CN109703750B - Unmanned aerial vehicle carries commodity circulation system based on two-dimensional code navigation formula intelligent transfer robot - Google Patents

Abstract

The present invention proposes an unmanned aerial vehicle logistics system based on a QR code navigation intelligent transport robot, which is characterized in that it includes: an AGV warehousing robot and an unmanned aerial vehicle with a material transfer device fixed at the bottom; the AGV warehousing robot includes a set of An omnidirectional mobile chassis at the bottom, and a machine body arranged on the upper part of the omnidirectional mobile chassis; a UAV parking platform with a QR code logo is provided on the upper side of the machine body; the lower side of the machine body and the material transfer There are QR code recognition cameras on the lower side of the device. The solution provided by the invention has a simple and reasonable structure, can greatly improve the orderliness of plane logistics transportation and three-dimensional logistics transportation in the logistics warehouse, fully utilizes the three-dimensional space of the logistics warehouse, and improves the linkage coordination mechanism of drones and AGV robots. It can perform accurate operations for a long time without any human participation, which greatly improves work efficiency and the degree of automation of the working environment.

Description

Unmanned aerial vehicle logistics system based on QR code navigation intelligent handling robot

Technical field

The invention relates to the field of intelligent warehousing technology, and in particular to an unmanned aerial vehicle logistics system based on a two-dimensional code navigation intelligent handling robot.

Background technique

With the development of industries such as logistics and unmanned chemical factories, many goods often need to be transported in three-dimensional space using drones. By utilizing the characteristics of drones that are not restricted by space height, materials can be transported to designated areas. However, the existing UAV transportation system has poor endurance, requires frequent manual recovery, and often requires manual control of movement during transportation, making it unable to work in more complex space environments. At present, the intelligent logistics systems mainly used in China mainly include intelligent three-dimensional warehouses, space logistics dispatching based on factory driving, and AGV logistics sorting and warehousing platforms. Most of the logistics transportation based on these three methods have their own shortcomings, so there is an increasingly urgent need. Develop a logistics transportation device based on the linkage and coordination of express drones and AGV robots in three-dimensional space.

Contents of the invention

In order to solve the defects and shortcomings of the existing technology, the present invention combines a navigation-type intelligent transportation robot with an AGV car as the main body and a drone, and uses a QR code as a benchmark for path planning and positioning identification. The present invention specifically adopts The following technical solutions:

An unmanned aerial vehicle logistics system based on a QR code navigation intelligent handling robot, which is characterized in that it includes: an AGV warehousing robot and a UAV with a material transfer device fixed at the bottom; the AGV warehousing robot includes a An omnidirectional mobile chassis and a machine body arranged on the upper part of the omnidirectional mobile chassis; a UAV parking platform with a QR code logo is provided on the upper side of the machine body; the lower side of the machine body and the lower part of the material transfer device There are QR code recognition cameras on both sides.

Preferably, the body is provided with an AGV microprocessor, an obstacle avoidance identification module and a wireless communication module connected to the AGV microprocessor.

Preferably, the omnidirectional mobile chassis is provided with a Mecanum wheel connected to the AGV microprocessor.

Preferably, the material conveying device includes an inclined belt conveying device and a lifting electric push rod; the bottom of the belt conveying device is provided with a switch door coupled with the power source of the belt conveying device.

Preferably, a drone charging module is provided on the drone parking platform.

Preferably, the AGV microprocessor is also connected to a radio frequency identification module and a gyroscope, and the Mecanum wheel is driven by a stepper motor with an encoder.

Preferably, a wireless charging module is provided on the omnidirectional mobile chassis or body, and the wireless charging module is connected to the UAV charging module.

Preferably, the UAV is an eight-rotor UAV.

Preferably, a QR code mark placed on the ground in the driving space of the AGV warehousing robot is used to provide positioning navigation for the movement of the AGV warehousing robot; a horizontal QR code mark placed in the logistics warehouse is used to provide positioning navigation for the unmanned vehicle. Provide positioning for aircraft landing.

Preferably, the two-dimensional code identification for the AGV warehousing robot to identify and the two-dimensional code identification for the drone to identify are arranged on different planes.

The solution provided by the present invention has a simple and reasonable structure. Compared with the existing technology, the present invention and its preferred solution can greatly improve the orderliness of plane logistics transportation and three-dimensional logistics transportation in the logistics warehouse, making full use of the three-dimensional space of the logistics warehouse. The linkage coordination mechanism between drones and AGV robots has been improved. It can perform accurate operations for a long time without any human participation, which greatly improves work efficiency and the degree of automation of the working environment. On the one hand, AGV can be used to transport goods on the ground to a designated location; on the other hand, AGV can be used to transport goods to a fixed location and then the drone can transport the materials to the designated location. Through this method of machine collaboration and linkage, unmanned logistics operations in three-dimensional space are realized, which greatly improves work efficiency. The UAV charging device installed on the AGV robot can ensure the operation of UAVs in more complex environments. Working accuracy and endurance.

Description of drawings

The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments:

Figure 1 is a perspective view of an embodiment of the present invention;

Figure 2 is a front view of the embodiment of the present invention;

Figure 3 is a top view of the embodiment of the present invention;

Figure 4 is a side view of the embodiment of the present invention;

Figure 5 is a top view of operations in a three-dimensional factory environment according to the embodiment of the present invention;

Figure 6 is a perspective view of operations in a three-dimensional factory environment according to the embodiment of the present invention;

Figure 7 is a partial view of the flat layer operating conditions according to the embodiment of the present invention;

Figure 8 is a partial view of the high-level working conditions according to the embodiment of the present invention;

Description of the numbers in the figure: 1-octocopter drone; 2-material conveyor belt; 3-material conveyor device; 4-Mecanum wheel; 5-omnidirectional mobile chassis peripheral protective shell; 6-sensing camera; 7 -Industrial control computer for drone; 8-door opening and closing; 9-lifting electric push rod; 10-body; 11-drone rotation motor; 12-emergency stop button; 13-front obstacle avoidance recognition module; 14-all Moving chassis; 15-connecting frame; 16-transmission roller; 17-touch screen for industrial control; 18-AGV warehousing robot QR code recognition camera; 19-material transfer device upper cover, 20-suspended driving wheel, 21-platform Adapter plate, 22-material, 23-belt for conveyor belt drive, 24-pulley, 25-stepper motor, 26-rear obstacle avoidance identification module, 27-high-rise freight QR code landmark, 28-flat layer loading and transporting rack, 29-flat layer loading industrial robot arm, 30-flat layer unloading transfer rack, 31-flat layer unloading industrial robot arm, 32-high-level palletizing robot arm, 33-AGV warehousing robot, 34-flat layer Workshop CNC machining center, 35-high-rise workshop CNC machining center, 36-industrial control warehouse management and dispatch center CNC cabinet, 37 drone QR code recognition camera hanging partition, 38-conveyor belt, 39-high-rise material storage center, 40 -UAV QR code recognition camera, 41-high-rise transfer cargo rack, 42-AGV warehousing robot tracking QR code landmark.

Detailed ways

In order to make the features and advantages of this patent more obvious and easy to understand, the following examples are given in detail along with the accompanying drawings:

As shown in Figures 1 to 8, in this embodiment, the planar moving device at the bottom is an AGV warehousing robot 33 with an AGV microprocessor. Its movement on the plane is driven by an omnidirectional mobile chassis 14, which is arranged on Above the omnidirectional mobile chassis 14 is the body 10 , and the upper side of the body 10 is a UAV parking platform formed by a platform adapter plate 21 .

The device that provides material transportation in the three-dimensional direction includes an eight-rotor drone 1 and a material transfer device 3 fixed on the bottom of the eight-rotor drone 1.

The material transfer device 3 can be identified by the QR code identification and parked on the platform adapter plate 21, and can be fixed by an electromagnetic attractor, and can be charged by the drone charging module, and can fly away from the platform when needed. The connecting plate 21 carries the material 22 through the material conveying device 3 at the same time, thereby realizing three-dimensional space operation.

The above-mentioned overall device performs scheduling operations under the remote control of the CNC cabinet 36 of the industrial control warehouse management and dispatch center through the wireless communication module.

As for the specific structure of the material conveying device 3, it is fixed to the eight-rotor drone 1 through the connecting frame 15, and drives the material conveying belt 2 through the conveying roller 16 to realize the movement of the material loading and unloading mechanical structure. The material conveying belt 2 Electrical control power for transportation is provided by a stepper motor 25 connected to a conveyor belt drive belt 23 and a pulley 24. The switch door 8 is coupled to the operation of the stepper motor 25. When the operation of the stepper motor 25 requires the input or output of the material 22, the switch door 8 is opened or closed as needed.

When the entire device is operating on the flat layer, when the entire device moves to the flat layer loading and transfer rack 28, the flat layer loading industrial robot arm 29 clamps and transfers the initially processed materials to the flat layer for loading and transferring. On the rack 28, the material 22 is transported from the plane layer to the material conveying belt 2 by the loading transfer rack 28, and then the material conveying belt 2 transports the material 22 to the central position of the material conveying device body 3 to wait for the next task to be performed. When the whole When the device moves to the flat layer unloading transfer rack 30, the material conveying belt 2 provides power through the stepper motor 25 to transport the material 22 to the switch door 8, and then the switch door 8 is opened, and the flat layer unloading industrial robot arm 31 Grab the material 22 and place it on the unloading transfer rack 30 for the flat layer. The structure of this design is simple and reasonable, and the beneficial effect is that it can complete the transportation of materials in three-dimensional space with one click through a pre-designed program. This not only improves the work efficiency during the transportation of materials, but also greatly improves the efficiency of the transportation of materials. How intelligent and unmanned the work environment is.

In this embodiment, the AGV storage robot 33 achieves full circumferential operation movement through the Mecanum wheel 4, which makes the entire device structure flexible and compact. The Mecanum wheel 4 is directly driven by a stepper motor with an encoder. The Nam wheel 4 and the suspension driving wheel 20 are respectively installed inside the peripheral protective shell 5 of the omnidirectional mobile chassis. The emergency stop button 12, the front obstacle avoidance identification module 13 and the rear obstacle avoidance identification module 26 are respectively installed on the body 10 for realizing autonomous obstacle avoidance and manual emergency stop. At the same time, there is also an industrial control touch screen 17 installed on the upper part of the body 10. Peripheral, used for manual operation and programming. The AGV warehousing robot QR code recognition camera 18 is suspended and installed at the bottom of the body 10 through the platform adapter plate 21 with the lens facing down. It uses the QR code landmark 42 to perform positioning and navigation by identifying the AGV tracking on the ground. Through the transfer operation on the plane layer, The materials to be processed are transported to the CNC machining center 34 of the flat layer workshop using the unloading transfer rack 30 through the flat layer to complete the processing of the workpiece. At the same time, the body 10 is also provided with a radio frequency identification module and a gyroscope for identifying the location of the express shelf. The body 10 is powered by a battery. The battery also supplies power to the drone charging module, and is equipped with a wireless charging module for charging using an external power supply installed in the factory.

In this embodiment, through the material transfer device 3 installed under the body of the eight-rotor UAV 1, when the goods need to be transported to a high-rise building, the body 10 follows the AGV warehousing robot and uses the QR code landmark 42 to transport the materials 22 To the designated position, the position is automatically mapped by the preset program of the industrial control warehousing management dispatch center CNC cabinet 36 or the industrial control touch screen 17. After optimizing the path, autonomous tracking navigation is performed to realize intelligent management of space warehousing dispatch. . A sensor camera 6 is installed on the body of the eight-rotor drone 1, which is used to capture real-time images of the high-rise scene to realize working conditions investigation of space logistics dispatch. An industrial control computer 7 for the drone is installed inside the body of the eight-rotor drone 1. , the drone uses an industrial control computer 7 to control the operation of the drone's rotating motor 11. The eight-rotor drone 1 also includes a gyroscope module, an electronic compass module, a barometer module, and an ultrasonic ranging module that a conventional drone has. Sensors, Bluetooth communication modules, UAV wireless communication modules and navigation and positioning modules. The UAV QR code recognition camera 40 located at the bottom of the material transfer device 3 is suspended and installed on the UAV QR code recognition camera hanging partition 37 with the lens facing downwards. A material transfer belt 2 is installed under the upper cover 19 of the material transfer device. , when the eight-rotor UAV 1 starts running, it moves to the corresponding high-rise freight QR code landmark 27 through the pre-settings of the program system, and moves a certain distance to the side close to the high-rise transfer cargo rack according to the settings. Next The lifting electric push rod 9 is slowly lifted into a wedge shape under the control of the industrial control computer 7 of the drone, and then the switch door 8 is opened. At the same time, the material conveying belt 2 is driven by the stepper motor 25 to deliver the material 22 through the air. placed on the high-rise transfer cargo rack 41, and then the high-level palletizing robot arm 32 positions the material 22, and transports it to the workshop material placement place of the high-rise material storage center 39 through the conveyor belt 38 on the high-rise transfer cargo rack 41. Then the high-level workshop CNC machining center 35 selects the materials for processing operations.

This patent is not limited to the above-mentioned best embodiments. Under the inspiration of this patent, anyone can come up with various other forms of unmanned aerial vehicle logistics systems based on QR code navigation intelligent handling robots. Anyone applying for this invention Equal changes and modifications made to the patent scope shall fall within the scope of this patent.

Claims (9)

1. Unmanned aerial vehicle carries logistics system based on two-dimensional code navigation formula intelligent transfer robot, its characterized in that includes: the AGV storage robot and the unmanned aerial vehicle with the bottom fixed with a material conveying device; the AGV storage robot comprises an omnidirectional mobile chassis arranged at the bottom and a machine body arranged at the upper part of the omnidirectional mobile chassis; an unmanned aerial vehicle stopping platform with a two-dimensional code mark is arranged on the upper side of the machine body; the lower side of the machine body and the lower side of the material conveying device are provided with two-dimensional code identification cameras;

providing positioning navigation for the movement of the AGV storage robot by adopting a two-dimensional code mark arranged on the ground of a running space of the AGV storage robot; adopt the two-dimensional code sign of the horizontal direction that sets up in commodity circulation warehouse to provide the location for unmanned aerial vehicle's landing.

2. The two-dimensional code navigation-based intelligent transfer robot-based unmanned aerial vehicle logistics system of claim 1, wherein: the machine body is provided with an AGV microprocessor, and an obstacle avoidance recognition module and a wireless communication module which are connected with the AGV microprocessor.

3. The two-dimensional code navigation-based intelligent transfer robot-based unmanned aerial vehicle logistics system of claim 2, wherein: the omnidirectional mobile chassis is provided with Mecanum wheels connected with the AGV microprocessor.

4. The two-dimensional code navigation-based intelligent transfer robot-based unmanned aerial vehicle logistics system of claim 1, wherein: the material conveying device comprises a belt conveying device and a jacking electric push rod which are obliquely arranged; the bottom of the belt conveying device is provided with a switch door which is coupled with a power source of the belt conveying device.

5. The two-dimensional code navigation-based intelligent transfer robot-based unmanned aerial vehicle logistics system of claim 1, wherein: unmanned aerial vehicle is provided with unmanned aerial vehicle charging module on the unmanned aerial vehicle parking platform.

6. The two-dimensional code navigation-based intelligent transfer robot-based unmanned aerial vehicle logistics system of claim 3, wherein: the AGV microprocessor is also connected with a wireless radio frequency identification module and a gyroscope, and the Mecanum wheel is driven by a stepping motor with an encoder.

7. The two-dimensional code navigation-based intelligent transfer robot-based unmanned aerial vehicle logistics system of claim 5, wherein: the omnidirectional mobile chassis or the machine body is provided with a wireless charging module, and the wireless charging module is connected with the unmanned aerial vehicle charging module.

8. The two-dimensional code navigation-based intelligent transfer robot-based unmanned aerial vehicle logistics system of claim 1, wherein: the unmanned aerial vehicle is an eight-rotor unmanned aerial vehicle.

9. The two-dimensional code navigation-based intelligent transfer robot-based unmanned aerial vehicle logistics system of claim 1, wherein: two-dimensional code marks for the AGV storage robot to recognize and two-dimensional code marks for the unmanned aerial vehicle to recognize are arranged on different planes.