CN212312038U - Robot picking system based on code scanning and attitude control - Google Patents

Abstract

The utility model provides a robot picking system based on code scanning and attitude control, which comprises a vision system, a picking system and a control system, wherein the vision system is used for acquiring the vision information of an object to be picked and generating corresponding picking attitude information; the picking robot is in communication connection with the vision system to receive the visual information and the grabbing posture information of the to-be-picked item; the picking robot moves to the current position of the object to be picked, then picks the object to be picked to a target position, and adjusts the placing posture of the object to be picked; the placing posture comprises a placing direction and/or a placing face orientation. The utility model discloses set out from practical application, select the function that the process not only can realize bar code identification at commodity, still develop the function that can realize commodity direction and attitude control. The product integrates the functions of picking, code scanning and orientation, and is the core of the product.

Description

Robot picking system based on code scanning and attitude control

Technical Field

The utility model relates to a robot selects technical field, especially relates to a robot system of selecting based on sweep sign indicating number and gesture control.

Background

With the rapid development of the e-commerce industry and the overall economy today, the consumer demand is also increasing. Daily products such as 3C products, cosmetics, bath products and the like are increasingly sold on the e-commerce platform. These products are not only diverse in brand and model, but also diverse in shape and size. On the outer package of the product, the positions and sizes of the commodity bar codes are greatly different. The current situation brings great challenges to packing and delivery, and the traditional automation industry has difficulty in facing a large amount of products with different specifications, so that a large amount of manpower is needed to complete related work.

With the increase of labor cost and the increase of enterprise efficiency demand. A new industrial intelligent technology comes, and a 3D vision technology is one of the technologies. Based on the 3D vision technology, people can handle the grabbing application of various commodity chaotic stacks, and the intelligent industry becomes reality by combining a code reading technology and an automation technology.

Therefore, a novel intelligent system is needed in the field to provide a series of complete solutions for unordered grabbing, code reading, packaging and the like for the e-commerce logistics industry.

SUMMERY OF THE UTILITY MODEL

In view of the above shortcomings of the prior art, an object of the present invention is to provide a robot picking system based on code scanning and attitude control, which is used for solving the problems in the prior art.

In order to achieve the above objects and other related objects, a first aspect of the present invention provides a robot picking system based on code scanning and attitude control, including: the visual system is used for acquiring visual information of the to-be-picked item and generating corresponding grabbing posture information; the picking robot is in communication connection with the vision system to receive the visual information and the grabbing posture information of the to-be-picked item; the picking robot moves to the current position of the object to be picked, then picks the object to be picked to a target position, and adjusts the placing posture of the object to be picked; the placing posture comprises a placing direction and/or a placing face orientation.

In some embodiments of the first aspect of the present invention, the robotic sorting system further comprises: the first code scanning system is used for scanning the bottom of the item to be picked so as to confirm whether the bottom of the item has an identification code; and the steering mechanism is used for driving the to-be-picked article to turn over so as to enable the article identification code not to be positioned at the bottom.

In some embodiments of the first aspect of the present invention, the target location is provided with a transparent carrier for placing an item to be picked; the first code scanning system is positioned below the transparent bearing piece; the steering mechanism includes: the steering box comprises an accommodating cavity for accommodating the articles to be picked, and the articles to be picked are driven to turn over by self turning over; the pushing mechanism comprises a telescopic pushing piece and is used for pushing the article to the accommodating cavity of the steering box when the first code scanning system identifies that the bottom of the article has the identification code, and pushing the article to the next procedure after the steering box is turned over; and the first scanning code system is also used for pushing the article to the next procedure when the first scanning code system does not recognize that the bottom of the article has the identification code.

In some embodiments of the first aspect of the present invention, the steering mechanism includes: a suction cup mechanism; the picking robot grabs an item to be picked to pass above the first code scanning system; if the bottom of the picking robot is identified to have the identification code, the picking robot places the article to be picked on the sucking disc mechanism, and grabs the article to be picked to the conveying mechanism after the sucking disc mechanism rotates; if the identification code is not identified to the bottom, the picking robot places the article to be picked on the conveying mechanism; and the conveying mechanism is used for conveying the items to be picked to the next procedure.

In some embodiments of the first aspect of the present invention, the visual information acquired by the vision system includes physical dimension information of the item to be sorted; the method for adjusting the placing direction of the items to be picked by the picking robot comprises the following steps: and adjusting the placing direction of the to-be-picked article to a preset direction through a rotating shaft of the picking robot according to the external dimension information of the to-be-picked article.

In some embodiments of the first aspect of the present invention, the method of adjusting the orientation of the placing surface of the article to be selected by the selecting robot includes: judging whether the currently grabbed surface is a large surface or not according to the external dimension information of the article to be picked; if not, the item to be picked is tipped over using an end effector of the picking robot.

In some embodiments of the first aspect of the present invention, the method of adjusting the orientation of the placing surface of the article to be selected by the selecting robot includes: judging whether the currently grabbed surface is a large surface or not according to the external dimension information of the article to be picked; if not, the attitude of the end effector of the picking robot is adjusted to adjust the orientation of the placing surface of the object to be picked.

In some embodiments of the first aspect of the present invention, the method further comprises: a second code scanning system including a plurality of discretely distributed code scanners for scanning multiple faces of items to be picked.

In some embodiments of the first aspect of the present invention, the picking robot comprises a robot body and an end effector; the end effector is used for grabbing the item to be picked.

In some embodiments of the first aspect of the present invention, the end effector comprises a suction cup, a pneumatic finger, or a clamp.

As above, the utility model discloses a system of selecting based on sweep sign indicating number and attitude control's robot has following beneficial effect: the utility model discloses set out from practical application, select the function that the process not only can realize bar code identification at commodity, still develop the function that can realize commodity direction and attitude control. The product integrates the functions of picking, code scanning and orientation, and is the core of the product.

Drawings

Fig. 1 is a schematic structural diagram of a robot picking system based on code scanning and attitude control according to an embodiment of the present invention.

Fig. 2 is a schematic structural diagram of a picking robot according to an embodiment of the present invention.

Fig. 3A is a schematic view illustrating an embodiment of the present invention for adjusting the orientation of the object placing surface.

Fig. 3B is a schematic view illustrating an embodiment of the present invention for adjusting the orientation of the object placing surface.

Fig. 3C is a schematic view illustrating an orientation of a placing surface of an article according to an embodiment of the present invention.

Fig. 4A is a schematic view illustrating an embodiment of the present invention for adjusting the orientation of the object placing surface.

Fig. 4B is a schematic view illustrating adjustment of the orientation of the object placing surface according to an embodiment of the present invention.

Fig. 4C is a schematic view illustrating an orientation of a placing surface of an article according to an embodiment of the present invention.

Fig. 5 is a schematic structural diagram of a vision system according to an embodiment of the present invention.

Fig. 6A is a schematic structural diagram of a code scanning system according to an embodiment of the present invention.

Fig. 6B is a schematic structural diagram of a code scanning system according to an embodiment of the present invention.

Fig. 7 is a schematic structural diagram of a steering mechanism according to an embodiment of the present invention.

Fig. 8 is a schematic structural diagram of a steering mechanism according to an embodiment of the present invention.

Fig. 9 is a schematic view of a working flow of the robot picking system based on code scanning and attitude control according to an embodiment of the present invention.

Detailed Description

The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure herein. The present invention can also be implemented or applied through other different specific embodiments, and various details in the present specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.

It is noted that in the following description, reference is made to the accompanying drawings which illustrate several embodiments of the invention. It is to be understood that other embodiments may be utilized and that mechanical, structural, electrical, and operational changes may be made without departing from the spirit and scope of the present invention. The following detailed description is not to be taken in a limiting sense, and the scope of embodiments of the present invention is defined only by the claims of the issued patent. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Spatially relative terms, such as "upper," "lower," "left," "right," "lower," "below," "lower," "above," "upper," and the like, may be used herein to facilitate describing one element or feature's relationship to another element or feature as illustrated in the figures.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," "retained," and the like are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

Also, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It will be further understood that the terms "comprises," "comprising," and/or "comprising," when used in this specification, specify the presence of stated features, operations, elements, components, items, species, and/or groups, but do not preclude the presence, or addition of one or more other features, operations, elements, components, items, species, and/or groups thereof. The terms "or" and/or "as used herein are to be construed as inclusive or meaning any one or any combination. Thus, "A, B or C" or "A, B and/or C" means "any of the following: a; b; c; a and B; a and C; b and C; A. b and C ". An exception to this definition will occur only when a combination of elements, functions or operations are inherently mutually exclusive in some way.

In order to provide unordered a series of complete solutions such as snatching, reading sign indicating number, going up the package for the commodity circulation of electricity merchant, the utility model provides a neotype select separation, sweep sign indicating number and gesture control's industrial automation system to commodity. The picking and separating function is that the robot motion control technology and the 3D vision technology are utilized, various types of disordered and stacked articles can be stably and rapidly picked one by one, and the robot can separate the picked articles when placing the picked articles to a downstream position, so that the picking and separating function can be applied to delivery of various commodities, loading of parts and the like. The code scanning function generally relates to the corresponding relation between commodities and orders and the tracking of the transportation state of packages in the logistics and e-commerce fields, and the requirements are generally realized by means of scanning bar codes on the commodities or the packages. The attitude control function is that when the part processing or product assembly in the industrial automation field, all need to have specific requirement to semi-manufactured goods's feeding direction and gesture to this realizes high-efficient and stable automated production, in commodity circulation and electricity merchant field, also has specific requirement to commodity's placing gesture and direction when carrying out operations such as commodity packing or box pile up neatly.

Therefore, the utility model discloses from practical application, select the function that the process not only can realize bar code identification at commodity, still develop the function that can realize commodity direction and attitude control. The product integrates the functions of picking, code scanning and orientation, and is the core of the product. In order to make the objects, technical solutions and advantages of the present invention more clearly apparent, the technical solutions in the embodiments of the present invention are further described in detail through the following embodiments in combination with the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

As shown in fig. 1, a schematic structural diagram of a robot picking system based on code scanning and attitude control in an embodiment of the present invention is shown. The robotic picking system of this embodiment mainly includes: a picking robot 11, a vision system (not shown), a first code scanning system 12, a second code scanning system 13, and a steering mechanism 14. To facilitate understanding by those skilled in the art, each mechanism/system in the robotic picking system will be further described below. It should be understood, however, that the robotic picking system provided in this embodiment is a hardware system that may be used alone or in combination with software or programs, but the present invention does not relate to any software technology updates per se.

As shown in fig. 2, a schematic structural diagram of the picking robot in an embodiment of the present invention is shown. The picking robot of the present embodiment includes a robot body 21 and an end effector 22.

Optionally, the robot body 21 may be a multi-axis robot such as a six-axis robot, a four-axis robot, an eight-axis robot, an XYZ three-axis robot, or a parallel robot, or may be an Scara robot having 3 rotational joints and being applicable to assembly work, or a Delta robot capable of realizing high-precision material picking, or the like. It is worth explaining, in the practical application scene, any automation equipment that can realize snatching and the function of transporting can both be applied to the technical scheme of the utility model.

Alternatively, end effector 22 includes, but is not limited to, suction cups, pneumatic fingers, or clamps, among others. In practical applications, the type of the end effector can be determined according to the size information of the item to be picked, for example, a small size item to be picked adopts a small size sucking disc pneumatic finger or a clamp, and a large size item to be picked adopts a large size sucking disc pneumatic finger or a clamp or a combination of a plurality of sucking discs, a plurality of pneumatic fingers and a plurality of clamps. The type of the end effector may also be determined according to the posture information of the item to be picked, for example, the item to be picked with a regular and flat posture is sucked by a suction cup, the item to be picked with an irregular and flat posture is grabbed by a pneumatic finger or a clamp, and the like, which is not limited in this embodiment.

In this embodiment, the picking robot is configured to transport the item to be picked from the picking position to the target position, and adjust the placing posture of the item to be picked, including adjusting the placing direction and the placing surface orientation of the item to be picked.

In some examples, the process of the picking robot adjusting the placement direction of the items to be picked includes: the picking robot adjusts the placing direction of the item to be picked through a rotating shaft (such as a sixth axis of the robot) according to the external dimension information (including length, width, high information) of the item to be picked from the vision system. Taking a hexahedron as an example, when the hexahedron is placed, the orientation of the long side needs to be controlled, then the vision system firstly obtains and calculates the length, width and height information of the hexahedron, and the orientation of the long side is controlled through the rotation of the sixth axis of the robot.

In some examples, the process of the picking robot adjusting the orientation of the presenting surface of the item to be picked includes: and if the current suction surface of the robot is a small surface, the end effector executes a pouring action, so that the picked article is poured to achieve the large surface facing upwards. For the convenience of understanding by those skilled in the art, reference will now be made to the three cases in FIGS. 3A-3C. In fig. 3A, the small face (the face composed of the length and the height) of the item to be picked 32 faces upward, and the end effector 31 of the picking robot, after sucking the small face, can pick up the item to be picked 32 in the direction of arrow a, so that the large face (the face composed of the length and the width) of the item to be picked 32 faces upward. In fig. 3B, the small face (the face composed of the width and the height) of the item to be picked 32 faces upward, and the end effector 31 of the picking robot, after sucking the small face, can pick up the item to be picked 32 in the direction of arrow B, so that the large face (the face composed of the length and the width) of the item to be picked 32 faces upward. In fig. 3C, the large side (the side consisting of the length and width) of the item 32 to be picked faces upward, and the end effector 31 need not perform a tipping action.

In some examples, the process of the picking robot adjusting the orientation of the presenting surface of the item to be picked includes: if the current suction surface of the robot is a small surface, the large surface is upward by changing the posture of the end effector. For the convenience of understanding by those skilled in the art, reference will now be made to the three cases in FIGS. 4A-4C. In fig. 4A, the item to be picked 42 is oriented with its small face (face composed of long and high) facing upward, and the attitude of the end effector 41 is changed by the flexibility of the picking robot so that the item to be picked 42 lies down with its large face facing upward. In fig. 4B, the small face (face composed of width and height) of the item to be picked 42 faces upward, and the attitude of the end effector 41 is changed by the flexibility of the picking robot so that the large face of the item to be picked 42 faces upward after lying down. In fig. 4C, with the large side (the side consisting of the length and width) of the item to be picked 42 facing upward, the end effector 41 need not change posture.

As shown in fig. 5, a schematic structural diagram of a vision system in an embodiment of the present invention is shown. The vision system 51 is disposed on the supporting frame, and a vision scanning range thereof covers the picking position for scanning the items to be picked 52 on the picking position. It should be noted that the types of the items to be sorted related to the embodiment include, but are not limited to, 3C products, snacks, daily chemicals, hardware parts, express packages or clothes, and the embodiment is not limited thereto.

In some examples, vision system 51 includes an image acquisition module, an image processing module, and a communication module; the image acquisition module is used for acquiring images of all articles to be picked in the picking position; the image processing module is used for extracting visual information (such as position information, depth information, appearance size information and the like) of the to-be-picked item from the image and generating corresponding grabbing posture information; the communication module is used for transmitting the visual information, the grabbing attitude information and the target position information of the item to be picked outwards (such as to a picking robot).

The image acquisition module related to the embodiment can be selected from a camera, a video camera, a camera module integrated with an optical system or a CCD chip, a camera module integrated with an optical system and a CMOS chip, and the like; in order to increase the size of the visual scanning area, the image acquisition module can also select a wide-angle lens or a fisheye lens and the like. The image processing module can be an ARM (advanced RISC machines) controller, an FPGA (field Programmable Gate array) controller, an SoC (System on chip) controller, a DSP (digital Signal processing) controller, or an MCU (micro controller Unit) controller. The communication module may be a Wi-FI module, a ZigBee module, a bluetooth module, an NB-IoT module, a LoRA module, an eMTC module, or the like, which is not limited in this embodiment.

As shown in fig. 6A and 6B, a schematic structural diagram of a code scanning system in an embodiment of the present invention is shown. The present embodiment relates to two code scanning systems, namely a first code scanning system 61 and a second code scanning system 62, fig. 6A shows a side view of the code scanning system, and fig. 6B shows a top view of the code scanning system.

The first scanning system 6A is located below the transparent plate 64, and above the transparent plate 64, the item 63 to be picked is placed. First scanning and palletizing system 6A scans the bottom of item 63 to be picked through transparent panel 64. It should be noted that the first scanning system 61 is used to check whether the bottom of the item 63 to be sorted has an identification code (such as a two-dimensional code or a bar code), and if the bottom of the item 63 to be sorted has an identification code, the item is turned over by the steering mechanism to ensure that the identification code is not at the bottom.

The second code scanning system 6B is located on the subsequent transportation lane, i.e. the second code scanning system 6B performs the second code scanning after the first code scanning system 6A performs the code scanning identification. The second code scanning system 6B in this embodiment includes a plurality of dispersedly distributed code scanners, such as 5 sets of code scanners arranged respectively in front, rear, left, right, and above, or in upper right, lower right, upper left, sitting, and above, for scanning the code on the other side of the item to be sorted than the bottom side.

As shown in fig. 7, a schematic structural diagram of a steering mechanism according to an embodiment of the present invention is shown. The steering mechanism of the present embodiment includes a steering box 71, a transparent carrier 72, a pushing mechanism 73, and a scanner 74, and an item to be picked 75 is placed on the transparent carrier 72. It should be understood that the item to be picked 75 placed on the transparent carrier 72 is already adjusted in the placement direction and the orientation of the placement surface by the end effector of the picking robot before the turning. In addition, the code scanner 74 in this embodiment is the first code scanning system 6A in fig. 6, and the details are not repeated in this embodiment.

Specifically, the picking robot places the item to be picked 75 on the transparent carrier 72 using the end effector, and ensures that the large face of the item to be picked 75 faces upward at the time of placement by attitude control. A scanner 74 located below the transparent carrier 72 scans the bottom of the item to be picked 75 through the transparent carrier 72 for an identification code. The pushing mechanism 73 is used to push the item to be picked 75 into the divert cassette. If the bottom of the article 75 to be picked has the identification code, the steering box 71 rotates 180 degrees around the X axis and then pushes the article to be picked into the next process by the pushing mechanism 73; if the bottom of the item to be picked 75 has no identification code, the turn box 71 does not rotate, and the pushing mechanism 73 pushes the item to be picked directly into the next process.

It should be noted that the steering mechanism of the present invention is applicable not only to polyhedral articles but also to dihedrons or very thin articles, specifically, the structure diagram shown in fig. 8. The steering mechanism specifically includes a suction cup mechanism 81 and a transfer mechanism 82. The suction cup mechanism 81 includes a plurality of vacuum cups/electromagnetic cups, and the transfer mechanism 82 may be a conveyor belt.

The picking robot uses the end effector to grab the object to be picked and then moves above a code reading system to identify whether the object ground has an identification code. It should be noted that, in this embodiment, the transparent carrier may not be provided, and only the conveying path of the picking robot passes through the code reading system. If the bottom of the item to be picked does not have an identification code, the picking robot may place it directly on the conveyor mechanism 82; if the item to be picked has an identification code at its bottom, the picking robot delivers the item to the suction cup mechanism 81, the suction cup mechanism 81 rotates 180 ° about the mounting shaft, and the picking robot then places the item on the transfer mechanism 82.

As shown in fig. 9, a schematic view of a work flow of the robot picking system based on code scanning and attitude control in an embodiment of the present invention is shown. The various workflow steps are explained in relation to fig. 1.

Step S901: and feeding at the upstream. The items to be sorted are transported from upstream to the sorting place 15, either manually or by means of agv (automated Guided vehicle) carriages; in particular, the bins containing the items to be sorted can be placed in the incoming material conveyor system and transported to the sorting level 15, or the items to be sorted can be transported upstream by the conveyor belt to the sorting level 15.

Step S902: the visual system (not shown) is arranged on the supporting rod, the scanning range covers the picking position 15, and the visual system is used for acquiring visual information (such as position information, depth information, appearance size information and the like) of the to-be-picked article and generating corresponding grabbing posture information; the vision system transmits both the visual information and the grasping posture information of the item to be picked to the picking robot 11. After receiving the information, the picking robot 11 first moves to the current position of the item to be picked according to the visual information of the item to be picked, and then picks the item to be picked to a target position after adjusting the picking posture of an end effector (such as a suction cup or a clamping jaw) according to the picking posture information.

Step S903: different strategies are adopted for treating the articles with directional requirements and articles without directional requirements.

Step S904: for the articles with the direction requirement, the picking robot 11 utilizes the end effector to adjust the placing posture of the articles to be picked, including adjusting the placing direction and the placing surface orientation of the articles to be picked. The process proceeds directly to step S907 for an article without a direction request.

Step S905: it is determined whether the orientation is complete.

Step S906: if not fully oriented, the first scanning code system 12 located below the target location (using transparent material) identifies the bottom of the item to be picked placed on the target location for identification and provides the resulting information. The steering mechanism 14 transfers the article to be picked with the identification code at the bottom to the code scanning area of the second code scanning system 13 after performing a steering operation, so as to ensure that the face with the identification code is at the bottom of the article, and the process proceeds to step S907. If the orientation is complete, go directly to step S907.

Step S907: and judging whether to scan the code or not. If the code scanning is not needed, go to step S909 directly; if the code scanning is required, the process proceeds to step S908.

Step S908: the second code scanning system 13 includes a plurality of dispersedly distributed code scanners, such as 5 sets of code scanners arranged respectively in front, rear, left, right and above, or in upper right, lower right, upper left, lower sitting and above, for scanning the other surfaces of the items to be sorted except the bottom surface, and then the process proceeds to step S909.

Step S909: and conveying the items to be picked to the downstream, and performing operations such as packing, detecting, order generation and the like.

To sum up, the utility model provides a system of selecting based on sweep sign indicating number and attitude control's robot, the utility model discloses from practical application, select the function that the process not only can realize bar code identification at commodity, still develop the function that can realize commodity direction and attitude control. The product integrates the functions of picking, code scanning and orientation, and is the core of the product. Therefore, the utility model effectively overcomes various defects in the prior art and has high industrial utilization value.

The above embodiments are merely illustrative of the principles and effects of the present invention, and are not to be construed as limiting the invention. Modifications and variations can be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which may be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims (8)

1. A robot picking system based on sweep yard and attitude control, comprising:

the visual system is used for acquiring visual information of the to-be-picked item and generating corresponding grabbing posture information;

the picking robot is in communication connection with the vision system to receive the visual information and the grabbing posture information of the to-be-picked item; the picking robot moves to the current position of the object to be picked, then picks the object to be picked to a target position, and adjusts the placing posture of the object to be picked; the placing posture comprises a placing direction and/or a placing face orientation.

2. The robotic picking system of claim 1, further comprising:

the first code scanning system is used for scanning the bottom of the item to be picked so as to confirm whether the bottom of the item has an identification code;

and the steering mechanism is used for driving the to-be-picked article to turn over so as to enable the article identification code not to be positioned at the bottom.

3. The robotic picking system of claim 2, wherein the target location is provided with a transparent carrier for placement of items to be picked; the first code scanning system is positioned below the transparent bearing piece; the steering mechanism includes:

the steering box comprises an accommodating cavity for accommodating the articles to be picked, and the articles to be picked are driven to turn over by self turning over;

the pushing mechanism comprises a telescopic pushing piece and is used for pushing the article to the accommodating cavity of the steering box when the first code scanning system identifies that the bottom of the article has the identification code, and pushing the article to the next procedure after the steering box is turned over; and the first scanning code system is also used for pushing the article to the next procedure when the first scanning code system does not recognize that the bottom of the article has the identification code.

4. The robotic picking system of claim 2, wherein the steering mechanism includes:

a suction cup mechanism; the picking robot grabs an item to be picked to pass above the first code scanning system; if the bottom of the picking robot is identified to have the identification code, the picking robot places the article to be picked on the sucking disc mechanism, and grabs the article to be picked to the conveying mechanism after the sucking disc mechanism rotates; if the identification code is not identified to the bottom, the picking robot places the article to be picked on the conveying mechanism;

and the conveying mechanism is used for conveying the items to be picked to the next procedure.

5. The robotic picking system of claim 1, wherein the visual information acquired by the visual system includes physical dimension information for an item to be picked; the method for adjusting the placing direction of the items to be picked by the picking robot comprises the following steps: and adjusting the placing direction of the to-be-picked article to a preset direction through a rotating shaft of the picking robot according to the external dimension information of the to-be-picked article.

6. The robotic picking system of claim 1, further comprising:

a second code scanning system including a plurality of discretely distributed code scanners for scanning multiple faces of items to be picked.

7. The robotic picking system of claim 1, wherein the picking robot includes a robot body and an end effector; the end effector is used for grabbing the item to be picked.

8. The robotic picking system according to claim 7, wherein the end effector includes a suction cup, a pneumatic finger, or a gripper.

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