Intelligent warehousing picking robot

Abstract

The utility model discloses an intelligent warehousing picking robot relates to intelligent warehousing logistics equipment technical field, including movable base, the mechanical arm of installation in movable base, the lifting platform for the material of acceptance, and drive lifting mechanism that lifting platform elevates, the mechanical arm end is equipped with mechanical paw and visual identification component, and visual identification component is close to mechanical paw setting, and the optical acquisition direction of visual identification component is towards mechanical paw, and the walking mechanism that the movable base is equipped with on movable base drives movable base and walks on ground, still be equipped with auxiliary transmission device on lifting platform. The above -mentioned picking robot can realize accurate visual identification and catch, and adapt multilayer shelf operation demand.

Description

Technical Field

[0001] This application relates to the field of intelligent warehousing and logistics equipment technology, and in particular to an intelligent warehouse picking robot. Background Technology

[0002] Currently, AGV (Automated Guided Vehicle) transport robots widely used in warehousing and logistics have significant technical limitations: their cargo-carrying methods are limited, only able to place logistics boxes on a fixed-height loading surface, making them unsuitable for the multi-layer racking operations required in modern warehousing. Furthermore, the lack of a precise visual positioning system during robotic arm grasping operations makes it difficult to ensure grasping accuracy. In addition, existing equipment generally lacks a comprehensive safety warning system, posing safety hazards in complex operating environments. To address these technical deficiencies, the industry urgently needs to develop intelligent picking robots with integrated functions such as autonomous navigation, intelligent recognition, multi-layer operation, and safety warnings. Utility Model Content

[0003] In order to overcome the shortcomings of the prior art, this application provides an intelligent warehouse picking robot that can achieve more accurate identification and grasping and adapt to the needs of multi-layer shelf operations.

[0004] To achieve the above objectives, this application adopts the following technical solution:

[0005] An intelligent warehouse picking robot includes a movable base, a robotic arm mounted on the movable base, a lifting platform for receiving materials, and a lifting mechanism for driving the lifting platform to move up and down. The robotic arm is equipped with a robotic claw and a vision recognition component at its end. The vision recognition component is positioned close to the robotic claw, and the optical acquisition direction of the vision recognition component is facing the robotic claw. The movable base is provided with a walking mechanism for driving the movable base to move on the ground. The lifting platform is also provided with an auxiliary transmission device.

[0006] Through the above technical solution, this application enables warehouse robots to perform three-dimensional coordinate positioning of goods using visual recognition components, and to reach the target shelf level via a lifting mechanism. This adapts to different warehouse shelf specifications, improves the accessibility of high-level shelf areas, and allows picking robots to more accurately identify and grasp goods, adapting to the needs of multi-level shelf operations. Furthermore, the visual recognition components can also assist in monitoring whether there are any abnormal hazards at the grasping point that could affect the safety of material transfer, improving the safety of the material transfer process.

[0007] Furthermore, this application also proposes that the auxiliary transmission device is a powered roller conveyor; the powered roller conveyor includes a plurality of roller bodies arranged at intervals and roller drive components for driving the roller bodies.

[0008] Through the above technical solution, this application realizes the automated transportation of logistics boxes at the work point, enabling picking robots to directly complete the material handover in the lifting or lowering state, shortening the transfer path of goods from the shelf to the conveyor line.

[0009] Furthermore, this application also proposes that the edge of the lifting platform is provided with a vertically extending enclosure, the enclosure forming a placement groove with an opening on one side, the power roller line is located in the placement groove and the transmission direction of the power roller line is towards the opening of the placement groove, a through-beam laser sensor is provided at the opening of the placement groove, and a contact sensor is provided on the side wall of the enclosure away from the opening of the placement groove.

[0010] In the above technical solution, the enclosure uses vertically extending physical limits to constrain the lateral deviation of goods during lifting or movement, preventing slippage; the power roller conveyor can autonomously push the goods to the opening (or push them out of the opening). A through-beam laser sensor detects whether the goods have reached the designated pickup position at the opening by beam obstruction, while a contact sensor confirms the fit between the goods and the enclosure through contact triggering. Together, they form a dual "position-state" verification. This design effectively solves the problems of unstable goods transport, positioning deviation, and unreliable state detection in traditional lifting platforms.

[0011] Furthermore, this application also proposes that the end of the robotic arm is equipped with a supplementary light, the light emitting light in the direction of the robotic gripper; the supplementary light includes an LED supplementary light and an infrared supplementary light.

[0012] Through the above technical solution, this application effectively solves the problem of inaccurate visual positioning under complex lighting conditions, and improves the environmental adaptability of the robotic gripper's grasping operation. The combined application of visible light and infrared light enables the robot to work stably under various working conditions such as day and night cycles and strong light interference, while meeting the needs of covert operations in special scenarios and avoiding the impact of visible light pollution on the warehouse environment.

[0013] Furthermore, this application also proposes that anti-collision sensing strips are provided on the left and right side walls of the active base, and the anti-collision sensing strips are electrically connected to the controller of the picking robot.

[0014] In the above technical solution, the robot in the warehouse environment can promptly detect lateral collisions and perform emergency braking when moving, thereby improving the reliability of equipment operation.

[0015] Furthermore, this application also proposes that an ultrasonic locator and a contact charging base are provided on one of the side walls of the active base, and the ultrasonic locator and the contact charging base are electrically connected to the controller of the picking robot.

[0016] Through the above technical solution, this application realizes the autonomous positioning function based on acoustic ranging and the automated charging function of physical contact docking, enabling the robot to navigate accurately and complete the charging process without human operation.

[0017] Furthermore, this application also proposes that the active base is equipped with status indicator lights, a control panel, a sound-emitting element, a 3D camera, and a lidar, all of which are electrically connected to the controller of the picking robot.

[0018] Through the above technical solutions, this application effectively improves the navigation and positioning accuracy of robots in dense warehouse environments, achieving centimeter-level spatial positioning through multi-sensor fusion; enhances the real-time perception capability of dynamic obstacles, ensuring the reliability of obstacle avoidance under complex paths; improves the efficiency of operation status recognition through the sound and light collaborative feedback mechanism, reducing the intensity of manual monitoring; and integrates a localized control interface and voice prompt function to achieve rapid response and safety warnings in emergency situations.

[0019] Furthermore, this application also proposes that the lidar includes a front lidar and a rear lidar, with the front lidar sensing direction facing the front of the movable base and the rear lidar sensing direction facing the rear of the movable base.

[0020] Through the above technical solution, this application uses a front lidar and a rear lidar arranged symmetrically to cover the front and rear directions of the movable base, and the two together eliminate the detection blind spot.

[0021] Furthermore, this application also proposes that the status indicator light includes a warning light located on the top of the movable base and a status display light strip located on the side wall of the movable base.

[0022] Through the above technical solution, this application solves the problem of the single method of robot operation status indication, and realizes rapid identification of abnormal conditions and real-time synchronization of operation information. The top warning light ensures that emergency situations are promptly transmitted to remote warehouse staff, while the side wall light strips provide near-field operators with key information such as direction of travel and operation stage through dynamic lighting effects, effectively preventing personnel from accidentally entering the robotic arm's working area or colliding with the mobile chassis.

[0023] Furthermore, this application also proposes that the visual recognition component includes a visual camera and a first barcode scanner; a second barcode scanner is provided on the active base.

[0024] Through the above technical solution, this application achieves dual acquisition of item features and location information, solving the problem of insufficient flexibility caused by traditional robots relying on preset QR codes for positioning. The collaborative working mode of the visual camera and the barcode reader enhances the robustness of item recognition in complex warehouse environments, and the independent configuration of the base barcode scanning device expands the environmental perception range, providing data support for autonomous navigation and precise grasping.

[0025] Furthermore, this application also proposes that the active base is equipped with a wireless connection component.

[0026] Through the above technical solution, this application solves the problem of robot operation stagnation caused by insufficient local computing power. By enabling collaborative decision-making between the cloud and the local end through wireless communication, it ensures fully unmanned operation in scenarios such as unknown object recognition and complex path planning. For example, when the robotic arm cannot determine the grasping order of stacked goods, the cloud system can generate the optimal solution based on historical data and issue instructions, avoiding efficiency losses caused by manual intervention.

[0027] Furthermore, this application also proposes that the walking mechanism includes a plurality of omnidirectional driven wheels and omnidirectional drive wheels.

[0028] The beneficial effects of this application are: by integrating a robotic arm, a lifting platform and a vision recognition component to achieve precise grasping and multi-layer operation, and by combining an autonomous navigation walking mechanism and safety protection devices, it solves the technical problems of low grasping accuracy and high safety hazards of traditional equipment, and has the advantages of improving the efficiency and safety of warehousing operations. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the structure of this application. Figure 1 ;

[0030] Figure 2 This is a schematic diagram of the structure of this application. Figure 2 .

[0031] In the diagram: 1. Movable base; 2. Robotic arm; 3. Lifting platform; 4. Lifting mechanism; 5. Robotic claw; 6. Vision recognition component; 6.1. Camera; 6.2. First barcode scanner; 7. Walking mechanism; 8. Powered roller conveyor; 9. Fill light; 9.1. LED fill light; 9.2. Infrared fill light; 10. Anti-collision sensor strip; 11. Ultrasonic locator; 12. Contact charging base; 13. Status indicator light; 13. Warning light; 13.1. Status display light strip; 13.2. Control panel; 14. 3D camera; 16. Front LiDAR; 17.1. Rear LiDAR; 17.2. Enclosure; 18. Through-beam laser sensor; 20. Contact sensor; 21. Detailed Implementation

[0032] The present application will now be further described with reference to the accompanying drawings and specific embodiments.

[0033] Example:

[0034] like Figure 1 and Figure 2As shown, an intelligent warehouse picking robot includes a movable base 1, a robotic arm 2 mounted on the movable base 1, a lifting platform 3 connected to the movable base 1 in a height-adjustable manner, and a lifting mechanism 4 for driving the lifting platform 3 to rise and fall. A robotic gripper 5 and a vision recognition component 6 are mounted at the end of the robotic arm 2. The vision recognition component 6 is positioned close to the robotic gripper 5, and its optical acquisition direction faces the robotic gripper 5. A walking mechanism 7 is provided on the movable base 1 to drive the movable base 1 to move on the ground. The walking mechanism 7 includes several omnidirectional driven wheels and omnidirectional drive wheels.

[0035] The mobile base 1 is a support platform with autonomous movement capabilities, providing stable support for the robotic arm 2 and the lifting mechanism 4. The walking mechanism 7 enables the robot to navigate and move autonomously in the warehouse environment. The robotic arm 2 is a multi-degree-of-freedom articulated manipulator, specifically implemented using a serial six-axis robotic arm 2 structure. The lifting platform 3 is a vertical motion support platform with a maximum lifting height of 3.5 meters. The visual recognition component 6 is a near-field optical acquisition system. The omnidirectional drive wheel is an active drive unit with omnidirectional movement capabilities, specifically implemented using Mecanum wheels or omnidirectional wheels with independent steering control modules. Its hub surface has a diagonal roller structure, and it achieves vector propulsion in any direction through motor drive. The omnidirectional driven wheel is a support wheel with free steering characteristics, specifically implemented using spherical wheels with self-balancing bearings or double-row ball wheels. Its wheel body can automatically adjust the contact angle according to the direction of movement, forming an unconstrained rolling trajectory.

[0036] Specifically, after the lifting mechanism 4 drives the lifting platform 3 to the target shelf layer, the vision recognition component 6 performs three-dimensional coordinate positioning of the goods, and the robotic arm 2 adjusts its gripping posture based on the visual data. When the robotic gripper 5 performs the gripping action, the vision system continuously monitors the changes in the position of the items and corrects the gripping trajectory through closed-loop control. The vertical movement range of the lifting platform 3 and the horizontal working space of the robotic arm 2 form a three-dimensional working area, realizing three-dimensional warehouse storage and retrieval operations.

[0037] Through the above technical solution, this application enables the warehouse robot to perform three-dimensional coordinate positioning of goods using the visual recognition component 6, and to reach the target shelf level via the lifting mechanism 4 and the lifting platform 3, adapting to different warehouse shelf specifications and improving the accessibility of high-level shelf areas. This allows the picking robot to accurately recognize and grasp goods visually, adapting to the needs of multi-layer shelf operations. Through the walking mechanism 7, this application enables the robot to perform precise lateral displacement operations in the warehouse environment, directly executing lateral movement commands issued by the system without adjusting the robot's direction, effectively improving passage efficiency in narrow shelf aisles. This walking mechanism 7 eliminates the dependence on fixed path QR codes, allowing the robot to autonomously plan the optimal movement path based on real-time environmental perception data, while reducing mechanical wear caused by path deviation.

[0038] This application further proposes to install an auxiliary transmission device on the lifting platform. In this embodiment, the auxiliary transmission device is a powered roller line 8, which includes a plurality of roller bodies arranged at intervals and roller drive components for driving the roller bodies.

[0039] The powered roller conveyor 8 refers to a rotating conveyor device consisting of multiple parallel rollers. Specifically, it can use a motor coupled with chain or belt drive to drive the rollers, achieving horizontal displacement of the logistics boxes on the lifting platform 3. The spaced-apart roller bodies refer to a layout where gaps are maintained between adjacent rollers. The roller drive unit refers to the device that provides rotational power to the roller bodies. Specifically, it can use a geared motor with a gearbox structure, transmitting power to the ends of each roller shaft via a coupling to achieve synchronous rotation of the rollers.

[0040] Specifically, the roller drive unit rotates the roller body, causing the logistics boxes placed on the roller conveyor to move in a predetermined direction. The conveying surface formed by the intervals between the roller bodies can both support the bottom of the logistics boxes and prevent running obstruction caused by material residue through the gaps. This structure allows for automated loading and unloading operations of the logistics boxes without manual intervention after the height adjustment of the lifting platform 3, making it particularly suitable for material transfer scenarios between high-level racks and conveyor lines.

[0041] Through the above technical solution, this application realizes the automated transportation of logistics boxes at the work point, enabling picking robots to directly complete the material handover in the lifting or lowering state, shortening the transfer path of goods from the shelf to the conveyor line.

[0042] This application further proposes that the lifting platform 3 has a vertically extending enclosure 18 along its edge, the enclosure 18 forming a placement groove with an opening on one side, the power roller 8 being placed in the placement groove, and the transmission direction of the power roller 8 facing the opening of the placement groove, the opening of the placement groove being provided with a through-beam laser sensor 20, and the side wall of the enclosure 18 away from the opening of the placement groove being provided with a contact sensor 21.

[0043] In the above technical solution, the barrier 18 uses vertically extending physical limits to constrain the lateral deviation of goods during lifting or movement, preventing slippage; the powered roller conveyor 8 can autonomously push the goods to the opening (or push them out of the opening) via directional transmission. A through-beam laser sensor 20 detects whether the goods have reached the pickup position at the opening by beam obstruction, while a contact sensor 21 confirms the fit between the goods and the barrier through contact triggering. Together, they form a dual "position-state" verification. When the through-beam laser sensor 20 is obstructed, it indicates that the goods have not been transported to the correct position, and the lifting platform 3 should not be raised or lowered. When the through-beam laser sensor 20 is not obstructed and the contact sensor 21 is triggered, it indicates that the goods are already on the lifting platform 3 and have been transported to the correct position, allowing the lifting platform 3 to rise or fall. This design effectively solves the problems of unstable goods transport, positioning deviation, and unreliable state detection on the lifting platform 3: the cooperation between the barrier 18 and the powered roller conveyor 8 improves the stability of goods transfer; the precise detection of the dual-sensor linkage provides reliable feedback for robot pickup, avoiding misoperation.

[0044] This application further proposes that the end of the robotic arm 2 is provided with a supplementary light 9, the light source of which is directed toward the robotic gripper 5; the supplementary light 9 includes an LED supplementary light 9.1 and an infrared supplementary light 9.2.

[0045] The supplementary light 9 refers to the light source device installed at the end of the robotic arm 2, used to provide auxiliary lighting for the operating area of ​​the robotic gripper 5. Specifically, it can be implemented using an adjustable-angle light assembly structure, ensuring uniform illumination of the target object's surface by adjusting the light projection angle. The LED supplementary light 9.1 refers to a visible light illumination component based on light-emitting diode technology, specifically implemented using a high color rendering index (CRI) white LED module, providing sufficient brightness for normal operating environments and restoring the true color characteristics of the object. The infrared supplementary light 9.2 refers to an illumination device that emits the invisible infrared spectrum, activating night vision mode in environments requiring avoidance of visible light interference or low illumination, working in conjunction with the vision system to complete image acquisition.

[0046] Specifically, when the robotic arm 2 performs a grasping operation, the LED supplementary light 9.1 automatically adjusts its brightness output according to the ambient light intensity to ensure that the vision recognition component 6 acquires clear color and texture information. In warehouse nighttime operations or scenarios with strong reflections, the infrared supplementary light 9.2 is activated to illuminate the target item with invisible light, and the vision system switches to infrared imaging mode to acquire contour feature data. The two light sources are intelligently switched through a controller, maintaining continuous and effective illumination of the robotic gripper 5's working area while avoiding recognition errors caused by sudden changes in ambient light.

[0047] Compared to existing technologies, traditional warehouse robots rely solely on ambient light or single visible light for assistance, making them prone to recognition failures in complex lighting conditions. This solution, through a dual-spectrum collaborative working mechanism, not only meets the high-precision recognition requirements under normal working conditions but also maintains operational capabilities in the absence of visible light, eliminating the need for fixed-location auxiliary lighting facilities.

[0048] Through the above technical solution, this application effectively solves the problem of inaccurate visual positioning under complex lighting conditions, and improves the environmental adaptability of the robotic gripper 5's grasping operation. The combined application of visible light and infrared light enables the robot to work stably under various working conditions such as day and night cycles and strong light interference, while meeting the needs of covert operations in special scenarios and avoiding the impact of visible light pollution on the warehouse environment.

[0049] This application further proposes to install anti-collision sensing strips 10 on the left and right side walls of the active base 1, and the anti-collision sensing strips 10 are electrically connected to the controller of the picking robot.

[0050] Specifically, the anti-collision sensor strips 10 extend laterally along the left and right sidewalls of the movable base 1, forming detection areas covering both sides of the robot's movement direction. When the robot performs lateral movement or turning, the sensor strips on both sides continuously monitor the lateral space. If contact pressure from an obstacle is detected, the sensor strip immediately generates an electrical signal and transmits it to the control unit via an electrical connection to the controller. Upon receiving the signal, the control unit immediately interrupts the current movement command and initiates an emergency braking procedure, while simultaneously replanning the obstacle avoidance path according to the navigation system. This technical solution, through the symmetrical arrangement of the sensor strips on both sides and the controller, forms a closed-loop control system, effectively eliminating the potential for blind spots during lateral robot movement.

[0051] In the above technical solution, the robot in the warehouse environment can promptly detect lateral collisions and perform emergency braking when moving, thereby improving the reliability of equipment operation.

[0052] This application further proposes that an ultrasonic locator 11 and a contact charging base 12 are provided on one of the side walls of the active base 1, and the ultrasonic locator 11 and the contact charging base 12 are electrically connected to the controller of the picking robot.

[0053] The ultrasonic locator 11 is a device that measures spatial position by emitting high-frequency sound waves and receiving reflected signals. Its function is to calculate the distance to obstacles based on the time difference of sound wave reflection, providing centimeter-level positioning accuracy for the robot. The contact charging base 12 is an interface device that conducts electrical energy through physical contacts to achieve charging. Specifically, it can be implemented using a metal contact module with a spring pin structure. Its function is to automatically dock with the contacts of the charging base station to complete the physical connection for the charging process.

[0054] Through the above technical solution, this application realizes the autonomous positioning function based on acoustic ranging and the automated charging function of physical contact docking, enabling the robot to navigate accurately and complete the charging process without human operation.

[0055] This application further proposes that the movable base 1 is equipped with a status indicator light 13, a control panel 14, a sound-emitting element, a 3D camera 166.1, and a lidar. The status indicator light 13, control panel 14, sound-emitting element, 3D camera 166.1, and lidar are all electrically connected to the controller of the picking robot. The lidar includes a front lidar 17.1 and a rear lidar 17.2. The front lidar 17.1 is directed towards the front of the movable base 1, and the rear lidar 17.2 is directed towards the rear of the movable base 1.

[0056] The status indicator light 13 is a device that transmits the robot's operating status through optical signals. It can be implemented using multi-color LED lights, with different colors or flashing frequencies distinguishing operating modes, fault alarms, or task completion status. The control panel 14 is an interactive device integrating a touchscreen and physical buttons. It can be implemented using an embedded industrial-grade touchscreen for local parameter settings, emergency stops, or task priority adjustments. The sound-generating element is an audio device that generates voice prompts and warning sounds. It can be implemented using a combination of a piezoelectric buzzer and a digital audio chip for broadcasting operating status or safety warning information. The 3D camera 166.1 is a visual sensor with depth perception capabilities. It can be implemented using a binocular stereo vision module or a ToF sensor for constructing a three-dimensional spatial model and identifying the pose of target objects. The lidar is an environmental scanning device based on the principle of laser ranging. It can be implemented using a rotating or solid-state LiDAR module. The front lidar 17.1 covers obstacle detection in the direction of travel, and the rear lidar 17.2 covers dynamic monitoring of the rear area; both work together to eliminate blind spots.

[0057] Specifically, the front LiDAR 17.1 and rear LiDAR 17.2 are symmetrically arranged to cover the front and rear directions of the movable base 1, generating 360-degree environmental point cloud data through real-time scanning. Combined with stereoscopic vision information collected by the 3D camera 166.1, multi-sensor data fusion positioning is achieved. The status indicator 13 displays the robot's charging, running, or fault status according to preset coding rules. The control panel 14 provides a localized operation interface for emergency intervention, and the sound element outputs voice prompts simultaneously to enhance human-machine interaction. The LiDAR achieves dynamic path planning through obstacle detection, avoiding the collision risk caused by blind spots in traditional solutions. The 3D camera 166.1 assists the robotic arm 2 in accurately locating target objects through stereoscopic vision modeling, complementing the scanning data of the LiDAR to form a three-dimensional environmental perception capability.

[0058] Through the above technical solutions, this application effectively improves the navigation and positioning accuracy of robots in dense warehouse environments, achieving centimeter-level spatial positioning through multi-sensor fusion; enhances the real-time perception capability of dynamic obstacles, ensuring the reliability of obstacle avoidance under complex paths; improves the efficiency of operation status recognition through the sound and light collaborative feedback mechanism, reducing the intensity of manual monitoring; and integrates a localized control interface and voice prompt function to achieve rapid response and safety warnings in emergency situations.

[0059] This application further proposes a status indicator light 13 including a warning light 13.1 located on the top of the movable base 1 and a status display light strip 13.2 located on the side wall of the movable base 1. The status display light strip 13.2 can be located on various sides of the movable base 1.

[0060] Among them, the warning light 13.1 refers to a high-level visual warning device installed on top of the robot, which can be implemented using a high-brightness LED light source module. It conveys abnormal status information such as emergency stop and path obstruction through flashing frequency or color changes. Its high-level installation characteristics make the warning signal penetrating between warehouse shelves, facilitating long-distance identification by operators. The status display light strip 13.2 refers to a continuous light strip assembly surrounding the side wall of the robot, which can be implemented using multi-segment programmable LED light strips. It displays the robot's current operating mode, operation stage, or system status through dynamic light effects or color partitioning. Its lateral layout allows it to simultaneously convey information to operators in different directions around the robot.

[0061] Through the above technical solution, this application solves the problem of the single method of robot operation status prompting, and realizes rapid identification of abnormal conditions and real-time synchronization of operation information. The top warning light 13.1 ensures that the emergency situation is promptly transmitted to the remote staff in the warehouse, and the side wall light strip provides key information such as the direction of travel and the stage of operation to the near-field operators through dynamic light effects, effectively avoiding personnel from accidentally entering the working area of ​​the robotic arm 2 or colliding with the mobile chassis.

[0062] This application further proposes a visual recognition component 6 including a visual camera 6.1 and a first barcode scanner 6.2, and a second barcode scanner is provided on the active base 1.

[0063] The visual camera 6.1 is a device for acquiring image information of the surface of an object, specifically a high-resolution industrial camera, which identifies the object by capturing its texture and shape features. The first barcode reader 6.2 is a device for reading the identification code on the surface of an object, specifically a laser scanning module or an image scanning module, used to directly acquire the barcode or QR code information of the object. Specifically, the visual camera 6.1 and the first barcode reader 6.2 work collaboratively at the end of the robotic arm 2. The visual camera 6.1 extracts the physical characteristics of the object through image analysis, while the first barcode reader 6.2 simultaneously scans the object's identification code. The data from both are fused to generate a composite recognition result. They can also be used independently. The second barcode reader is an auxiliary scanning device installed on the movable base 1. When the manual follow mode is activated, the second barcode reader reads the barcode or QR code information of the goods during manual handling.

[0064] Through the above technical solution, this application achieves dual acquisition of item features and location information, solving the problem of insufficient flexibility caused by traditional robots relying on preset QR codes for positioning. The collaborative working mode of the vision camera 6.1 and the barcode reader enhances the robustness of item recognition in complex warehouse environments, and the independent configuration of the base barcode scanning device expands the environmental perception range, providing data support for autonomous navigation and precise grasping.

[0065] This application further proposes to install a wireless connection component on the active base 1.

[0066] The wireless connectivity component refers to the hardware module used to establish a communication connection between the robot and external systems. Specifically, it can be implemented using a 5G communication module or a Wi-Fi module, such as an integrated 5G module or a dual-band Wi-Fi chip. This component transmits data via a wireless network, enabling the robot to interact with the backend system in real time when local computing power is insufficient.

[0067] Specifically, when the robot's built-in visual recognition model cannot determine the features of a target object, the wireless connectivity component uploads the collected visual data to a cloud server. The cloud server performs secondary analysis based on a pre-trained large model and generates operational instructions, such as the object's grasping position or path planning information, which are then transmitted back to the robot via a wireless network. The robot adjusts the movements or walking route of its robotic arm 2 according to the instructions, thus avoiding operation interruptions caused by the limitations of the local model. For example, when the robotic gripper 5 encounters an irregularly shaped package without pre-stored features, the wireless connectivity component uploads the package image to the cloud. After the cloud completes 3D reconstruction, it returns the grasping coordinate parameters, which the robot then uses to perform precise grasping.

[0068] In some specific implementations, the wireless connectivity component can be configured as a communication module that supports multi-band switching, such as automatically switching to the Wi-Fi 6 protocol when 5G signal coverage is insufficient, to ensure data transmission stability. Simultaneously, the component can integrate an encryption chip, such as employing the AES-256 encryption algorithm, to prevent data leakage in the communication link.

[0069] Compared to existing technologies, traditional AGV robots rely on local QR code recognition and fixed program control, requiring manual intervention for recalibration when encountering unknown objects. This solution, however, achieves cloud-based collaborative decision-making through wireless connectivity components, enabling the handling of complex scenarios without interrupting the workflow. For example, even when the height of warehouse shelves exceeds the local model's recognition range, the lifting height parameters can still be obtained through cloud modeling.

[0070] Through the above technical solution, this application solves the problem of robot operation stagnation caused by insufficient local computing power. By enabling collaborative decision-making between the cloud and the local end through wireless communication, it ensures fully unmanned operation in scenarios such as unknown object recognition and complex path planning. For example, when the robotic arm 2 cannot determine the grasping order of stacked goods, the cloud system can generate the optimal solution based on historical data and issue instructions, avoiding efficiency losses caused by manual intervention.

[0071] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. An intelligent warehouse picking robot, characterized in that, The device includes a movable base, a robotic arm mounted on the movable base, a lifting platform for receiving materials, and a lifting mechanism for driving the lifting platform to move up and down. The robotic arm is equipped with a robotic claw and a vision recognition component at its end. The vision recognition component is positioned close to the robotic claw, and the optical acquisition direction of the vision recognition component is facing the robotic claw. The movable base is equipped with a walking mechanism for driving the movable base to move on the ground. The lifting platform is also equipped with an auxiliary transmission device.

2. The intelligent warehouse picking robot according to claim 1, characterized in that, The auxiliary transmission device is a powered roller conveyor, which includes several roller bodies spaced apart and roller drive components for driving the roller bodies.

3. The intelligent warehouse picking robot according to claim 2, characterized in that, The lifting platform has vertically extending barriers along its edge, forming a placement slot with an opening on one side. The power roller is placed inside the placement slot, with its transmission direction facing the opening of the placement slot. A through-beam laser sensor is installed at the opening of the placement slot, and a contact sensor is installed on the side wall of the barriers away from the opening of the placement slot.

4. The intelligent warehouse picking robot according to claim 1, characterized in that, The robotic arm is equipped with a supplementary light at its end, with the light emitting light towards the robotic gripper; the supplementary light includes an LED supplementary light and an infrared supplementary light.

5. The intelligent warehouse picking robot according to claim 1, characterized in that, The side wall of the movable base is equipped with an anti-collision sensor strip, which is electrically connected to the controller of the picking robot.

6. A smart warehouse picking robot according to any one of claims 1 to 5, characterized in that, An ultrasonic locator and a contact charging base are provided on one side wall of the movable base. The ultrasonic locator and the contact charging base are electrically connected to the controller of the picking robot.

7. A smart warehouse picking robot according to any one of claims 1 to 5, characterized in that, The mobile base is equipped with status indicator lights, a control panel, a sound-generating element, a 3D camera, and a lidar. The status indicator lights, control panel, sound-generating element, 3D camera, and lidar are all electrically connected to the controller of the picking robot.

8. The intelligent warehouse picking robot according to claim 7, characterized in that, The lidar includes a front lidar and a rear lidar, with the front lidar sensing towards the front of the movable base and the rear lidar sensing towards the rear of the movable base; the status indicator includes a warning light on the top of the movable base and a status display light strip on the side wall of the movable base.

9. An intelligent warehouse picking robot according to any one of claims 1 to 4, characterized in that, The visual recognition component includes a visual camera and a first barcode scanner; a second barcode scanner is provided on the movable base.

10. An intelligent warehouse picking robot according to any one of claims 1 to 4, characterized in that, The active base is equipped with a wireless connection component.

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