision edge 111, drive wheel 112, follow-up wheel 116, obstacle avoidance radar 114, industrial control box 117, power module 113 and control cabinet 115, the problem that it is difficult to meet the demand of complex and changeable working environment by the foregoing scheme to solve the conventional stacker robot usually adopts fixed track or preprogrammed way to move, its flexibility and adaptability are poor, it can be understood that, when using the foregoing scheme, after overall start, the control system in the industrial control box 117 first carries out self-checking to each component, checks whether the electrical connection, mechanical structure of each component is normal, whether sensor is normal, etc., simultaneously, the navigation camera 107 and the depth camera 105 start working, scan working environment, establish environment map, the depth camera 105 obtains the three-dimensional information of goods in working area, the navigation camera 107 identifies landmark and obstacle information in environment, these information is transmitted to the control system in the industrial control box 117, for subsequent path planning and goods identification, after self-checking and environment scanning are completed, the three-color lamp 109 is displayed as green, indicating that overall is in normal working state, waits to receive work task, when goods need to be stacked, the depth camera 105 is driven under the navigation of rotating motor 104, adjusts shooting angle, and shoots goods in all directions, the image information of goods collected by the depth camera 105 is transmitted to the image processing unit in the industrial control box 117, and the image processing unit analyzes the image using deep learning algorithm, identifies the position, shape, attitude and size of goods, simultaneously, the navigation camera 107 also shoots the environment around goods, to assist the depth camera 105 to more accurately determine the position of goods, if ambient light is dark during identification process, the light supplement lamp 106 is automatically turned on, to provide sufficient illumination for the depth camera 105, to ensure the definition of image acquisition, after identifying the information of goods, control system integrates and processes these information, determines the accurate position and attitude of goods in working space, to provide basis for subsequent grabbing and carrying operation, control system plans overall movement path according to the position information of goods and established environment map, first, the drive wheel 112 is driven under the drive of motor, to drive overall to the position of goods, during movement, the obstacle avoidance radar 114 monitors the obstacle information around overall in real time, when detecting obstacle, the obstacle avoidance radar 114 sends alarm signal to control system, control system determines the position of obstacle and current position of overall,The motion path is re-planned to bypass the obstacle and continue moving forward. Meanwhile, the navigation camera 107 monitors the moving direction and position of the whole body in real time to ensure that the whole body moves accurately according to the planned path. When the whole body approaches the goods, the turntable 102 starts to rotate under the drive of the rotary motor 104 to adjust the orientation of the mechanical arm 103 to align with the goods. The mechanical arm 103 adjusts its posture and position according to the shape and posture of the goods under the control of the control system, prepares to grab the goods, and controls the movement of the driving wheel 112, the turntable 102, and the mechanical arm 103 to achieve efficient and accurate movement of the whole body. The mechanical arm 103 automatically adjusts the opening angle and shape of the gripper according to the shape and size of the goods, and the force sensor on the gripper monitors the grabbing force of the goods in real time. When the grabbing force reaches the set value, the gripper is automatically locked to ensure that the goods do not fall during the handling process. The depth camera 105 continuously monitors the grabbing process and provides real-time feedback on the grabbing state of the goods, such as whether the gripper completely grips the goods or whether the goods are offset, to allow the control system to adjust the action of the mechanical arm 103 in time to ensure the accuracy and stability of the grabbing. After grabbing the goods, the mechanical arm 103 cooperates with the turntable 102 and the driving wheel 112 to transport the goods to the designated stacking position. During the transportation process, the control system adjusts the posture and movement speed of the mechanical arm 103 in real time according to the motion state of the whole body and the position information of the goods to ensure the stability of the goods during the transportation process. After reaching the stacking position, the mechanical arm 103 adjusts the posture of the goods according to the pre-set stacking rules to accurately place the goods in the stacking area. The stacking rules can be pre-set according to the type, size, and layout of the warehouse, etc. For example, the goods are stacked according to a certain number of layers and arrangement. The depth camera 105 monitors the stacking position again to ensure the accuracy of the goods placement. After completing a stacking operation, the whole body returns to the goods storage area and repeats the above steps to continue the stacking operation. If the goods are not placed neatly or other abnormal situations occur during the stacking process, the whole body can automatically adjust through the visual system and the control system to ensure the quality and stability of the stacking.

[0022] For this specific embodiment, the rotating disc 102 is rotationally connected with the body 101 and located at the upper center of the body 101, the mechanical arm 103 is detachably connected with the rotating disc 102 and located at the upper side of the rotating disc 102, the rotary motor 104 is detachably connected with the rotating disc 102 and located at the upper side of the rotating disc 102 away from the mechanical arm 103, and the rotary motor 104 is vertically arranged with the rotating disc 102, the depth camera 105 is rotationally connected with the rotary motor 104 and located above the rotary motor 104, the fill light 106 is detachably connected with the depth camera 105 and located inside the depth camera 105, and the fill light 106 is arranged at the inside side of the depth camera 105 close to the mechanical arm 103, the rotating disc 102 is connected with the upper center position of the body 101 through a dedicated rotational connecting piece, ensuring that the rotating disc 102 can rotate smoothly and stably around the center of the body 101, after installation, idle test is performed on the rotating disc 102 to check whether the rotation is smooth, whether there is jamming or abnormal noise, the mechanical arm 103 is detachably connected to the upper side of the rotating disc 102, and according to actual work requirements, the connection angle and position of the mechanical arm 103 and the rotating disc 102 are adjusted to ensure that the mechanical arm 103 has the best working range and flexibility when grabbing goods and stacking, after installation, extension and contraction test is performed on the mechanical arm 103 to check whether the mechanical structure is normal, the fill light 106 provides sufficient illumination for the depth camera 105 in a relatively dark working environment to ensure that the camera can obtain clear images, during installation, the installation position and angle of the depth camera 105 are adjusted to ensure that it can clearly capture the working area of the mechanical arm 103 and the surrounding goods, after installation, the depth camera 105 is calibrated and debugged to ensure the accuracy of image acquisition and depth information acquisition.

[0023] Among them, the navigation camera 107 is fixedly connected with the body 101 and located at one side of the body 101, the charging port 108 is detachably connected with the body 101 and located at one side of the body 101 close to the navigation camera 107, and the charging port 108 is arranged below the navigation camera 107, and the three-color lamp 109 is arranged on the outer surface of the body 101, the navigation camera 107 is fixedly connected at one side of the body 101, the shooting angle of the navigation camera 107 is adjusted to enable it to shoot the environmental information of the forward direction of the robot to provide visual data for the autonomous navigation of the robot, and the three-color lamp 109 is used to indicate the working state of the robot, such as normal operation, fault alarm, charging state, etc.

[0024] Secondly, the body cover plate 110 is detachably connected with the machine body 101 and located on one side of the machine body 101, and the body cover plate 110 is vertically arranged with the navigation camera 107, the emergency stop button 118 is detachably connected with the machine body 101 and located on the side of the machine body 101 close to the body cover plate 110, and the emergency stop button 118 is arranged on one side of the body cover plate 110, the manual interface 119 is fixedly connected with the machine body 101 and located on the side of the machine body 101 close to the body cover plate 110, and the manual interface 119 is arranged below the emergency stop button 118, the emergency stop button 118 is an important device to ensure the safety of robot operation, and when an emergency occurs, the operator can immediately press the emergency stop button 118 to make the robot stop running, and the manual interface 119 is used for controlling the robot by manual operation in special circumstances such as equipment debugging, fault maintenance and the like.

[0025] Meanwhile, the display screen 120 is fixedly connected with the machine body 101 and located above the side of the machine body 101 away from the navigation camera 107, the control button 121 is fixedly connected with the machine body 101 and located on the side of the machine body 101 close to the display screen 120, and the control button 121 is arranged below the display screen 120, the display screen 120 is used for displaying the working parameters, state information and operation prompts of the robot, and the control button 121 is used for the operator to operate and control the robot.

[0026] In addition, the anti-collision edge 111 is detachably connected with the machine body 101 and located on the lower outer surface of the machine body 101, the driving wheel 112 is rotatably connected with the machine body 101 and located on the lower side of the machine body 101, the follow-up wheel 116 is rotatably connected with the machine body 101 and located on the lower side of the machine body 101, and the follow-up wheel 116 is arranged on one side of the driving wheel 112, one end of the obstacle avoidance radar 114 passes through the anti-collision edge 111 and is arranged above the anti-collision edge 111 on one side, and the obstacle avoidance radar 114 is arranged below the machine body 101, the anti-collision edge 111 can play a buffering protection role when the robot collides with an obstacle, so as to avoid serious damage to the robot and the obstacle, and the obstacle avoidance radar 114 is used for detecting the obstacle information around the robot in real time, and when detecting an obstacle, an alarm signal is sent to the robot control system in time, so that the robot can take corresponding obstacle avoidance measures.

[0027] The industrial control box 117 is fixedly connected with the machine body 101 and located below the inside of the machine body 101, and the industrial control box 117 is arranged on the side away from the follower wheel 116 of the driving wheel 112; the power module 113 is fixedly connected with the machine body 101 and located below the inside of the machine body 101 at the center; the control cabinet 115 is detachably connected with the machine body 101 and located below the side of the machine body 101, and the control cabinet 115 is arranged on the side away from the industrial control box 117 of the power module 113, and the control cabinet 115 is also arranged between the follower wheel 116 and the driving wheel 112; the industrial control box 117 is used for installing the control system hardware of the robot, such as an industrial computer, a controller and the like, and is the control core of the robot; the power module 113 provides stable power supply for each part of the robot; and the control cabinet 115 is used for installing the electrical control elements of the robot, such as contactors, relays, switching power supplies and the like, and is used for centrally controlling and protecting the electrical system of the robot.

[0028] In use of the utility model, after integral starting, the control system in the industrial computer box 117 first carries out self inspection to each component, checks whether electrical connection, mechanical structure of each component is normal, whether sensor is normal, etc., simultaneously, the navigation camera 107 and the depth camera 105 start working, scan working environment, establish environment map, the depth camera 105 obtains the three-dimensional information of goods in working area, the navigation camera 107 identifies landmark and obstacle information in environment, these information is transmitted to the control system in the industrial computer box 117, is used for subsequent path planning and goods identification, after self inspection and environment scanning are completed, the three-color lamp 109 shows green, indicates that the whole is in normal working state, waits to receive work task, when goods need to be stacked, the depth camera 105 is driven under the navigation camera 107, adjusts the shooting angle, carries out all -round shooting to goods, the goods image information collected by the depth camera 105 is transmitted to the image processing unit in the industrial computer box 117, and the image processing unit uses deep learning algorithm to analyze the image, identifies the position, shape, attitude and size information of goods, simultaneously, the navigation camera 107 also carries out shooting to the environment around goods, assists the depth camera 105 to more accurately determine the position of goods, in the identification process, if ambient light is dark, the fill light 106 automatically brightens, provides sufficient illumination for the depth camera 105, guarantees the definition of image acquisition, identifies the information of goods, and the control system integrates and processes these information, determines the accurate position and attitude of goods in working space, provides the basis for subsequent grabbing and handling operation, and the control system plans the whole motion path according to the position information of goods and the established environment map, first, the driving wheel 112 is driven under the drive of the motor, moves the whole to the position of goods, in the movement process, the obstacle avoidance radar 114 monitors the obstacle information around the whole in real time, when detecting the obstacle, the obstacle avoidance radar 114 sends an alarm signal to the control system, and the control system re-plans the motion path according to the position of the obstacle and the current position of the whole, so that the whole bypasses the obstacle and continues to advance, simultaneously, the navigation camera 107 monitors the driving direction and position of the whole in real time, ensures that the whole accurately travels according to the planned path, when the whole approaches the goods, the rotating disc 102 starts to rotate under the drive of the rotating motor 104, adjusts the orientation of the mechanical arm 103, so that it is aligned with the goods, the mechanical arm 103 is controlled under the control of the control system, adjusts the attitude and position of itself according to the shape and attitude of the goods, prepares to grab the goods, in the whole motion process, the control system realizes the efficient and accurate motion of the whole by accurately controlling the motion of the driving wheel 112, the rotating disc 102 and the mechanical arm 103, the mechanical arm 103 automatically adjusts the opening angle and shape of the gripper according to the shape and size of the goods, and the force sensor on the gripper monitors the grabbing force of the gripper on the goods in real time,When the gripping force reaches the set value, the clamping jaw is automatically locked to ensure that the goods will not fall during the carrying process. When the goods are being gripped, the depth camera 105 continuously monitors the gripping process and provides real-time feedback on the gripping state of the goods, such as whether the clamping jaw has completely gripped the goods, whether the goods have deviated, and the like, so that the control system can timely adjust the movement of the mechanical arm 103 to ensure the accuracy and stability of the gripping. After the goods are gripped, the mechanical arm 103 cooperates with the rotating disc 102 and the driving wheel 112 to carry the goods to the designated stacking position. During the carrying process, the control system adjusts the posture and movement speed of the mechanical arm 103 in real time according to the overall movement state and the position information of the goods to ensure the stability of the goods during the carrying process. After reaching the stacking position, the mechanical arm 103 adjusts the posture of the goods according to the preset stacking rules and accurately places the goods in the stacking area. The stacking rules can be preset according to the type, size, and layout of the warehouse, and the like, for example, stacking according to a certain number of layers and arrangement. When the goods are placed, the depth camera 105 monitors the stacking position again to ensure the accuracy of the placement of the goods. After completing a stacking operation, the whole body returns to the goods storage area and repeats the above steps to continue the stacking operation. During the stacking process, if the goods are not placed neatly or other abnormal situations are encountered, the whole body can be automatically adjusted through the visual system and the control system to ensure the quality and stability of the stacking.

[0029] The above only discloses a preferred embodiment of the utility model, of course, cannot limit the scope of the utility model, and those skilled in the art can understand that the above-mentioned embodiment can be implemented in whole or in part, and equivalent changes made according to the utility model claims still belong to the scope covered by the utility model.

Claims

1. A visual navigation-based large-rotation four-way palletizing robot comprising a body, characterized in that, it further comprises a visual navigation-based rotary palletizing assembly, the visual navigation-based rotary palletizing assembly comprises a rotary disc, a mechanical arm, a rotary motor, a depth camera and a fill light, the rotary disc is rotatably connected with the body and is located at the upper center of the body, the mechanical arm is detachably connected with the rotary disc and is located at the upper side of the rotary disc, the rotary motor is detachably connected with the rotary disc and is located at the upper side of the rotary disc away from the mechanical arm, and the rotary motor is vertically arranged with the rotary disc, the depth camera is rotatably connected with the rotary motor and is located above the rotary motor, the fill light is detachably connected with the depth camera and is located inside the depth camera, and the fill light is arranged at the inside side of the depth camera close to the mechanical arm.

2. The visual navigation-based large-rotation four-way palletizing robot according to claim 1, characterized in that, the visual navigation-based rotary palletizing assembly further comprises a navigation camera, a charging port and a three-color light, the navigation camera is fixedly connected with the body and is located at one side of the body, the charging port is detachably connected with the body and is located at one side of the body close to the navigation camera, and the charging port is arranged below the navigation camera, and the three-color light is arranged on the outer surface of the body.

3. The visual navigation-based large-rotation four-way palletizing robot according to claim 2, characterized in that, the visual navigation-based rotary palletizing assembly further comprises a body cover plate, an emergency stop button and a manual interface, the body cover plate is detachably connected with the body and is located at one side of the body, and the body cover plate is vertically arranged with the navigation camera, the emergency stop button is detachably connected with the body and is located at one side of the body close to the body cover plate, and the emergency stop button is arranged at one side of the body cover plate, the manual interface is fixedly connected with the body and is located at one side of the body close to the body cover plate, and the manual interface is arranged below the emergency stop button.

4. The visual navigation-based large-rotation four-way palletizing robot according to claim 3, characterized in that, the visual navigation-based rotary palletizing assembly further comprises a display screen and a control button, the display screen is fixedly connected with the body and is located above one side of the body away from the navigation camera, and the control button is fixedly connected with the body and is located at one side of the body close to the display screen, and the control button is arranged below the display screen.

5. The visual navigation-based large-rotation four-way palletizing robot according to claim 4, characterized in that, The visual navigation rotary stacking assembly further comprises a collision avoidance edge, a drive wheel, a follow wheel and an obstacle avoidance radar, the collision avoidance edge is detachably connected with the machine body and located below the outer surface of the machine body, the drive wheel is rotatably connected with the machine body and located on one side below the machine body, the follow wheel is rotatably connected with the machine body and located on one side below the machine body, and the follow wheel is arranged on one side of the drive wheel, one end of the obstacle avoidance radar is arranged above the collision avoidance edge through the collision avoidance edge, and the obstacle avoidance radar is arranged below the machine body.

6. The visual navigation-based large-rotation four-way stacking robot according to claim 5, wherein, The visual navigation rotary stacking assembly further comprises an industrial computer case, a power module and a control cabinet, the industrial computer case is fixedly connected with the machine body and located below the inside of the machine body, the industrial computer case is arranged on one side of the drive wheel away from the follow wheel, the power module is fixedly connected with the machine body and located below the center of the inside of the machine body, the control cabinet is detachably connected with the machine body and located on one side below the machine body, the control cabinet is arranged on one side of the power module away from the industrial computer case, and the control cabinet is further arranged between the follow wheel and the drive wheel.

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