CN115258324A

CN115258324A - Unmanned warehousing system based on combination of ROS and laser SLAM

Info

Publication number: CN115258324A
Application number: CN202210928580.5A
Authority: CN
Inventors: 郑卓玲; 许志明; 万智萍; 龚皓宇; 杨茵; 程锦杰; 王凤; 刘少江
Original assignee: Guangzhou Xinhua College
Current assignee: Guangzhou Xinhua College
Priority date: 2022-08-03
Filing date: 2022-08-03
Publication date: 2022-11-01

Abstract

The invention relates to the field of unmanned warehousing, and particularly discloses an unmanned warehousing system based on combination of ROS and laser SLAM, which comprises a container and a robot, wherein the robot comprises a machine body, a rotary table rotatably arranged on the machine body, a disassembling device, a sterilizing device, a packaging device and a driving device, the disassembling device comprises a first box body movably arranged on the machine body, a first rotary drum and a second rotary drum rotatably arranged on the first box body, and a first heating part movably arranged between the first rotary drum and the second rotary drum, the sterilizing device comprises an L-shaped rod, a spray head arranged on the L-shaped rod, a second box body and a pump body arranged on one side of the second box body, and the packaging device comprises a third box body, a packaging barrel rotatably arranged on one side of the third box body, a second heating part rotatably arranged on the third box body and a bulge arranged on the third box body.

Description

Unmanned warehousing system based on combination of ROS and laser SLAM

Technical Field

The invention relates to the technical field of unmanned warehousing, in particular to an unmanned warehousing system based on combination of ROS and laser SLAM.

Background

Storage is the important component part of logistics industry, along with the continuous development of intelligent storage, has appeared the new concept of unmanned storage, realizes the automatic identification and the transport to the goods through the robot promptly, has reduced the reliance to the manual work, alleviates the work burden of repeated loaded down with trivial details selection.

ROS (Robot Operating System) is an open source software platform with wide application, and is frequently applied to research and development of mobile Robot application software systems.

SLAM (Simultaneous Localization and Mapping, real-time Localization and Mapping) provides a solution for rapid map construction in a warehousing environment, and provides an effective carrier for an SLAM algorithm by using a laser radar as a mobile robot of a sensor. Meanwhile, the indoor storage environment has the characteristics of regular layout, strong regularity and the like.

Due to the open environment in unmanned warehousing, cross-contamination is very likely to occur when facing packages and goods from different areas. Particularly, if the viruses with high infectivity and strong vitality are not killed in time, the propagation of germs in a warehouse is easily caused, and the propagation of the germs is facilitated. In an unmanned warehousing system based on the combination of the ROS and the laser SLAM, the robot moves packages on a shelf to personnel for delivery, and if the packages and goods are not effectively sterilized, germs can be possibly spread to workers, so that the public health safety is influenced.

Disclosure of Invention

The invention aims to solve the defect that cross infection is easy to occur when packages and goods from different areas face to an open environment in unmanned warehousing in the prior art, and provides an unmanned warehousing system based on the combination of ROS and laser SLAM.

In order to achieve the purpose, the invention adopts the following technical scheme:

unmanned warehouse system based on ROS and laser SLAM combination, including packing cupboard and robot, the robot includes the organism, rotates to set up carousel, detaching device, degassing unit, packing plant and drive arrangement on the organism, detaching device is including removing the first box that sets up on the organism, rotate and set up first rotary drum and the second rotary drum on the first box and the activity sets up first heating portion between first rotary drum and the second rotary drum, degassing unit includes L shape pole, set up shower nozzle, second box on the L shape pole and install the pump body in one side of second box, be provided with the inner chamber in the L shape pole, the input of the pump body with the bottom of second box is connected, the output of the pump body pass through the connecting pipe with the inner chamber of L shape pole is connected, packing plant includes the third box, rotates the packing section of thick bamboo that sets up one side of third box, rotate the second heating portion that sets up on the third box and set up the arch on the third box.

Preferably, first motor is installed to the organism bottom, the output of first motor is connected with first gear, it is provided with the dwang to rotate on the organism, the carousel sets up the top of dwang, the bottom of dwang be provided with the second gear that first gear engagement is connected.

Preferably, the second motor is installed to the bottom of organism, the output of second motor is connected with the third gear, the bottom of organism is rotated and is connected with the actuating lever, be provided with the drive wheel on the actuating lever, be provided with on the actuating lever with the fourth gear that the third gear meshing is connected.

Preferably, a third motor is installed at the bottom end of the machine body, and the output end of the third motor is connected with the top end of the steering wheel.

Preferably, a fifth gear is coaxially connected to the first rotating drum, a sixth gear is coaxially connected to the second rotating drum, the fifth gear is in meshed connection with the sixth gear, a fourth motor is mounted on the first box, and an output end of the fourth motor is connected with the fifth gear or the sixth gear.

Preferably, a first cylinder is horizontally arranged in the first box body, a telescopic end of the first cylinder is connected with the first heating portion, the first heating portion is made of metal, a resistance wire is arranged in the first heating portion for heating, the first heating portion comprises a tip and a plate body, the tip is arranged between the first rotary drum and the second rotary drum, an outwardly convex cambered surface is arranged on one side, close to the tip, of the plate body, and a limiting groove is arranged on one side, away from the tip, of the plate body.

Preferably, the top of third box is rotated and is provided with the pivot, be fixed with the adjusting lever in the pivot, the second heating portion is fixed the one end of adjusting lever, be provided with the second cylinder on the third box, the flexible end of second cylinder with the adjusting lever is kept away from the one end of second heating portion is rotated and is connected.

Preferably, detaching device and packing plant's bottom all through moving mechanism with the top of organism is connected, moving mechanism is including setting up fifth motor on the organism, it is provided with the lead screw to rotate on the organism, it is vice to be connected with the nut on the lead screw, the top of organism is followed the axial of lead screw is provided with the guide rail, it is provided with the slider to slide on the guide rail, the slider with the nut is vice to be connected.

Preferably, the number of the sterilizing devices is two, and the two sterilizing devices are respectively arranged on the disassembling device and the packaging device.

Preferably, the L-shaped rod is connected to the first box or the third box, and the second box is disposed at one side of the first box or the third box.

The beneficial effects of the invention are:

1. the invention carries out omnibearing disinfection and sterilization on the materials on the turntable through the disinfection device, removes the outer wrapping on the materials on the turntable through the disassembling device, repackage the material through packing plant, realize unmanned storage's disinfection and isolation that becomes more meticulous, avoid cross infection, improve unmanned storage's sanitary security.

2. When the disinfection device is used for disinfecting materials on the rotary table, the pump body is started, and the pump body can spray and output the disinfection water in the second box body through the spray head. In-process, rotate the carousel, can realize the effect to the material disinfection on the carousel.

3. When the dismantling device is used for removing the parcels outside the materials on the rotary table, the first air cylinder is started, the first air cylinder pushes the first heating part to move towards the outside of the first box body, the first heating part is abutted against the parcels, and one side of the parcels can be broken after the first heating part is continuously heated. Then the first heating part retracts into the first box body through the first air cylinder, the rotary table is rotated, the fourth motor is started, the fourth motor drives the fifth gear and the sixth gear to rotate, the first rotary drum and the second rotary drum are made to rotate, and the packages are rolled into the first box body. The inner wall of the first box body is provided with an ultraviolet disinfection lamp for sterilizing and disinfecting the first box body.

4. When the packaging device is used for repackaging materials, the third box body is moved, after one side of the packaging bag is abutted against the materials on the rotary table, the rotary table is rotated, the packaging bag is wound outside the materials on the rotary table, then the second heating portion is rotated, the packaging bag is clamped between the second heating portion and the protrusions, the second heating portion is made of metal materials, the resistance wire heater is arranged on the second heating portion, and the second heating portion can heat the packaging bag to conduct hot melting and breaking on the packaging bag.

Drawings

Fig. 1 is a system block diagram of an unmanned warehousing system based on the combination of ROS and laser SLAM according to the present invention;

FIG. 2 is a perspective view of a robot in the unmanned warehousing system based on the combination of ROS and laser SLAM;

FIG. 3 is a perspective view of the robot shown in FIG. 2 from another perspective;

FIG. 4 is a perspective view of the robot shown in FIG. 2 from another perspective;

FIG. 5 is a top view of the robot shown in FIG. 2;

FIG. 6 isbase:Sub>A cross-sectional view taken at A-A of FIG. 5;

FIG. 7 is a side view of the deconsolidation device of the robot shown in FIG. 2;

FIG. 8 is a cross-sectional view taken at B-B of FIG. 7;

FIG. 9 is a perspective view of a first heating part in the disassembling apparatus shown in FIG. 7;

FIG. 10 is a perspective view of the wrapping device in the robot shown in FIG. 2;

FIG. 11 is an enlarged view of a portion of FIG. 10 at C;

FIG. 12 is a top view of the packaging device shown in FIG. 10;

fig. 13 is a cross-sectional view taken at D-D in fig. 12.

In the figure: 1 rotary table, 2 first motor, 3 sterilizing device, 31L-shaped rod, 32 spray head, 33 connecting pipe, 34 second box, 35 pump body, 4 disassembling device, 41 first box, 42 first cylinder, 43 switch door, 44 fourth motor, 45 fifth gear, 46 sixth gear, 47 first drum, 48 second drum, 49 first heating part, 491 tip, 492 plate body, 4921 limit groove, 5 machine body, 6 steering wheel, 7 driving wheel, 8 packaging device, 81 second heating part, 82 mounting rod, 83 packaging drum, 85 second cylinder, 86 rotating shaft, 87 adjusting rod, 88 bulge, 84 third box, 9 third motor, 10 third gear, 11 driving rod, 12 fourth gear, 13 second gear, 14 first gear, 15, 16 second motor, 17 ultraviolet sterilizing lamp, 18 nut pair, 19 fifth motor, 20 slide block, 21 guide rail, 22 lead screw.

Detailed Description

To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a single embodiment.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Referring to fig. 1-13, the unmanned warehousing system based on the combination of ROS and laser SLAM includes a container and a robot, wherein the robot includes a body 5, a turntable 1 rotatably disposed on the body 5, a disassembling device 4, a sterilizing device 3, a packaging device 8, and a driving device. The disassembling device 4 is used for disassembling the wrapped external package; the disinfection device 3 disinfects and sterilizes the goods; packing plant 8 repacks the goods, and the parcel goods after the final robot will disinfect repackage removes the conveying.

Referring to fig. 1-4, a first motor 2 is installed at the bottom end of the machine body 5, an output end of the first motor 2 is connected with a first gear 14, a rotating rod 15 is rotatably installed on the machine body 5, the rotating disc 1 is installed at the top end of the rotating rod 15, and a second gear 13 meshed with the first gear 14 is installed at the bottom end of the rotating rod 15. And starting the first motor 2, wherein the first motor 2 drives the turntable 1 to rotate through the transmission of the first gear 14 and the second gear 13.

The drive means comprise a drive wheel 7 and a steering wheel 6.

Second motor 16 is installed to the bottom of organism 5, the output of second motor 16 is connected with third gear 10, the bottom of organism 5 is rotated and is connected with actuating lever 11, be provided with on the actuating lever 11 drive wheel 7, be provided with on the actuating lever 11 with fourth gear 12 that third gear 10 meshing is connected. And starting the second motor 16, wherein the second motor 16 drives the driving wheel 7 to rotate through the transmission of the third gear 10 and the fourth gear 12, and drives the machine body 5 to move forwards or backwards.

And a third motor 9 is installed at the bottom end of the machine body 5, and the output end of the third motor 9 is connected with the top end of the steering wheel 6. And starting the third motor 9, wherein the third motor 9 drives the steering wheel 6 to rotate, so that the steering of the machine body 5 is realized.

Referring to fig. 1 to 9, the disassembling apparatus 4 includes a first casing 41 movably disposed on the machine body 5, a first drum 47 and a second drum 48 rotatably disposed on the first casing 41, and a first heating portion 49 movably disposed between the first drum 47 and the second drum 48. A fifth gear 45 is coaxially connected to the first rotating drum 47, a sixth gear 46 is coaxially connected to the second rotating drum 48, the fifth gear 45 is meshed with the sixth gear 46, a fourth motor 44 is mounted on the first box 41, and an output end of the fourth motor 44 is connected with the fifth gear 45 or the sixth gear 46. A first air cylinder 42 is horizontally arranged in the first box 41, a telescopic end of the first air cylinder 42 is connected with the first heating portion 49, the first heating portion 49 is made of metal, a resistance wire is arranged in the first heating portion 49 for heating, the first heating portion 49 comprises a tip 491 and a plate body 492, the tip 491 is arranged between the first rotating drum 47 and the second rotating drum 48, an arc surface of an outward bulge 88 is arranged on one side of the plate body 492 close to the tip 491, and a limit groove 4921 is arranged on one side of the plate body 492 away from the tip 491. When the first cylinder 42 is activated, the first cylinder 42 pushes the first heating unit 49 to move to the outside of the first casing 41, the first heating unit 49 is pressed against the parcel, and after the first heating unit 49 continues to heat, one side of the parcel can be broken. Then, the first heating unit 49 is retracted into the first casing 41 by the first air cylinder 42, the turntable 1 is rotated, the fourth motor 44 is started, the fifth gear 45 and the sixth gear 46 are driven to rotate by the fourth motor 44, and the first drum 47 and the second drum 48 are rotated to wind the parcel into the first casing 41. The inner wall of the first box body 41 is provided with an ultraviolet disinfection lamp 17 for sterilizing and disinfecting the inside of the first box body 41. One side of the first box 41 is rotatably provided with a switch door 43, and the switch door 43 is opened and closed, so that the material collected in the first box 41 can be taken. When the material is taken up into the first casing 41 by the first drum 47 and the second drum 48, the material moves to both sides of the first heating portion 49 along the arc surface of one side of the plate body 492 and enters the first casing 41, and the limit groove 4921 prevents the material in the first casing 41 from leaking between the first drum 47 and the second drum 48.

Referring to fig. 1 to 4, the sterilization device 3 includes an L-shaped rod 31, a nozzle 32 disposed on the L-shaped rod 31, a second box 34, and a pump body 35 mounted on one side of the second box 34, an inner cavity is disposed in the L-shaped rod 31, an input end of the pump body 35 is connected to a bottom end of the second box 34, and an output end of the pump body 35 is connected to the inner cavity of the L-shaped rod 31 through a connection pipe 33. Disinfectant is arranged in the second box 34, and after the pump body 35 is started, the pump body 35 can spray and output the disinfectant in the second box 34 through the spray head 32. In-process, rotate carousel 1, can realize the effect to the material disinfection on carousel 1.

Referring to fig. 1 to 4 and fig. 10 to 13, the packing device 8 includes a third box 84, a packing tube 83 rotatably disposed on one side of the third box 84, a second heating portion 81 rotatably disposed on the third box 84, and a protrusion 88 disposed on the third box 84. The third box 84 is rotatably provided with a mounting rod 82, and the packaging barrel 83 is sleeved on the mounting rod 82. One side of the third box 84 is provided with an opening, a packaging bag is wound on the packaging barrel 83, one side of the packaging bag is exposed through the opening, the packaging bag is made of hot-melt plastic materials, one side of the packaging bag is provided with a glue layer, the glue layer is provided with viscosity, the packaging bag can be adhered to materials on the rotary table 1, the third box 84 is moved, after one side of the packaging bag is abutted to the materials on the rotary table 1, the rotary table 1 is rotated, the packaging bag is wound outside the materials on the rotary table 1, then the second heating portion 81 is rotated, the packaging bag is clamped between the second heating portion 81 and the bulge 88, the second heating portion 81 is made of metal materials, a resistance wire heater is arranged on the second heating portion 81, the second heating portion 81 can heat the packaging bag, and the packaging bag is broken through hot melting. The top end of the third box 84 is rotatably provided with a rotating shaft 86, an adjusting rod 87 is fixed on the rotating shaft 86, the second heating part 81 is fixed at one end of the adjusting rod 87, the third box 84 is provided with a second cylinder 85, and the telescopic end of the second cylinder 85 is rotatably connected with one end, far away from the second heating part 81, of the adjusting rod 87. When the second cylinder 85 is started, the telescopic end of the second cylinder 85 can drive one end of the adjusting rod 87 to move, and then the position between the second heating part 81 and the protrusion 88 can be adjusted.

The bottom ends of the disassembling device 4 and the packaging device 8 are connected with the top end of the machine body 5 through a moving mechanism. Moving mechanism is including setting up fifth motor 19 on the organism 5, it is provided with lead screw 22 to rotate on the organism 5, it is vice 18 to be connected with the nut on the lead screw 22, the top of organism 5 is followed the axial of lead screw 22 is provided with guide rail 21, it is provided with slider 20 to slide on the guide rail 21, slider 20 with the vice 18 of nut is connected. Specifically, the slider 20 is connected to the first case 41 or the third case 84, and moves the disassembling device 4, the packaging device 8, and the sterilizing device 3.

In this embodiment, the two sterilizing devices 3 are provided on the disassembling device 4 and the packaging device 8, respectively. Specifically, the L-shaped rod 31 is connected to the first casing 41 or the third casing 84, and the second casing 34 is disposed on one side of the first casing 41 or the third casing 84.

The robot further includes a sensor, a controller, and a battery.

In this embodiment, the container is provided with a conveyor belt or a manipulator, and the conveyor belt or the manipulator moves the materials on the container to the turntable 1. When the materials on the rotary disk 1 need to be disinfected through the disinfecting device 3, the pump body 35 is started, and the pump body 35 can spray and output the disinfecting water in the second box body 34 through the spray head 32. In-process, rotate carousel 1, can realize the effect to the material disinfection and isolation on the carousel 1. When the dismantling device 4 is required to remove the parcels outside the material on the turntable 1, the first cylinder 42 is started, the first cylinder 42 pushes the first heating part 49 to move to the outside of the first box 41, the first heating part 49 is abutted against the parcels, and after the first heating part 49 is continuously heated, one side of the parcels can be broken. Then, the first heating unit 49 is retracted into the first casing 41 by the first air cylinder 42, the turntable 1 is rotated, the fourth motor 44 is started, the fifth gear 45 and the sixth gear 46 are driven to rotate by the fourth motor 44, and the first drum 47 and the second drum 48 are rotated to wind the parcel into the first casing 41. The inner wall of the first box body 41 is provided with an ultraviolet disinfection lamp 17 for sterilizing and disinfecting the inside of the first box body 41. When the material needs to be repackaged by the packaging device 8, the third box 84 is moved, so that after one side of the packaging bag abuts against the material on the turntable 1, the turntable 1 is rotated, the packaging bag is wound outside the material on the turntable 1, then the second heating part 81 is rotated, the packaging bag is clamped between the second heating part 81 and the protrusion 88, the second heating part 81 is made of metal, a resistance wire heater is arranged on the second heating part 81, and the packaging bag can be heated by the second heating part 81 to be thermally melted and broken. According to the invention, the materials on the rotary table 1 are disinfected and sterilized in all directions through the disinfection device 3, the outer wrapping of the materials on the rotary table 1 is removed through the disassembling device 4, and the materials are repackaged through the packaging device 8, so that the fine disinfection and sterilization of unmanned storage are realized, cross infection is avoided, and the sanitary safety of the unmanned storage is improved.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims

1. The unmanned warehousing system based on combination of the ROS and the laser SLAM is characterized by comprising a container and a robot, wherein the robot comprises a machine body (5), a rotary disc (1) rotatably arranged on the machine body (5), a disassembling device (4), a sterilizing device (3), a packaging device (8) and a driving device, the disassembling device (4) comprises a first box body (41) movably arranged on the machine body (5), a first rotary drum (47) and a second rotary drum (48) rotatably arranged on the first box body (41) and a first heating part (49) movably arranged between the first rotary drum (47) and the second rotary drum (48), the sterilizing device (3) comprises an L-shaped rod (31), a spray head (32) arranged on the L-shaped rod (31), a second box body (34) and a pump body (35) arranged on one side of the second box body (34), an inner cavity is arranged in the L-shaped rod (31), the input end of the pump body (35) is connected with the bottom end of the second box body (34), the output end of the pump body (35) is connected with the packaging device (84) through a connecting pipe (33), and the output end of the packaging device (84) is arranged on one side of the third box body (84), and the third box body (31) and the rotating device (84) is arranged on one side of the packaging device (84), A second heating part 81 provided on the third case 84 and a protrusion 88 provided on the third case 84 are rotated.

2. The unmanned warehousing system based on the combination of the ROS and the laser SLAM of claim 1, characterized in that a first motor (2) is installed at the bottom end of the machine body (5), a first gear (14) is connected to the output end of the first motor (2), a rotating rod (15) is rotatably arranged on the machine body (5), the turntable (1) is arranged at the top end of the rotating rod (15), and a second gear (13) meshed with the first gear (14) is arranged at the bottom end of the rotating rod (15).

3. The unmanned warehousing system based on the combination of the ROS and the laser SLAM of claim 1, characterized in that a second motor (16) is installed at the bottom end of the machine body (5), a third gear (10) is connected to the output end of the second motor (16), a driving rod (11) is rotatably connected to the bottom end of the machine body (5), a driving wheel (7) is arranged on the driving rod (11), and a fourth gear (12) meshed with the third gear (10) is arranged on the driving rod (11).

4. The unmanned warehousing system based on the combination of ROS and laser SLAM of claim 1, characterized in that the bottom end of the body (5) is installed with a third motor (9), the output end of the third motor (9) is connected with the top end of the steering wheel (6).

5. The ROS and laser SLAM combined unmanned warehousing system of claim 1, characterized in that a fifth gear (45) is coaxially connected to the first drum (47), a sixth gear (46) is coaxially connected to the second drum (48), the fifth gear (45) is meshed with the sixth gear (46), a fourth motor (44) is installed on the first box (41), and the output end of the fourth motor (44) is connected with the fifth gear (45) or the sixth gear (46).

6. The unmanned warehousing system based on the combination of the ROS and the laser SLAM as claimed in claim 1, wherein a first cylinder (42) is horizontally arranged in the first box (41), a telescopic end of the first cylinder (42) is connected with the first heating part (49), the first heating part (49) is made of metal, a resistance wire is arranged in the first heating part (49) for heating, the first heating part (49) comprises a tip (491) and a plate body (492), the tip (491) is arranged between the first rotating cylinder (47) and the second rotating cylinder (48), an arc surface of an outward bulge (88) is arranged on one side of the plate body (492) close to the tip (491), and a limit groove (4921) is arranged on one side of the plate body (492) far away from the tip (491).

7. The unmanned warehousing system based on the combination of the ROS and the laser SLAM of claim 1, characterized in that a rotating shaft (86) is rotatably arranged at the top end of the third box body (84), an adjusting rod (87) is fixed on the rotating shaft (86), the second heating part (81) is fixed at one end of the adjusting rod (87), a second cylinder (85) is arranged on the third box body (84), and the telescopic end of the second cylinder (85) is rotatably connected with one end, far away from the second heating part (81), of the adjusting rod (87).

8. The unmanned warehousing system based on the combination of the ROS and the laser SLAM, characterized in that the bottom ends of the disassembling device (4) and the packaging device (8) are connected with the top end of the machine body (5) through a moving mechanism, the moving mechanism comprises a fifth motor (19) arranged on the machine body (5), a screw rod (22) is rotatably arranged on the machine body (5), a nut pair (18) is connected on the screw rod (22), a guide rail (21) is arranged on the top end of the machine body (5) along the axial direction of the screw rod (22), a slide block (20) is slidably arranged on the guide rail (21), and the slide block (20) is connected with the nut pair (18).

9. The unmanned warehousing system based on the combination of ROS and laser SLAM of claim 1, characterized in that said sterilizing means (3) have two, respectively arranged on said disassembling means (4) and packaging means (8).

10. The ROS and laser SLAM combined unmanned warehousing system of claim 9, characterized in that said L-shaped bar (31) is connected to said first (41) or third (84) casing, said second casing (34) being placed at one side of said first (41) or third (84) casing.