AGV robot-based loading and unloading system

Abstract

This invention provides a loading and unloading system based on an AGV robot. The system includes: a loading / unloading trolley robot, comprising: an AGV chassis capable of driving into a cargo container and a loading / unloading robot, the robotic arm of which extends to the front end of the AGV chassis and can rotate based on the chassis; and a cable conveyor line, the first end of which is connected to the loading / unloading trolley robot via a rotating mechanism. As the rotating mechanism rotates, the first end of the cable conveyor line switches between three different positions: the rear end, the left side, and the right side of the loading / unloading trolley robot. This invention can shorten the rotation stroke of the robotic arm, reduce the unit time of a single handling operation, and improve overall handling efficiency by changing the position of the loading / unloading trolley robot and the cable conveyor line.

Description

Technical Field

[0001] This utility model relates to the field of container warehousing, and more specifically, to a loading and unloading system based on AGV robots. Background Technology

[0002] Traditional automated flexible unloading robot designs typically consist of a mobile chassis, a robotic arm, and a conveyor line. The conveyor line is usually manually installed on the mobile chassis, positioned behind the robot's direction of travel. This ensures smooth movement of the wheeled conveyor line and minimizes the area required for passage. This design is suitable for confined spaces such as warehouses without loading platforms or with small loading platforms, or those using covered walkways.

[0003] However, in actual use, if the conveyor line dragged by the robot is always located directly behind the robot, the robot needs to rotate 180 degrees each time to place the unloaded goods onto the conveyor line. This structure increases the rotation stroke of the robotic arm, prolongs the unit time of a single handling, and reduces the overall handling efficiency.

[0004] Therefore, this utility model provides a loading and unloading system based on AGV robots. Utility Model Content

[0005] In view of the problems in the prior art, the purpose of this utility model is to provide a loading and unloading system based on AGV robots, which overcomes the difficulties of the prior art and can shorten the rotation stroke of the robotic arm, reduce the unit time of a single handling and improve the overall handling efficiency by changing the position of the loading and unloading robot and the cable conveyor line.

[0006] An embodiment of this utility model provides a loading and unloading system based on an AGV robot, comprising: A loading and unloading robot includes: an AGV chassis capable of driving into a cargo box and a loading and unloading robot, wherein the robotic arm of the loading and unloading robot extends to the front end of the AGV chassis and can rotate based on the AGV chassis; and A cable chain conveyor line, the first end of which is connected to the loading and unloading trolley robot via a rotating mechanism. As the rotating mechanism rotates, the first end of the cable chain conveyor line switches between three different positions: the rear end, the left side, and the right side of the loading and unloading trolley robot.

[0007] Preferably, the loading and unloading trolley robot further includes a rotatable elliptical turntable. One end of the major axis of the elliptical turntable is provided with a hinge hole. The first end of the cable chain conveyor is hinged to the hinge hole. When the major axis of the elliptical turntable is coaxial with the forward direction of the loading and unloading trolley robot, the first end of the cable chain conveyor is connected to the rear end of the loading and unloading trolley robot through a rotating mechanism.

[0008] Preferably, when the major axis of the elliptical turntable is perpendicular to the forward direction of the loading and unloading trolley robot and the hinge hole is located on the left side of the loading and unloading trolley robot, the first end of the drag chain conveyor is located on the left side of the loading and unloading trolley robot.

[0009] Preferably, when the major axis of the elliptical turntable is perpendicular to the forward direction of the loading and unloading trolley robot and the hinge hole is located on the right side of the loading and unloading trolley robot, the first end of the drag chain conveyor is located on the right side of the loading and unloading trolley robot.

[0010] Preferably, when the first end of the cable chain conveyor is located at the rear end of the loading and unloading trolley robot, the extension direction of the cable chain conveyor is coaxial with the major axis of the elliptical turntable.

[0011] Preferably, when the first end of the cable chain conveyor is located to the left of the loading and unloading robot, the extension direction of the cable chain conveyor is parallel to the major axis of the elliptical turntable.

[0012] Preferably, when the first end of the cable chain conveyor is located to the right of the loading and unloading robot, the extension direction of the cable chain conveyor is parallel to the major axis of the elliptical turntable.

[0013] An embodiment of this utility model also provides a loading and unloading method based on an AGV robot, which uses the above-mentioned loading and unloading system based on an AGV robot and includes the following steps: S110. The point cloud acquisition device scans a row of containers stacked inside the cargo box and marks the containers as the left container and the right container respectively based on their positions in the cargo box. S120. When the first end of the cable chain conveyor is located to the right of the loading and unloading trolley robot, the robotic arm moves the left-side container and transfers it to the first end of the cable chain conveyor. S130, the loading and unloading robot moves to the right side of the interior of the cargo container, and when the first end of the cable chain conveyor is located to the left of the loading and unloading robot, the robotic arm moves the right-side container and transfers it to the first end of the cable chain conveyor; and S140. After all the containers in the current row have been moved to the cable conveyor line, the loading and unloading robot continues to enter the interior of the container along its length and executes step S110 until all the containers inside the container have been moved.

[0014] An embodiment of this utility model also provides a loading and unloading device based on an AGV robot, comprising: processor; A memory in which executable instructions of the processor are stored; The processor is configured to execute the steps of the above-described loading and unloading method based on the AGV robot by executing the executable instructions.

[0015] An embodiment of this utility model also provides a computer-readable storage medium for storing a program that, when executed, implements the steps of the above-described loading and unloading method based on an AGV robot.

[0016] The purpose of this invention is to provide a loading and unloading system based on AGV robots, which can shorten the rotation stroke of the robotic arm, reduce the unit time of a single handling, and improve the overall handling efficiency by changing the position of the loading and unloading robot and the cable conveyor line. Attached Figure Description

[0017] Other features, objects, and advantages of this invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings.

[0018] Figure 1 This is a schematic diagram of the loading and unloading system based on AGV robots according to this utility model.

[0019] Figure 2 This is a schematic diagram of the first state of the loading and unloading system based on AGV robots of this utility model.

[0020] Figure 3 This is a schematic diagram of the second state of the loading and unloading system based on AGV robots of this utility model.

[0021] Figure 4 This is a schematic diagram of the third state of the loading and unloading system based on AGV robots of this utility model.

[0022] Figure 5 This is a schematic diagram of the loading and unloading system based on AGV robots of this utility model entering a container truck.

[0023] Figure 6 This is a schematic diagram of the loading and unloading system based on AGV robots of this utility model scanning the cargo containers inside a shipping container.

[0024] Figure 7 This is a schematic diagram of the loading and unloading system based on AGV robots of this utility model, showing the handling of the left-side container.

[0025] Figure 8 This is a schematic diagram of the loading and unloading system based on AGV robots of this utility model, showing the handling of the right-side container.

[0026] Figure 9 This is a flowchart of the loading and unloading method based on AGV robots according to this utility model.

[0027] Figure 10This is a structural schematic diagram of the loading and unloading equipment based on AGV robots according to this utility model.

[0028] Figure 11 This is a schematic diagram of the structure of a computer-readable storage medium according to an embodiment of the present invention.

[0029] Figure Labels Detailed Implementation

[0030] The following specific examples illustrate the implementation methods of this application. Those skilled in the art can easily understand the other advantages and effects of this application from the content disclosed herein. This application can also be implemented or applied through other different specific embodiments, and various details in this application can be modified or changed according to different viewpoints and application systems without departing from the spirit of this application. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0031] The embodiments of this application will now be described in detail with reference to the accompanying drawings, so that those skilled in the art can easily implement the application. This application may be embodied in many different forms and is not limited to the embodiments described herein.

[0032] In this application, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics represented in connection with that embodiment or example, which are included in at least one embodiment or example of this application. Furthermore, the specific features, structures, materials, or characteristics represented may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate different embodiments or examples represented in this application, as well as features of different embodiments or examples.

[0033] Furthermore, the terms "first" and "second" are used for illustrative purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the representation of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0034] For the purpose of clearly describing this application, devices that are not relevant to the description are omitted, and the same or similar components throughout the specification are given the same reference numerals.

[0035] Throughout this specification, when it is said that a device is "connected" to another device, this includes not only "direct connection" but also "indirect connection" by placing other components in between. Furthermore, when it is said that a device "comprises" a certain constituent element, unless otherwise stated otherwise, this does not exclude other constituent elements, but rather implies that other constituent elements may be included.

[0036] When we say that a device is "above" another device, this can mean that it is directly above the other device, or it can mean that other devices are present in between. Conversely, when we say that a device is "directly" "above" another device, there are no other devices present in between.

[0037] Although the terms first, second, etc., are used in some instances herein to refer to various elements, these elements should not be limited by these terms. These terms are used only to distinguish one element from another. For example, first interface and second interface, etc., are used. Furthermore, as used herein, the singular forms “a,” “an,” and “the” are intended to also include the plural forms unless the context indicates otherwise. It should be further understood that the terms “comprising,” “including,” indicate the presence of features, steps, operations, elements, components, items, kinds, and / or groups, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, kinds, and / or groups. The terms “or” and “and / or” as used herein are interpreted as inclusive, or mean any one or any combination thereof. Thus, “A, B, or C” or “A, B, and / or C” means “any one of: A; B; C; A and B; A and C; B and C; A, B, and C.” Exceptions to this definition will only occur if the combination of elements, functions, steps, or operations is inherently mutually exclusive in some way.

[0038] The technical terms used herein are for reference only to specific embodiments and are not intended to limit the scope of this application. The singular form used herein includes the plural form unless the statement explicitly indicates otherwise. The word "comprising" as used in the specification means to specify a particular characteristic, region, integer, step, operation, element, and / or component, and does not exclude the presence or addition of other characteristics, regions, integers, steps, operations, elements, and / or components.

[0039] Although not explicitly defined, all terms, including technical and scientific terms used herein, shall have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. Terms defined in commonly used dictionaries shall be further interpreted as having a meaning consistent with the relevant technical literature and the content of this present application, and shall not be over-interpreted as having an ideal or overly formulaic meaning unless otherwise defined.

[0040] Figure 1This is a schematic diagram of the loading and unloading system based on AGV robots according to this utility model. Figure 2 This is a schematic diagram of the first state of the loading and unloading system based on AGV robots of this utility model. Figure 3 This is a schematic diagram of the second state of the loading and unloading system based on AGV robots of this utility model. Figure 4 This is a schematic diagram of the third state of the loading and unloading system based on AGV robots of this utility model. Figure 5 This is a schematic diagram of the AGV robot-based loading and unloading system of this utility model entering a container truck. Figures 1 to 5 As shown, the AGV robot-based loading and unloading system of this utility model includes a loading and unloading trolley robot 21 and a cable chain conveyor line 22. The loading and unloading trolley robot 21 includes an AGV chassis 211 that can drive into a cargo box (or container or truck bed) and a loading and unloading robot 213 (AGV stands for Automated Guided Vehicle, and the main function of an AGV is automated logistics handling). The robotic arm 214 of the loading and unloading robot 213 extends to the front end of the AGV chassis 211 and can rotate based on the AGV chassis 211. The first end of the cable chain conveyor line 22 is connected to the loading and unloading trolley robot 21 via a rotating mechanism. As the rotating mechanism rotates, the first end of the cable chain conveyor line 22 switches between three different positions: the rear end, the left side, and the right side of the loading and unloading trolley robot 21. This invention can adjust the relative position of the cable chain conveyor line 22 according to the position change of the loading and unloading robot 21 in the cargo box, so as to ensure that the robotic arm 214 can place the goods on the conveyor line by rotating 90 degrees or less at all times, thereby improving the loading and unloading efficiency of the robotic arm by at least 50%.

[0041] When the AGV-based loading and unloading system travels in the site, the first end of the cable conveyor 22 is located at the rear end of the loading and unloading trolley robot 21 (see...). Figure 2 This reduces the width of AGV-based loading and unloading systems, allowing them to pass through narrower gaps.

[0042] When the AGV-based loading and unloading system moves containers within a shipping container, in order to get closer to the left side of the container and shorten the rotation stroke of the robotic arm, the first end of the cable conveyor 22 is located on the right side of the loading and unloading trolley robot 21 (see...). Figure 3 Conversely, when an AGV-based loading and unloading system is moving containers within a container, in order to be closer to the right side of the container and shorten the rotation stroke of the robotic arm, the first end of the cable conveyor 22 is located to the left of the loading and unloading trolley robot 21 (see...). Figure 4 ).

[0043] In a preferred embodiment, the loading and unloading robot 21 further includes a rotatable elliptical turntable 212. One end of the major axis of the elliptical turntable 212 is provided with a hinge hole. The first end of the cable chain conveyor 22 is hinged to the hinge hole. When the major axis of the elliptical turntable 212 is coaxial with the forward direction of the loading and unloading robot 21, the first end of the cable chain conveyor 22 is connected to the rear end of the loading and unloading robot 21 through a rotating mechanism. The extension direction of the cable chain conveyor 22 is coaxial with the major axis of the elliptical turntable 212, but is not limited thereto.

[0044] In a preferred embodiment, when the major axis of the elliptical turntable 212 is perpendicular to the forward direction of the loading and unloading robot 21 and the hinge hole is located on the left side of the loading and unloading robot 21, the first end of the traction cable conveyor 22 is located on the left side of the loading and unloading robot 21, and the extension direction of the cable conveyor 22 is parallel to the major axis of the elliptical turntable 212, but is not limited thereto.

[0045] In a preferred embodiment, when the major axis of the elliptical turntable 212 is perpendicular to the forward direction of the loading and unloading robot 21 and the hinge hole is located on the right side of the loading and unloading robot 21, the first end of the traction cable conveyor 22 is located on the right side of the loading and unloading robot 21, and the extension direction of the cable conveyor 22 is parallel to the major axis of the elliptical turntable 212, but is not limited thereto.

[0046] Furthermore, the positional variation between the loading / unloading robot 21 and the cable conveyor line 22 in this invention reduces the requirements for the robotic arm's reach and increases its load capacity. The robot can then be closer to the goods, thereby enhancing its load-bearing capacity. (When the robotic arm is in a relatively straight position, i.e., when a standard 6-axis robotic arm on the market needs to be almost in a straight line to pick up the goods, the load requirements are higher, which can easily trigger the robotic arm alarm.) This invention shortens the extreme position between the robot and the truck cargo box, making it more adaptable and suitable for smaller containers or flatbed trucks, as well as special vehicles. The cable conveyor line in this invention changes according to the different spatial positions of the loading / unloading robot 21 within the vehicle, thereby improving overall efficiency and allowing the loading / unloading robot to adapt to more scenarios.

[0047] Figure 6 This is a schematic diagram of the loading and unloading system based on AGV robots of this utility model scanning the cargo containers inside a shipping container. Figure 7 This is a schematic diagram of the loading and unloading system based on AGV robots of this utility model, showing the handling of the left-side container. Figure 8 This is a schematic diagram of the loading and unloading system based on AGV robots of this utility model, showing the handling of the right-side container. Figures 6 to 8As shown, in a preferred embodiment, the loading / unloading robot 21 further includes a point cloud acquisition device. The point cloud acquisition device scans a row of containers stacked inside the cargo box and marks the containers as left-side containers and right-side containers based on their positions within the cargo box. When the first end of the cable chain conveyor 22 is located to the right of the loading / unloading robot 21, the robotic arm 214 moves the left-side container to the first end of the cable chain conveyor 22; when the first end of the cable chain conveyor 22 is located to the left of the loading / unloading robot 21, the robotic arm 214 moves the right-side container to the first end of the cable chain conveyor 22. After all the containers in the current row have been moved to the cable chain conveyor 22, the loading / unloading robot 21 continues to enter the cargo box along its length and scans the next row of stacked containers again until all the containers inside the cargo box have been moved. In this embodiment, the existing laser point cloud scanning method is used to obtain the point cloud data of the scheduled containers. Then, by processing the point cloud data, the dividing line grid between the containers can be easily obtained (obviously each grid is a container) to distinguish each container. Furthermore, the containers are divided into sections based on the center vertical line of the container. Containers located to the left of the center vertical line are left containers, and containers located to the right of the center vertical line are right containers. The relevant identification process will not be described in detail here, but it is not limited to this.

[0048] In a preferred embodiment, the loading and unloading robot 21 further includes a point cloud acquisition device. The point cloud acquisition device scans the internal space of the cargo box and establishes several left-side cargo box spaces and several right-side cargo box spaces for the expected stacking of cargo boxes. When the first end of the cable chain conveyor 22 is located on the right side of the loading and unloading robot 21, the robotic arm 214 obtains the cargo box from the first end of the cable chain conveyor 22 and moves it to the corresponding left-side cargo box space; when the first end of the cable chain conveyor 22 is located on the left side of the loading and unloading robot 21, the robotic arm 214 obtains the cargo box from the first end of the cable chain conveyor 22 and moves it to the corresponding right-side cargo box space, but is not limited thereto.

[0049] In a preferred embodiment, the system architecture of the AGV robot-based loading and unloading system of this invention is divided into three layers: perception, decision-making, and execution. The camera transmits visual information about the relative positions of goods, the vehicle, and the conveyor line to the core processing unit (GPU). The GPU makes decisions based on the point cloud model, calculating the most suitable angle for the suspended conveyor chain and the robotic arm to grasp the load. It then sends task instructions to the electrically driven mechanism that rotates the conveyor chain. At this point, the GPU is instructed to check for nearby obstacles or people. Once it detects no obstacles and that the movement will not collide with other objects, the GPU sends instructions to rotate the conveyor line to the most suitable position.

[0050] The specific embodiments of this utility model include: refer to Figure 1 and 2As shown, the AGV robot-based loading and unloading system of this utility model includes a loading and unloading trolley robot 21 and a cable chain conveyor line 22. The loading and unloading trolley robot 21 includes: an AGV chassis 211 capable of driving into the interior of a container at the rear of a truck, a rotatable elliptical turntable 212, a loading and unloading robot 213, and a point cloud acquisition device (not shown in the figure). The robotic arm 214 of the loading and unloading robot 213 extends to the front end of the AGV chassis 211 and can rotate based on the AGV chassis 211. The first end of the cable chain conveyor line 22 is connected to the loading and unloading trolley robot 21 via a rotating mechanism. A hinge hole is provided at one end of the major axis of the elliptical turntable 212, and the first end of the cable chain conveyor line 22 is hinged to the hinge hole. When the major axis of the elliptical turntable 212 is coaxial with the forward direction of the loading and unloading trolley robot 21, the first end of the cable chain conveyor line 22 is connected to the rear end of the loading and unloading trolley robot 21 via the rotating mechanism. As the rotating mechanism rotates, the first end of the cable conveyor 22 switches between three different positions: the rear end, the left side, and the right side of the loading and unloading robot 21.

[0051] Once the trucks arrive, see [link / reference]. Figure 2 and 5 The loading and unloading system based on AGV robots of this utility model has the first end of the cable chain conveyor 22 located at the rear end of the loading and unloading trolley robot 21 (see...). Figure 2 The AGV robot drives its container to the truck that needs to be unloaded, thereby reducing the width of the AGV-based loading and unloading system and allowing it to pass through narrower gaps, thus improving safety. Furthermore, another loading and unloading robot 23 follows the second end of the cable conveyor 22 to receive containers from the cable conveyor 22 and stack them.

[0052] like Figure 6 As shown, the loading and unloading robot 21 also includes a point cloud acquisition device. The point cloud acquisition device scans a row of containers stacked inside the container and marks the containers as left container A and right container B based on their positions in the container.

[0053] To get closer to the left side of the container and shorten the rotation stroke of the robotic arm, the elliptical turntable 212 rotates so that its major axis is perpendicular to the forward direction of the loading / unloading robot 21, and the hinge hole is located on the right side of the loading / unloading robot 21. The first end of the drag chain conveyor 22 is located on the right side of the loading / unloading robot 21 (see...). Figure 3 and 7 The robotic arm 214 moves the left container A and transfers it to the first end of the cable conveyor line 22.

[0054] After all the containers on the left side (Container A) have been moved, the loading / unloading robot 21 moves to the right side inside the container. To get closer to the right side of the container and shorten the rotation stroke of the robotic arm, the elliptical turntable 212 rotates, aligning its major axis perpendicular to the forward direction of the loading / unloading robot 21 and positioning the hinge hole to the left side of the robot. The first end of the cable chain conveyor 22 is located to the left of the loading / unloading robot 21 (see...). Figure 4 and 8 The robotic arm 214 moves the right-side container B and transfers it to the first end of the cable conveyor line 22.

[0055] Then, after all the containers in the current row have been moved to the cable conveyor line 22, the loading and unloading robot 21 continues to enter the container along the length of the container and scans the next row of stacked containers again until all the containers inside the container have been moved.

[0056] Figure 9 This is a flowchart of the loading and unloading method based on an AGV robot according to this utility model. Figure 9 As shown, the loading and unloading method based on AGV robots of this utility model uses the aforementioned AGV robot and includes: S110, The point cloud acquisition device scans a row of containers stacked inside the cargo box and marks the containers as the left container and the right container based on their positions in the cargo box. S120, when the first end of the cable chain conveyor 22 is located to the right of the loading and unloading robot 21, the robotic arm 214 moves the left container and transfers it to the first end of the cable chain conveyor 22. S130, the loading / unloading robot 21 moves to the right side inside the cargo container, and when the first end of the cable chain conveyor 22 is located to the left of the loading / unloading robot 21, the robotic arm 214 moves the right-side container and transfers it to the first end of the cable chain conveyor 22; and S140 After all the containers in the current row have been moved to the cable conveyor line 22, the loading and unloading robot 21 continues to enter the interior of the container along the length of the container and executes step S110 until all the containers inside the container have been moved.

[0057] The loading and unloading method based on AGV robots of this invention can shorten the rotation stroke of the robotic arm, reduce the unit time of a single handling, and improve the overall handling efficiency by changing the position of the loading and unloading robot and the cable conveyor line.

[0058] This utility model embodiment also provides a loading and unloading device based on an AGV robot, including a processor and a memory storing executable instructions of the processor. The processor is configured to execute steps of an AGV robot-based loading and unloading method by executing the executable instructions.

[0059] As shown above, the AGV robot-based loading and unloading system of this utility model can shorten the rotation stroke of the robotic arm, reduce the unit time of a single handling, and improve the overall handling efficiency by changing the position of the loading and unloading robot and the cable conveyor line.

[0060] Those skilled in the art will understand that various aspects of this invention can be implemented as systems, methods, or program products. Therefore, various aspects of this invention can be specifically implemented in the following forms: a completely hardware implementation, a completely software implementation (including firmware, microcode, etc.), or a combination of hardware and software implementations, collectively referred to herein as a "circuit," "module," or "platform."

[0061] Figure 10 This is a structural schematic diagram of the loading and unloading equipment based on AGV robots according to this utility model. See below for reference. Figure 10 To describe an electronic device 600 according to this embodiment of the present invention. Figure 10 The electronic device 600 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this utility model.

[0062] like Figure 10 As shown, the electronic device 600 is presented in the form of a general-purpose computing device. The components of the electronic device 600 may include, but are not limited to: at least one processing unit 610, at least one storage unit 620, a bus 630 connecting different platform components (including storage unit 620 and processing unit 610), a display unit 640, etc.

[0063] The storage unit stores program code, which can be executed by the processing unit 610 to perform the steps described in the above-described section on the electronic prescription circulation processing method according to various exemplary embodiments of the present invention. For example, the processing unit 610 can perform actions such as... Figure 6 The steps are shown in the figure.

[0064] Storage unit 620 may include readable media in the form of volatile storage units, such as random access memory (RAM) 6201 and / or cache memory 6202, and may further include read-only memory (ROM) 6203.

[0065] Storage unit 620 may also include a program / utility 6204 having a set (at least one) program module 6205, such program module 6205 including but not limited to: operating system, one or more application programs, other program modules and program data, each or some combination of these examples may include an implementation of a network environment.

[0066] Bus 630 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0067] Electronic device 600 can also communicate with one or more external devices 700 (e.g., keyboard, pointing device, Bluetooth device, etc.), and with one or more devices that enable a user to interact with electronic device 600, and / or with any device that enables electronic device 600 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 650. Furthermore, electronic device 600 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 660. Network adapter 660 can communicate with other modules of electronic device 600 via bus 630. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms.

[0068] This invention also provides a computer-readable storage medium for storing a program that, when executed, implements the steps of an AGV robot-based loading and unloading method. In some possible implementations, various aspects of this invention can also be implemented as a program product comprising program code that, when run on a terminal device, causes the terminal device to perform the steps described in the above-described electronic prescription processing method section of this specification according to various exemplary embodiments of this invention.

[0069] As shown above, the AGV robot-based loading and unloading system of this utility model can shorten the rotation stroke of the robotic arm, reduce the unit time of a single handling, and improve the overall handling efficiency by changing the position of the loading and unloading robot and the cable conveyor line.

[0070] Figure 11 This is a schematic diagram of the structure of the computer-readable storage medium of this utility model. (Reference) Figure 11As shown, a program product 800 for implementing the above-described method according to an embodiment of the present invention is described. This product may employ a portable compact disc read-only memory (CD-ROM) and include program code, and may run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, the readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0071] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0072] Computer-readable storage media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable storage medium may also be any readable medium other than a readable storage medium that can transmit, propagate, or transfer a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0073] Program code for performing the operations of this invention can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0074] In summary, the purpose of this utility model is to provide a loading and unloading system based on AGV robots, which can shorten the rotation stroke of the robotic arm, reduce the unit time of a single handling, and improve the overall handling efficiency by changing the position of the loading and unloading robot and the cable conveyor line.

[0075] The above description, in conjunction with specific preferred embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, various simple deductions or substitutions can be made without departing from the concept of the present invention, and all such modifications and substitutions should be considered within the protection scope of the present invention.

Claims

1. A loading and unloading system based on an AGV robot, characterized by, include: A loading and unloading robot (21) includes: an AGV chassis (211) that can drive into the cargo box and a loading and unloading robot (213), wherein the robotic arm (214) of the loading and unloading robot (213) extends to the front end of the AGV chassis (211) and can rotate based on the AGV chassis (211); as well as A drag chain conveyor line (22) is provided. The first end of the drag chain conveyor line (22) is connected to the loading and unloading trolley robot (21) through a rotating mechanism. As the rotating mechanism rotates, the first end of the drag chain conveyor line (22) switches between three different positions: the rear end, the left side, and the right side of the loading and unloading trolley robot (21).

2. The AGV robot-based cargo handling system according to claim 1, wherein, The loading and unloading trolley robot (21) also includes a rotatable elliptical turntable (212). One end of the long axis of the elliptical turntable (212) is provided with a hinge hole. The first end of the drag chain conveyor (22) is hinged to the hinge hole. When the long axis of the elliptical turntable (212) is coaxial with the forward direction of the loading and unloading trolley robot (21), the first end of the drag chain conveyor (22) is connected to the rear end of the loading and unloading trolley robot (21) through a rotating mechanism.

3. The AGV robot-based cargo handling system according to claim 2, wherein, When the major axis of the elliptical turntable (212) is perpendicular to the forward direction of the loading and unloading trolley robot (21) and the hinge hole is located on the left side of the loading and unloading trolley robot (21), the first end of the drag chain conveyor (22) is located on the left side of the loading and unloading trolley robot (21).

4. The AGV robot-based cargo handling system according to claim 2, wherein, When the major axis of the elliptical turntable (212) is perpendicular to the forward direction of the loading and unloading trolley robot (21) and the hinge hole is located on the right side of the loading and unloading trolley robot (21), the first end of the drag chain conveyor (22) is located on the right side of the loading and unloading trolley robot (21).

5. The AGV robot-based cargo handling system according to claim 2, wherein, When the first end of the drag chain conveyor (22) is located at the rear end of the loading and unloading trolley robot (21), the extension direction of the drag chain conveyor (22) is coaxial with the major axis of the elliptical turntable (212).

6. The AGV robot-based cargo handling system according to claim 3, wherein, When the first end of the drag chain conveyor (22) is located to the left of the loading and unloading trolley robot (21), the extension direction of the drag chain conveyor (22) is parallel to the major axis of the elliptical turntable (212).

7. The AGV robot-based cargo handling system of claim 4, wherein, When the first end of the drag chain conveyor (22) is located to the right of the loading and unloading trolley robot (21), the extension direction of the drag chain conveyor (22) is parallel to the major axis of the elliptical turntable (212).

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