Warehouse inventory robot

Abstract

The utility model relates to the technical field of warehousing automation equipment, concretely is warehouse checking robot, through the composite navigation (electromagnetic guide line tracking + laser radar mapping) of walking chassis module, the double -antenna heterogenous layout (forward 15 degree circular polarization antenna covers medium -high layer goods shelves and lateral 45 degree line polarization antenna penetrates bottom layer goods shelves) of RFID scanning module, dynamic communication breakpoint continuation mechanism and touch screen - voice bimodal interaction system, realize all warehouse blind area scanning, centimeter level track tracking and abnormal material real -time positioning, significantly improve the checking efficiency and reliability.

Description

Technical Field

[0001] This utility model relates to the field of warehouse automation equipment technology, specifically a warehouse inventory robot. Background Technology

[0002] Traditional manual inventory: Handheld RFID scanners need to be operated on shelf by shelf, resulting in a high rate of missed scans (generally greater than 15%) and low efficiency (≤500 items per person per day).

[0003] The existing warehouse inventory robots have the following defects when in use: large blind spots in single antenna coverage (for example, the existing robots usually use vertical antennas, resulting in high miss reading rate of bottom tags, high wireless communication latency, latency when using 4G modules, lack of human-computer interaction, lack of real-time anomaly handling capabilities, and low trajectory tracking accuracy (i.e., large deviation of laser SLAM in metal shelf environment).

[0004] In view of the above problems, this technical solution designs a warehouse inventory robot to solve the above problems. Utility Model Content

[0005] The purpose of this invention is to provide a warehouse inventory robot to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] The warehouse inventory robot includes a walking chassis module, an RFID scanning module, a communication module, a human-machine interaction module, a main controller, and a power supply module.

[0008] The chassis module includes:

[0009] A four-wheel differential drive system, with absolute encoders installed on the drive wheels;

[0010] Composite navigation unit: Electromagnetic sensors track ground-embedded guide wires, which are typically 0.5mm diameter enameled wires;

[0011] A 16-line lidar was used to construct an environmental point cloud map, with a scanning frequency of 12Hz.

[0012] Collision avoidance safety mechanism: Employs a dual-trigger emergency stop system using both ultrasonic sensors and mechanical anti-collision strips;

[0013] The RFID scanning module includes:

[0014] The ultra-high frequency reader operates in the 920-925MHz frequency band and supports the EPC C1G2 protocol.

[0015] Dual-antenna collaborative architecture:

[0016] Forward circularly polarized antenna: installation height 1.2m, tilt angle 15°, covering 1.5-3m shelf layers;

[0017] Laterally linearly polarized antenna: installation height 0.6m, tilt angle 45°, covering 0-1.5m shelf layers;

[0018] Dynamic power adjustment: Automatically adjusts the transmission power based on tag density;

[0019] The communication module includes:

[0020] Dual-band WiFi module, supporting 802.11ac protocol;

[0021] Data transmission mechanism: The raw RFID data is compressed and uploaded to the server in real time when the network is in good condition. When there is a delay in the network, the compressed data is cached locally and resumed after interruption.

[0022] The human-computer interaction module includes:

[0023] 10.1-inch capacitive touchscreen with a surface hardness of ≥7H, supporting glove touch control;

[0024] A four-microphone array equipped with a noise reduction algorithm (ENI ≥ 15dB)

[0025] Interaction logic design:

[0026] Voice command set: Includes keywords such as "start inventory", "pause", and "locate an anomaly".

[0027] Touchscreen interface partitioning:

[0028] Left side: 3D map of the storage location, with an inventory progress bar;

[0029] Right side: List of abnormal tags, including shelf number and material ID;

[0030] Audible and visual alarm unit: RGB indicator light + buzzer.

[0031] The main controller uses an NXP i.MX8M Plus processor with a built-in NPU to accelerate AI computing;

[0032] Real-time task scheduling: The task types are divided into the following categories according to their priority: navigation and positioning, RFID scanning, communication transmission, and interactive response.

[0033] The execution cycles for the above task types are 10ms, 50ms, 100ms, and 200ms, respectively.

[0034] The power module includes a 48V 20Ah lithium battery pack; automatic charging scheme: the chassis contact electrode docks with the charging pile, and it will return autonomously when the remaining power is less than 15%.

[0035] Compared with the prior art, the beneficial effects of this utility model are: by using a spatial heterogeneous layout of forward circularly polarized antenna and lateral linearly polarized antenna, the label reading rate of the bottom shelf is improved;

[0036] In an environment where 80% of the shelving is metal, the trajectory tracking error is reduced by using a composite navigation system (electromagnetic guideline tracking + lidar point cloud matching);

[0037] Real-time location tracking of abnormal materials is supported through a touchscreen-voice dual-modal interaction system;

[0038] The 48V 20Ah lithium battery pack, combined with the autonomous charging system, improves the ability to support continuous inventory operations on a single charge. Attached Figure Description

[0039] Figure 1 This is a structural diagram of a warehouse inventory robot.

[0040] The components include: a walking chassis module 1, drive wheels 101, an electromagnetic sensor 103, a 16-line lidar 104, an ultrasonic sensor 105, a mechanical anti-collision strip 106, a forward circularly polarized antenna 202, a lateral linearly polarized antenna 203, a 10.1-inch capacitive touchscreen 401, a four-microphone array 402, and a lithium battery pack 601. Detailed Implementation

[0041] It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0042] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0043] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0044] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0045] Please see Figure 1 The warehouse inventory robot includes a walking chassis module 1, an RFID scanning module, a communication module, a human-machine interaction module, a main controller, and a power supply module.

[0046] The chassis module includes:

[0047] The four-wheel differential drive structure is equipped with an absolute encoder on drive wheel 101.

[0048] Composite navigation unit: Electromagnetic sensor 103 tracks the ground-embedded guide wire, which is generally a 0.5mm diameter enameled wire. When AC power is applied, an electromagnetic navigation trajectory is formed.

[0049] A 16-line lidar with 104 lines was used to construct an environmental point cloud map, with a scanning frequency of 12Hz.

[0050] Collision avoidance safety mechanism: adopts dual-trigger emergency stop with ultrasonic sensor 105 + mechanical anti-collision strip 106;

[0051] The RFID scanning module includes:

[0052] The ultra-high frequency reader operates in the 920-925MHz frequency band and supports the EPC C1G2 protocol.

[0053] Dual-antenna collaborative architecture:

[0054] Forward circularly polarized antenna 202: Installation height 1.2m, tilt angle 15°, covering 1.5-3m shelf layers;

[0055] Laterally polarized antenna 203: Installation height 0.6m, tilt angle 45°, covering 0-1.5m shelf layers;

[0056] Dynamic power adjustment: Automatically adjusts the transmission power based on tag density;

[0057] The communication module includes:

[0058] Dual-band WiFi module, supporting 802.11ac protocol;

[0059] Data transmission mechanism: The raw RFID data is compressed and uploaded to the server in real time when the network is in good condition. When there is a delay in the network, the compressed data is cached locally and resumed after interruption.

[0060] The human-computer interaction module includes:

[0061] 10.1-inch capacitive touchscreen 401, surface hardness ≥7H, supports glove touch control;

[0062] The 402 four-microphone array is equipped with a noise reduction algorithm (ENI≥15dB).

[0063] Interaction logic design:

[0064] Voice command set: Includes keywords such as "start inventory", "pause", and "locate an anomaly".

[0065] Touchscreen interface partitioning:

[0066] Left side: 3D map of the storage location, with an inventory progress bar;

[0067] Right side: List of abnormal tags, including shelf number and material ID;

[0068] The left side of the touchscreen 401 displays a 3D map of the shelves with a colored progress bar, while the right side scrolls to display the shelf number, material ID, and exception type code of the exception label.

[0069] Audible and visual alarm unit: RGB indicator light + buzzer.

[0070] The main controller uses an NXP i.MX8M Plus processor with a built-in NPU to accelerate AI computing;

[0071] Real-time task scheduling: The task types are divided into the following categories according to their priority: navigation and positioning, RFID scanning, communication transmission, and interactive response.

[0072] The execution cycles for the above task types are 10ms, 50ms, 100ms, and 200ms, respectively.

[0073] The power module includes a 48V 20Ah lithium battery pack 601; automatic charging scheme: the chassis contact electrode docks with the charging pile, and the vehicle returns autonomously when the remaining power is <15%;

[0074] The modules mentioned above work together as follows:

[0075] Track deployment: Lay electromagnetic guide lines along the main aisle of the warehouse, and import the shelf coordinate map into the server.

[0076] Inventory Operation: The robot moves along the guide line, the forward circular polarized antenna 202 scans the labels on the middle and upper floors, and the lateral linear polarized antenna 203 emits a beam that penetrates the bottom of the shelf.

[0077] When the 16-line lidar 104 detects temporarily piled-up materials, it automatically generates an obstacle avoidance path.

[0078] Anomaly Handling: Unregistered Tag Detected: Touchscreen 401 pops up a location box and announces "Abnormal materials found on shelf 07 in Zone B";

[0079] Network interruption: Data is stored locally and will automatically resume downloading once WiFi is restored.

[0080] Charging process: The power monitoring chip triggers a return command, and the chassis electrodes connect to the charging station.

[0081] The working principle of this utility model is as follows: In the idle position of this device, all the aforementioned driving components (representing power elements, electrical devices, and compatible power supplies) are connected via wires. The electrical connections are completed in sequence between the working components. The detailed connection methods are well-known in the field. The following mainly describes the working principle and process, without further explanation of the electrical control.

[0082] Initial deployment:

[0083] Guide lines are laid along the main aisle of the warehouse, and the server imports the coordinate map of the shelves.

[0084] The robot performs a self-test upon startup, and the LiDAR 104 constructs an environmental point cloud map.

[0085] Inventory review:

[0086] Voice command activation: The user says "Start inventory", the microphone array 402 recognizes the command, and the main controller activates the navigation task.

[0087] Composite navigation movement:

[0088] Electromagnetic sensor 103 tracks the guide wire to control the basic trajectory;

[0089] The LiDAR 104 can detect obstacles such as temporarily piled-up materials in real time and dynamically generate obstacle avoidance paths.

[0090] RFID collaborative scanning:

[0091] Forward-facing antenna 202 scans shelf labels at heights of 1.5-3m;

[0092] The lateral antenna 203 obliquely downwards covers the 0-1.5m bottom layer label;

[0093] The reader dynamically adjusts its transmission power by 5-30dBm based on the tag density.

[0094] Exception handling:

[0095] Unregistered tag alarm: Touch screen 401 pops up a positioning box and announces "Abnormal materials found on shelf 07 in area B", and the RGB indicator light flashes red.

[0096] User-linked positioning: Click on the abnormal label item, and the robot will automatically navigate to the corresponding shelf with an error of less than 2cm.

[0097] Data Management:

[0098] When the network is good: RFID data is compressed and uploaded to the server in real time;

[0099] When network latency is greater than 100ms: data is encrypted and cached, and resumed after interruption upon recovery.

[0100] Self-charging:

[0101] The battery monitoring chip triggers a return-to-home call when the battery level is below 15%.

[0102] Move along the guide line to the charging station, and the chassis electrodes magnetically connect for charging.

[0103] It should be understood that in this application, all rotating, sliding, meshing, belt-driven and other moving parts are well lubricated and not prone to slippage or wear, and each part is provided with a corresponding protective shell. However, in the accompanying drawings of this application, the connection state of each moving part is not shown. It should also be understood that each part in this application is made of metal or plastic material with suitable strength in the relevant field to ensure that its structural rigidity meets the actual requirements.

[0104] The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A warehouse inventory robot, characterized in that, include: The chassis module (1) is equipped with an absolute encoder, an integrated electromagnetic sensor (103) to track the ground-embedded guide wires and a 16-line lidar (104) to construct an environmental point cloud map. The ultrasonic sensor (105) and mechanical anti-collision strip (106) constitute a dual obstacle avoidance mechanism. RFID scanning module: The UHF reader operates in the 920-925MHz frequency band and supports the EPC C1G2 protocol. It includes a forward circularly polarized antenna (202) with an installation height of 1.2m and a tilt angle of 15°, covering 1.5-3m shelf layers, and a lateral linearly polarized antenna (203) with an installation height of 0.6m and a tilt angle of 45°, covering 0-1.5m shelf layers. It supports dynamic power adjustment based on tag density. Communication module: The dual-band WiFi module supports the 802.11ac protocol, enabling RFID data compression, real-time uploading, local caching during network latency, and breakpoint resume. Human-computer interaction module: 10.1-inch capacitive touch screen (401) with partitioned display of 3D map of the storage location and list of abnormal labels, four-microphone array (402) supporting voice commands, and sound and light alarm unit; Main controller: Employs an NXP i.MX8M Plus processor to perform priority task scheduling: navigation and positioning, RFID scanning, communication transmission, and interactive response; Power module: 48V 20Ah lithium battery pack (601) with chassis contact electrodes, triggers autonomous return to charging when the battery level is <15%.

2. The warehouse inventory robot according to claim 1, characterized in that, The guide wire is a 0.5mm diameter enameled wire, which forms an electromagnetic navigation trajectory when AC current is applied.

3. The warehouse inventory robot according to claim 1, characterized in that, The touchscreen (401) displays a 3D map of the shelves with a colored progress bar on the left side, and scrolls the shelf number, material ID, and abnormality type code of the abnormal label on the right side.

4. The warehouse inventory robot according to claim 1, characterized in that, The microphone array (402) noise reduction algorithm satisfies ENI≥15dB, and the voice command set includes "start inventory", "pause" and "location anomaly".

5. The warehouse inventory robot according to claim 1, characterized in that, The lidar (104) has a scanning frequency of 12Hz and generates obstacle avoidance paths in real time when detecting temporarily piled-up materials.

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