面向仓库货架的商品智能拣选机器人设计  

Design of Intelligent Goods Picking Robot for Warehouse Shelves

作　　者：张金燕 吴蓬勃[2,3] 王拓 王帆 ZHANG Jinyan;WU Pengbo;WANG Tuo;WANG Fan(School of Network and Communication,Hebei University of Engineering Science,Shijiazhuang 050091,China;Department of Intelligent Engineering,Shijiazhuang Posts&Telecommunications Technical College,Shijiazhuang 050021,China;Department of Express and Logistics,Shijiazhuang Posts&Telecommunications Technical College,Shijiazhuang 050021,China;Hebei University Express Intelligent Technology and Equipment Application Technology Research and Development Center,Shijiazhuang 050021,China)

机构地区：[1]河北工程技术学院网络与通信学院,石家庄050091 [2]石家庄邮电职业技术学院智能工程系,石家庄050021 [3]河北省高校快递智能技术与装备应用技术研发中心,石家庄050021 [4]石家庄邮电职业技术学院速递物流系,石家庄050021

出　　处：《包装工程》2024年第5期230-239,共10页Packaging Engineering

基　　金：河北省教育厅科学研究项目资助(ZC2024133)。

摘　　要：目的为降低仓储拣选作业的劳动强度、提高拣选准确率,设计一款可代替人工拣货的拣选机器人。方法基于PaddlePaddle的PP-ShiTu图像识别系统,实现货架商品的精确识别和种类的快速更新;针对低成本机械臂的视觉抓取问题,提出基于“无标定3D视觉+AGV运动控制”的货架商品抓取引导方法;采用二维码自主导航和智能升降系统实现了货架商品的搬运和立体抓取。结果实验证明,所设计的拣选机器人实现了货架商品的精确抓取和搬运,测试准确率达到了92.25%。结论基于该方法构建的智能拣选机器人,可以完成仓库货架商品的拣选和搬运。The work aims to design a picking robot that can replace manual picking,in order to reduce the labor intensity of warehouse picking operations and improve the accuracy of picking.Based on PaddlePaddle's PP-ShiTu image recognition system,accurate identification of goods on shelves and rapid updating of categories were achieved.A method of"uncalibrated 3D vision+AGV motion control"was proposed for guiding shelf product grabbing to solve the visual grasping problem of low-cost robotic arms.The use of two-dimensional code autonomous navigation and intelligent lifting system realized the handling and three-dimensional grasping of goods on shelves.The experiment proved that the designed picking robot achieved accurate picking and handling of goods on shelves,with a test accuracy of 92.25%.The intelligent picking robot constructed based on this method can complete the picking and handling of goods on the shelves of the warehouse.

关 键 词：仓库 货架 拣选 机械臂视觉抓取 

分 类 号：TP391.0[自动化与计算机技术—计算机应用技术]