Supply chain clearing robot

Abstract

The utility model relates to the technical field of intelligent warehousing management, and particularly discloses a supply chain clearing robot which comprises a chassis frame and an integrated module, a camera module comprises a cargo scanning camera and a path planning camera which are arranged at the top end and the bottom end of a lead screw pair and the front end of a vehicle body respectively, and the lead screw pair is driven by a first motor to vertically ascend and descend through a belt wheel; the five-rod mechanical legs drive two rods to swing through a third motor and are matched with wheels controlled by a second motor to achieve multidirectional movement and terrain self-adaption, an anti-collision frame and rubber anti-collision wheels form a double-layer buffering protection system, and an attitude sensor monitors the state of a vehicle body in real time; a controller dynamically adjusts movement of mechanical legs and wheels to maintain balance, based on the double-camera stereoscopic vision and SLAM positioning technology, the robot bypasses and stacks and synchronously collects multi-view-angle data, recognition errors are eliminated through three-dimensional point cloud modeling, the cargo remaining amount is calculated, and the efficient and low-error warehousing and cargo clearing function is achieved.

Description

Technical Field

[0001] This utility model relates to the field of intelligent warehouse management technology, specifically to a supply chain clearing robot. Background Technology

[0002] Supply chain inventory robots are intelligent systems that use autonomous robots and drones to count, move, and distribute goods in warehouses, logistics centers, and retail stores.

[0003] Existing inventory clearance robots have limited functionality, primarily focusing on goods inflow and outflow statistics. They lack the ability to estimate inventory levels and provide replenishment reminders for long-cycle, high-stock, large-warehouse, and multi-category goods. They cannot utilize historical data to optimize inventory management, struggle to cope with seasonal fluctuations or identify slow-moving items, and have insufficient real-time monitoring and dynamic adjustment capabilities in high-stock scenarios, easily leading to stockouts or backlogs. In large-warehouse environments, their coverage is limited and they have poor adaptability to complex environments. When dealing with multi-category goods, their classification, identification, and specification processing capabilities are weak. Furthermore, their data is isolated and has limited analytical capabilities, making it difficult to integrate with other systems and provide in-depth optimization suggestions. At the same time, their initial investment and maintenance costs are high, increasing the operational burden. Utility Model Content

[0004] The purpose of this invention is to provide a supply chain inventory robot that can automatically count the goods stacked in the warehouse.

[0005] To achieve the above objectives, this utility model provides a supply chain clearing robot; comprising a camera module, a lead screw assembly, a first motor, a first-stage support, a chassis frame, a crash barrier, crash wheels, five-bar mechanical legs, a second motor, a third motor, wheels, a display, a controller, and an attitude sensor; the camera module is disposed on the uppermost side of the lead screw assembly, the uppermost side of the first-stage support, and one side of the chassis frame; the lead screw assembly is disposed on the upper middle part of the chassis frame and fixedly connected; the first motor is disposed on one side of the lead screw assembly and fixedly connected to it; the first-stage support is disposed below the first motor and fixedly connected to the lead screw assembly and the chassis frame; the crash barrier is disposed on the underside of the vehicle. Around the chassis frame, the anti-collision wheels are located at the four corners of the anti-collision frame. The five-bar linkage mechanical legs are located on both sides of the chassis frame. The second motor is located on one side of the wheel and is fixedly connected to the five-bar linkage mechanical leg. The third motor is located on one side of the five-bar linkage mechanical leg and is fixed to one side of the chassis frame. The wheel is located at one end of the five-bar linkage mechanical leg. The display is located on one side of the upper end of the chassis frame. The controller and the attitude sensor are located inside the chassis frame. The chassis frame carries the camera module, the lead screw pair, the first motor, the first-stage bracket, the anti-collision frame, the anti-collision wheels, the display, the controller, and the attitude sensor.

[0006] The camera module includes a top cargo scanning camera, a bottom cargo scanning camera, and a path planning camera. The top cargo scanning camera is located at the top of the lead screw assembly, the bottom cargo scanning camera is located at the bottom of the lead screw assembly, and the path planning camera is located on one side of the upper part of the vehicle chassis frame.

[0007] The lead screw pair includes a lead screw pair nut and a lead screw. The lead screw pair is located at the top of the first-stage support and can rotate freely. The lead screw is fitted in the middle of the lead screw pair nut and can move inside the first-stage support by rotating the lead screw pair nut. The interior of the first-stage support is tubular.

[0008] One of the five-bar mechanical legs is equipped with two third motors. The two third motors are placed in parallel and fixed inside the chassis frame. The third motors are fixedly connected to the chassis frame. The five-bar mechanical leg deforms under the rotation of the third motors. The wheel is set on one section of the five-bar mechanical leg and is driven by a separate second motor.

[0009] The anti-collision frame is located at equal intervals around the vehicle chassis frame and is fixedly connected. Anti-collision wheels are installed at the lower ends of the four corners of the anti-collision frame. The anti-collision wheels do not have motors and can rotate freely.

[0010] The attitude sensor is located at the geometric center inside the vehicle chassis frame and is placed parallel to it. The controller is a Raspberry Pi 4B located on one side inside the vehicle chassis frame and next to the display.

[0011] This utility model discloses a supply chain clearing robot. A five-bar mechanical leg structure supports a chassis frame. An attitude sensor, a controller, and a third motor are installed inside the chassis frame. The third motor drives two of the five-bar mechanical legs to swing at a certain angle. A crash barrier is fixed to the outer end of the chassis frame to prevent damage to precision components. Crash wheels cooperate with the crash barrier to reduce damage to the vehicle body. A path planning camera is located above one end of the chassis frame for path planning. A display is located above the other end of the chassis frame for real-time feedback on the vehicle's status. A first-level bracket is fixed above the middle of the chassis frame. One of the two cargo scanning cameras is located at the top of the lead screw assembly, and the other at the bottom. The lead screw assembly nut is located on the upper end of the first-level bracket and engages with the lead screw. The first motor drives the lead screw assembly nut to rotate via a pulley, thereby extending and retracting the lead screw. The two cargo scanning cameras transmit scanned images of stacked goods at a certain height to the controller to calculate the cargo quantity. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0013] Figure 1 This is a schematic diagram of the overall structure of a supply chain clearing robot provided by this utility model.

[0014] Figure 2 This is a schematic diagram of the internal structure of a supply chain clearing robot provided by this utility model.

[0015] Figure 3 This is a schematic diagram of the lead screw transmission structure of a supply chain clearing robot provided by this utility model.

[0016] 1-Lead screw, 2-Top camera fixing ring, 3-Belt, 4-Small pulley, 5-First motor, 6-Motor fixing plate, 7-Lead screw pair nut, 8-Bottom camera fixing ring, 9-First stage bracket, 10-Display, 11-Anti-collision wheel bracket, 12-Five-bar structure mechanical leg drive rod, 13-Five-bar structure mechanical leg, 14-Anti-collision wheel, 15-Lead screw, 16-Anti-collision frame, 17-First stage extension rod, 18-Path planning camera, 19-Wheel, 20-Chassis frame, 21-Third motor, 22-Bottom cargo scanning camera, 23-Lead screw pair retainer, 24-Controller, 25-Camera fixing plate, 26-Attitude sensor, 27-Second motor, 28-Top cargo scanning camera. Detailed Implementation

[0017] Please see Figures 1-3 ,in, Figure 1 This is a schematic diagram of the overall structure of a supply chain clearing robot provided by this utility model; Figure 2 This is a schematic diagram of the internal structure of a supply chain clearing robot provided by this utility model; Figure 3 This is a schematic diagram of the lead screw transmission structure of a supply chain clearing robot provided by this utility model.

[0018] This utility model provides a supply chain inventory clearing robot, comprising a lead screw 1, a top camera fixing ring 2, a belt 3, a small pulley 4, a first motor 5, a motor fixing plate 6, a lead screw nut 7, a bottom camera fixing ring 8, a first-stage bracket 9, a display 10, a crash wheel bracket 11, a five-bar mechanical leg drive rod 12, a five-bar mechanical leg 13, crash wheels 14, crash frames 16, a first-stage extension rod 17, a path planning camera 18, wheels 19, a chassis frame 20, a third motor 21, a cargo scanning camera 22, a lead screw fixing device 23, a controller 24, a camera fixing plate 25, an attitude sensor 26, and a second motor 27. This solution enables the counting of stacked goods in a warehouse.

[0019] In this specific embodiment, the camera module is located on the uppermost side of the lead screw assembly, on the uppermost side of the first-level bracket 9, and on one side of the chassis frame 20. The lead screw assembly is located on the upper middle part of the chassis frame 20 and is fixedly connected. The first motor 5 is located on one side of the lead screw assembly and is fixedly connected to it. The first-level bracket 9 is located below the first motor 5 and is fixedly connected to the lead screw assembly and the chassis frame 20. The anti-collision frame 16 is located around the chassis frame 20. The anti-collision wheels 14 are located at the four corners of the anti-collision frame 16. The five-bar mechanical legs 13 are located on both sides of the chassis frame 20. The second motor 27 is located on one side of the wheel 19 and is fixedly connected to the five-bar mechanical legs 13. The third motor 21 is located on one side of the five-bar mechanical legs 13 and is fixed to one side of the chassis frame 20. The wheel 19 is located at one end of the five-bar mechanical legs 13. The display 10 is located on the chassis frame 20. On the upper side, the controller 24 and the attitude sensor 26 are disposed inside the vehicle chassis frame 20. The vehicle chassis frame 20 carries the camera module, the lead screw pair, the first motor 5, the first-stage bracket 9, the anti-collision frame 16, the anti-collision wheel 14, the display 10, the controller 24, and the attitude sensor 26. The five-bar mechanical leg 13 supports the vehicle chassis frame 20. The attitude sensor 26, the controller 24, and the third motor 21 are installed inside the vehicle chassis frame 20. The third motor 21 drives the two bars of the five-bar mechanical leg 13 to swing at a certain angle. The anti-collision frame 16 is fixed to the outer end of the vehicle chassis frame 20 to prevent damage to the precision components of the vehicle body. The anti-collision wheel 14 cooperates with the anti-collision frame 16 to reduce damage to the vehicle body. The path planning... Camera 18 is located above one end of the chassis frame 20 for path planning, and display 10 is located above the other end of the chassis frame 20 for real-time feedback on vehicle status. The first-level bracket 9 is fixed above the middle of the chassis frame 20. One of the two cargo scanning cameras is located at the top of the lead screw pair, and the other is located at the bottom of the lead screw pair. The lead screw pair nut 7 is located at the upper end of the first-level bracket 9 and cooperates with the lead screw 15. The first motor 5 drives the lead screw pair nut 7 to rotate through a pulley, thereby realizing the extension and retraction of the lead screw 15. The two cargo scanning cameras transmit scan images of stacked objects at a certain height to the controller to calculate the cargo quantity.The principle of 3D modeling and error suppression of goods based on dual-camera surround scanning: Using dual-camera synchronous scanning and multi-view data fusion technology, the robot is equipped with two sets of high-precision cameras (which can be horizontally or vertically staggered) to simultaneously acquire multi-angle image information while moving around palletized goods. The dual-camera system utilizes the parallax principle (stereo vision) to calculate the depth information of the goods surface in real time. Combined with motion trajectory positioning data (such as SLAMI or encoder feedback), a 3D point cloud model of the goods is dynamically constructed. Through redundancy verification and complementary analysis of dual-camera data, recognition errors caused by single-view occlusion, light interference, or texture loss are eliminated. During the surround scanning process, the algorithm automatically stitches together multi-round scan data, combines goods stacking rules (such as number of layers and arrangement) and preset specification parameters to accurately calculate the quantity, volume, and remaining amount of goods. A dynamic calibration mechanism (such as feature point matching and edge alignment) continuously optimizes the model accuracy, ultimately achieving low-error, highly robust inventory counting and remaining amount estimation.

[0020] The camera module further includes a top cargo scanning camera 28, a bottom cargo scanning camera 22, and a path planning camera 18. The top cargo scanning camera 28 is located at the top of the lead screw assembly, the bottom cargo scanning camera 22 is located at the bottom of the lead screw assembly, and the path planning camera 18 is located on one side of the upper end of the chassis frame 20. The top cargo scanning camera 28 and the bottom cargo scanning camera 22 collect information about the stacked goods and transmit the information to the controller 24. The path planning camera 18 assesses the environment of the chassis frame 20 and plans the optimal route.

[0021] Secondly, the lead screw assembly also includes a lead screw nut 7 and a lead screw 15. The lead screw assembly is located at the top of the first-stage support 9 and can rotate freely. The lead screw 15 is fitted in the middle of the lead screw nut 7 and can move inside the first-stage support 9 by rotating the lead screw nut 7. The interior of the first-stage support 9 is tubular. The first motor 5 drives the lead screw nut 7 to rotate via a pulley. Due to the characteristics of the lead screw assembly, the lead screw 15 can be extended and shortened, ultimately enabling both cargo cameras to completely scan the stacked goods.

[0022] Then, one of the five-bar mechanical legs 13 is equipped with two third motors 21. The two third motors 21 are placed parallel to each other and fixed inside the chassis frame 20. The third motors 21 are fixedly connected to the chassis frame 20. The five-bar mechanical leg 13 deforms under the rotation of the third motors 21. The wheel 19 is set on a section of the five-bar mechanical leg 13 and driven by a separate second motor 27. In uneven road conditions, the four five-bar mechanical legs 13 can be adjusted to different heights to maintain the horizontal state of the chassis frame 20.

[0023] In addition, the anti-collision frames 16 are equidistantly located around the vehicle chassis frame 20 and fixedly connected. Anti-collision wheels 14 are installed at the lower ends of the four corners of the anti-collision frames 16. These anti-collision wheels 14 do not have motors and can rotate freely. The anti-collision wheels 14 prevent violent collisions between the vehicle chassis frame 20 and external objects, reducing damage to the robot.

[0024] Furthermore, the attitude sensor 26 is located at the geometric center inside the vehicle chassis frame 20 and is placed parallel to it, and the controller 24 is a Raspberry Pi 4B located on one side inside the vehicle chassis frame 20 and next to the display 10. The attitude sensor 26 is a sensor for evaluating the robot's attitude; adding attitude information enables rapid adjustment of the robot's attitude. The path planning camera 18 judges the road conditions and issues commands through the controller 24. The second motor 27 drives the wheels 19 to rotate. The five-bar mechanical leg drive rod 12, the five-bar mechanical leg 13, the third motor 21, and the attitude sensor 26 work together to keep the camera module in a horizontal state. The top cargo scanning camera 28 acquires the cargo information at the highest point. The first motor drives the lead screw nut 7 to rotate through the belt 3 and the small pulley 4. The lead screw 15 rises to a preset height position under the rotation of the lead screw nut 7. The path planning camera 18 transmits information to the controller 24. The controller 24 builds a map in real time and plans the path accordingly to enable the robot to circle around. The display 10 records relevant data and the controller 24 connects to the cloud to share the data in real time.

[0025] This utility model provides a supply chain clearing robot. The wheels 19 and the anti-collision wheels 14 are made of rubber, which combines quiet operation, anti-slip, and anti-static properties, making it suitable for warehouse environments. The five-bar mechanical leg drive rods 12 are made of carbon fiber, achieving lightweight and high strength, suitable for high-frequency movement. The anti-collision frame 16 is made of aluminum alloy profile, which is high-strength and easy to process, effectively protecting precision components. The lead screw pair uses high-strength alloy steel to ensure high precision and durability. The chassis frame 20 adopts a modular design, which is convenient for installation and maintenance, and at the same time, the optimized center of gravity through reasonable layout improves stability. The five-bar mechanical leg 13, combined with the carbon fiber drive rod 12 and motor drive, enables flexible movement and adapts to complex terrain. The lead screw transmission system ensures precise extension and retraction of the camera module to complete cargo scanning. The dual-camera scanning system achieves high-precision 3D modeling and inventory counting through multi-view data fusion and error suppression. The path planning camera 18 and the attitude sensor 26 ensure the accuracy and safety of the movement path. The display 10 provides real-time feedback on the operating status for easy monitoring. The overall design takes into account lightweight, strength, precision, and environmental adaptability, meeting the high efficiency and reliability requirements of modern warehouse management.

[0026] The above-disclosed embodiments are merely one or more preferred embodiments of this application and should not be construed as limiting the scope of this application. Those skilled in the art can understand that all or part of the processes for implementing the above embodiments and equivalent changes made in accordance with the claims of this application still fall within the scope of this application.

Claims

1. A supply chain clearance robot, characterized in that, It comprises a camera module, a screw pair, a first motor, a first level support, a car chassis frame, a bumper frame, a bumper wheel, a five-bar structure mechanical leg, a second motor, a third motor, a wheel, a display, a controller and a posture sensor; The camera module is arranged at the uppermost side of the screw pair, the uppermost side of the first level support and one side of the car chassis frame, the screw pair is arranged on the upper side of the middle of the car chassis frame and fixedly connected, the first motor is arranged on one side of the screw pair and fixedly connected with the screw pair, the first level support is arranged below the first motor and fixedly connected with the screw pair and the car chassis frame, the bumper frame is arranged around the car chassis frame, the bumper wheel is arranged at the four corners of the bumper frame, the five-bar structure mechanical leg is arranged at two sides of the car chassis frame, the second motor is arranged on one side of the wheel and fixedly connected with the five-bar structure mechanical leg, the third motor is arranged on one side of the five-bar structure mechanical leg and fixedly arranged on one side of the car chassis frame, the wheel is arranged at one end of the five-bar structure mechanical leg, the display is arranged on one side of the upper end of the car chassis frame, the controller and the posture sensor are arranged inside the car chassis frame, and the car chassis frame bears the camera module, the screw pair, the first motor, the first level support, the bumper frame, the bumper wheel, the display, the controller and the posture sensor.

2. The supply chain clearance robot of claim 1, characterized in that, The camera module further comprises a top-end goods scanning camera, a bottom-end goods scanning camera and a path planning camera, the top-end goods scanning camera is arranged at the top end of the screw pair, the bottom-end goods scanning camera is arranged at the bottom end of the screw pair, and the path planning camera is arranged on one side of the upper end of the car chassis frame.

3. The supply chain clearance robot of claim 2, characterized in that, The screw pair further comprises a screw pair nut and a screw, the screw pair is arranged at the top end of the first level support and can rotate freely, the screw is sleeved in the middle of the screw pair nut and can move inside the first level support by rotating the screw pair nut, and the inside of the first level support is arranged in a tubular shape.

4. The supply chain clearance robot of claim 3, characterized in that, One of the five-bar structure mechanical legs is provided with two third motors, the two third motors are arranged in parallel and fixedly arranged inside the car chassis frame, the third motor is fixedly connected with the car chassis frame, the five-bar structure mechanical leg is deformed under the rotation of the third motor, and the wheel is arranged at one segment of the five-bar structure mechanical leg and driven by a separate second motor.

5. The supply chain clearance robot of claim 4, characterized in that, The bumper frames are equidistantly arranged around the car chassis frame and fixedly connected, the bumper wheels are arranged at the lower ends of the four corners of the bumper frames, and the bumper wheels are free to rotate without being provided with a motor.

6. The supply chain liquidation robot of claim 5, wherein: the attitude sensor is disposed at the geometric center inside the chassis frame and placed in parallel, and the controller is Raspberry Pi 4B disposed at one side inside the chassis frame and beside the display.

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