CN111591650A - A kind of intelligent gripping AGV cargo handling auxiliary device and method - Google Patents

Abstract

The present invention proposes an intelligent cargo handling auxiliary device and method for a gripping AGV. The auxiliary device includes a binocular vision sensor arranged at the front of the AGV, a film pressure sensor arranged at equal intervals on the inner side of the gripping arm, and a film pressure sensor arranged under the gripping arm. The infrared photoelectric sensor and 77GHz millimeter wave radar sensor, the travel switch set at the base of the arm, and the MCU module. The auxiliary device of the invention helps the gripping AGV to keep the gripping arm accurately gripping the cargo during the cargo handling process, avoids the cargo from slipping due to the too small gripping force or damages the cargo due to the excessively strong gripping force, avoids the gripping arm colliding with obstacles, and realizes the Artificial intelligence capabilities.

Description

A kind of intelligent gripping AGV cargo handling auxiliary device and method

technical field

The invention belongs to the AGV technology, in particular to an intelligent gripping AGV cargo handling auxiliary device and method.

Background technique

In working areas such as factory warehouses, the handling of goods from finished product warehouses to storage warehouses is always a big problem that companies want to solve. At present, in major enterprises, the trend of AGVs with intelligent technology replacing traditional manual cargo handling is becoming more and more obvious, and it is also the general trend. In the factory warehouse environment, the finished goods are usually stacked on the shelves after being made. When the AGV performs the goods handling procedure, the location of the goods is identified by means of visual sensor recognition, so as to carry out the work of goods handling.

However, in the actual factory warehouse environment, the goods are not in the middle of the arms, the arm strength is too small to cause the goods to slip, the arm strength is too large to damage the goods, and there are obstacles under the arms that affect the handling process, which makes the AGV unable to carry out the goods. transport.

SUMMARY OF THE INVENTION

The purpose of the present invention is to propose an auxiliary device and method for carrying goods of an intelligent gripping AGV.

The technical solution to achieve the purpose of the present invention is: an intelligent clip-holding AGV cargo handling auxiliary device, comprising a binocular vision sensor arranged on the front of the AGV, a film pressure sensor arranged at equal intervals inside the holding arm, and a device arranged under the holding arm. The infrared photoelectric sensor and 77GHz millimeter wave radar sensor, the travel switch set at the base of the arm, and the MCU module, among which,

The binocular vision sensor is used to collect the visual image of the current shelf;

The film pressure sensor is used for real-time detection of the force information of the goods;

The infrared photoelectric sensor is used to detect whether the goods slip;

The 77GHz millimeter wave radar sensor is used to detect whether there is an obstacle under the arm and the distance between the arm and the ground;

The travel switch is used to detect whether the arm is fully closed;

The MCU module judges whether there is goods on the current shelf according to the visual image of the current shelf, and if there is goods, the MCU module classifies and identifies the goods and calculates the distance;

According to the force information of the goods, judge the degree of clamping of the goods;

Control the arm to stop or continue to operate according to the detection results of the 77GHz millimeter-wave radar sensor;

According to the detection result of the infrared photoelectric sensor, it controls the execution of the handling task or stops the operation.

The present invention also proposes an auxiliary method for cargo handling of an intelligent gripping AGV, comprising the following steps:

Step 1. Detect whether there are goods on the shelf and classify and identify and measure the goods;

Step 2. The arms start to clamp the goods, and the obstacles and distances under the arms are detected in real time;

Step 3. Finish the operation of picking up the goods with the arms, check the clamping degree of the arms and whether the goods slip, and continue to complete the handling task.

Compared with the prior art, the present invention has the following significant advantages: 1) The present invention solves the problem that the cargo is not in the middle position of the arm or the arm is too strong or too small, which causes the cargo to slip or damage the cargo during the process of handling the cargo by the AGV. 2) The present invention is easy to refit, not easy to be damaged and easy to maintain; 3) The present invention can work 24 hours a day in complex environments such as factory warehouses and has good adaptability.

The present invention will be described in further detail below with reference to the accompanying drawings.

Description of drawings

Figure 1 is a schematic diagram of the installation of the clip-on AGV cargo handling auxiliary device.

Figure 2 is a schematic diagram of the structure of the clip-on AGV cargo handling auxiliary device.

FIG. 3 is a flow chart of the conveying method.

Detailed ways

An intelligent clamping-type AGV cargo handling auxiliary device, comprising a binocular vision sensor arranged at the front of the AGV, a film pressure sensor arranged at equal intervals inside the arm, an infrared photoelectric sensor and a 77GHz millimeter-wave radar sensor arranged under the arm , the travel switch and the MCU module set at the base of the arm, among which,

The binocular vision sensor is used to collect the visual image of the current shelf;

The film pressure sensor is used for real-time detection of the force information of the goods;

The infrared photoelectric sensor is used to detect whether the goods slip;

The 77GHz millimeter wave radar sensor is used to detect whether there is an obstacle under the arm and the distance between the arm and the ground;

The travel switch is used to detect whether the arm is fully closed;

The MCU module judges whether there is goods on the current shelf according to the visual image of the current shelf, and if there is goods, the MCU module classifies and identifies the goods and calculates the distance;

According to the force information of the goods, judge the degree of clamping of the goods;

Control the arm to stop or continue to operate according to the detection results of the 77GHz millimeter-wave radar sensor;

According to the detection result of the infrared photoelectric sensor, it controls the execution of the handling task or stops the operation.

In a further embodiment, the thin film pressure sensors are arranged at intervals of 20 cm.

An auxiliary method for intelligently gripping AGV cargo handling, comprising the following steps:

Step 1. Detect whether there are goods on the shelf and classify and identify and measure the goods;

Step 2. The arms start to clamp the goods, and the obstacles and distances under the arms are detected in real time;

Step 3. Finish the operation of picking up the goods with the arms, check the clamping degree of the arms and whether the goods slip, and continue to complete the handling task.

In a further embodiment, the specific method of detecting whether there is goods on the shelf and measuring the distance of the goods is:

The binocular vision sensor collects the visual image of the current shelf, and the MCU module determines whether there is goods on the current shelf. If there is goods, the MCU module classifies the goods and calculates the distance.

In a further embodiment, in step 2, the arms start to clamp the goods, and the specific methods for detecting obstacles and distances under the arms in real time are as follows:

Step 2-1. According to the distance calculated in real time by the MCU module, the AGV slowly adjusts the body posture so that the cargo is in the middle position of the arms;

Step 2-2, the film pressure sensor detects the cargo force information in real time, and the MCU module judges the clamping degree of the cargo according to the cargo force information;

Step 2-3. The 77GHz millimeter wave radar sensor detects whether there is an obstacle under the arm and the distance between the arm and the ground. If there is an obstacle or the distance between the arm and the ground is less than the set threshold, the MCU module controls the arm to stop the operation and returns a warning information.

In a further embodiment, the gripping arm completes the operation of gripping the cargo, detects the gripping degree of the gripping arm and whether the cargo slips, and continues to complete the handling task, specifically:

Step 3-1. The film pressure sensor detects the force information of the goods in real time after the clamping is completed, and the MCU module judges whether the goods can be handled at present;

Step 3-2. The infrared photoelectric sensor detects whether the goods have slipped. If the goods do not slip, the MCU module returns a success message and continues to control the handling task. If it slips, it stops the operation and returns a warning message.

Example

As shown in Figure 1, an intelligent grip-type AGV cargo handling auxiliary device includes binocular vision sensor, film pressure sensor, infrared photoelectric sensor, 77GHz millimeter-wave radar sensor and travel switch:

The binocular vision sensor, binocular resolution 2560*720, output format MJPG, frame rate 60fps, combined with MCU module to detect whether there is goods on the shelf, and to classify and identify and measure the goods;

The thin film pressure sensor has a pressure range of 1-20kg, a sensitive area size of 47mm*47mm, a sensor thickness of 0.2mm, and a response time of less than 20ms. Combined with the MCU module to detect the degree of arm clamping;

The infrared photoelectric sensor has a detection width of 10cm, and the output form is DC three-wire NPN normally open, combined with the MCU module to detect whether the goods slip;

The 77GHz millimeter wave radar sensor has a working frequency of 76-78GHz, a maximum range of 60m, a measurement accuracy of ±0.4m, a horizontal FOV of ±60°, and a pitch FOV of ±5°. Combined with the MCU module to detect whether there are obstacles under the arm distance between objects and arms and the ground;

The travel switch prevents over-clamping of the arms;

Further, the binocular vision sensor is arranged on the front of the AGV;

The thin film pressure sensor is installed at every 20cm interval on the inside of the arm;

The infrared photoelectric sensor is arranged under the arm;

The 77GHz millimeter-wave radar sensor is arranged under the arm;

The travel switch is arranged at the root of the arm.

As shown in Figures 2 and 3, an auxiliary method for intelligently gripping AGV cargo handling includes the following steps:

Step 1. Detect whether there are goods on the shelf and classify and identify and measure the goods;

Step 2. The arms start to clamp the goods, and the obstacles and distances under the arms are detected in real time;

Step 3. Finish the operation of picking up the goods with the arms, check the clamping degree of the arms and whether the goods slip, and continue to complete the handling task.

Further, the specific method of detecting whether there is goods on the shelf and measuring the distance of the goods is:

Step 1-1. The binocular vision sensor obtains the visual image of the current shelf. The MCU module judges whether there are goods on the current shelf through the preset program. If there is, the task information is matched. If there is no goods or the task information does not match, then Return warning information to the upper computer system;

The binocular vision sensor obtains the visual image of the current shelf, and the MCU module classifies and identifies the goods and measures the distance in real time through the preset program;

Further, after the AGV adjusts the body posture described in step 2, the arms start to clamp the goods, and real-time detection of obstacles and distances under the arms is performed, specifically:

Step 2-1. According to the binocular vision sensor and the real-time binocular ranging information of the MCU module, the AGV slowly adjusts the body posture so that the cargo is in the middle of the arms;

Step 2-2, the film pressure sensor detects the force information of the goods in real time, and the MCU module judges the degree of clamping of the goods according to different categories of goods through the preset program;

Step 2-3. The 77GHz millimeter-wave radar sensor detects in real time whether there is an obstacle under the arm and the distance between the arm and the ground during the process of gripping the cargo. If there is an obstacle or the distance between the arm and the ground is too close, stop the operation and return to the upper position. system warning message.

Further, in step 3, the arm completes the operation of gripping the goods, detects the clamping degree of the arm and whether the goods slip, and continues to complete the handling task, specifically:

Step 3-1. The film pressure sensor detects the force information of the goods in real time after the clamping is completed, and the MCU module judges whether the goods can currently be handled according to different categories of goods through the preset program;

Step 3-2. The infrared photoelectric sensor detects whether the goods have slipped. If the goods are in a normal state, the success information of the upper computer system will be returned and the handling task will continue. If the goods slip, the task will be stopped and the warning information of the upper computer system will be returned.

Claims (6)

1. An intelligent clamping type AGV goods carrying auxiliary device is characterized by comprising a binocular vision sensor (101) arranged at the head of an AGV, film pressure sensors (102) arranged at equal intervals on the inner sides of arms, an infrared photoelectric sensor (103) and a 77GHz millimeter wave radar sensor (104) arranged below the arms, a travel switch (105) arranged at the root of each arm and an MCU module (100), wherein,

the binocular vision sensor (101) is used for acquiring a vision image of the current shelf;

the film pressure sensor (102) is used for detecting the stress information of the goods in real time;

the infrared photoelectric sensor (103) is used for detecting whether goods slide down;

the 77GHz millimeter wave radar sensor (104) is used for detecting whether an obstacle exists below the arm and the distance between the arm and the ground;

the travel switch (105) is used for detecting whether the arm is completely closed;

the MCU module (100) judges whether goods exist on the current goods shelf or not according to the visual image of the current goods shelf, and if the goods exist, the MCU module carries out classification identification and distance calculation on the goods;

judging the clamping degree of the goods according to the stress information of the goods;

controlling the arm to stop operating or continue operating according to the detection result of the 77GHz millimeter wave radar sensor;

and controlling to execute a carrying task or stop operation according to the detection result of the infrared photoelectric sensor.

2. The AGV transport assist device of claim 1, wherein the film pressure sensors (102) are spaced 20cm apart.

3. An intelligent clamping type AGV cargo handling auxiliary method is characterized by comprising the following steps:

step 1, detecting whether goods exist on a goods shelf or not, and classifying, identifying and ranging the goods;

step 2, the armful arm starts to clamp the goods, and the obstacles and the distance below the armful arm are detected in real time;

and step 3, completing the operation of clamping the goods by the arm, detecting the clamping degree of the arm and whether the goods slide off, and continuing to complete the carrying task.

4. The intelligent clamp type AGV goods handling auxiliary method according to claim 3, wherein the specific method for detecting whether goods exist on the goods shelf and measuring the distance of the goods is as follows:

the binocular vision sensor (101) collects the visual image of the current shelf, the MCU module judges whether goods exist on the current shelf or not, and if the goods exist, the MCU module carries out classification recognition and distance calculation on the goods.

5. The intelligent clamp-holding type AGV goods handling auxiliary method according to claim 3, wherein the specific method for starting clamping the goods by the arm in the step 2 and detecting the obstacle and the distance below the arm in real time is as follows:

2-1, according to the distance calculated by the MCU module in real time, the AGV slowly adjusts the posture of the vehicle body, so that the goods are positioned in the middle of the arm;

step 2-2, detecting cargo stress information in real time by the film pressure sensor, and judging the cargo clamping degree by the MCU module according to the cargo stress information;

and 2-3, detecting whether an obstacle exists below the arm and the distance between the arm and the ground by the 77GHz millimeter wave radar sensor, and if the obstacle exists or the distance between the arm and the ground is smaller than a set threshold value, controlling the arm to stop operating and returning warning information by the MCU module.

6. The intelligent clamping type AGV cargo handling auxiliary method according to claim 3, wherein the arm finishes the operation of clamping the cargo, detects the clamping degree of the arm and whether the cargo slides off, and continues to finish the handling task, specifically:

step 3-1, detecting the stress information of the clamped goods in real time by a film pressure sensor, and judging whether the goods can be carried currently or not by an MCU (microprogrammed control Unit) module;

and 3-2, detecting whether the goods slide down by the infrared photoelectric sensor (103), if the goods do not slide down, returning success information by the MCU module and continuing to control and execute the carrying task, and if the goods slide down, stopping operation and returning warning information.

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