CN104777835A - Omni-directional automatic forklift and 3D stereoscopic vision navigating and positioning method - Google Patents
Omni-directional automatic forklift and 3D stereoscopic vision navigating and positioning method Download PDFInfo
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- CN104777835A CN104777835A CN201510106059.3A CN201510106059A CN104777835A CN 104777835 A CN104777835 A CN 104777835A CN 201510106059 A CN201510106059 A CN 201510106059A CN 104777835 A CN104777835 A CN 104777835A
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Abstract
The invention discloses an omni-directional automatic forklift and a 3D stereoscopic vision navigating and positioning method. The 3D stereoscopic vision navigating and positioning method comprises the following steps: acquiring information of a 3D coordinate in the working environment of the automatic forklift; generating a 3D map; acquiring real-time images and positioning an initial position according to the 3D map; determining a target position; navigating to the target position and judging whether encountering barriers; scanning and identifying two-dimensional codes on a goods shelf; judging whether the automatic forklift is over against the goods and is aligned with the goods; enabling the automatic forklift to insert into a goods shelf tray and completing taking the goods and putting the goods. The omni-directional automatic forklift and the 3D stereoscopic vision navigating and positioning method have the benefits that the 3D map of the working environment is built by a plurality of binocular stereo cameras, the automatic forklift is capable of effectively and accurately positioning, taking the goods and putting the goods with combination of a speedometer, a laser radar and a front camera, three-freedom-degree omni-directional movement on the plane is implemented by Mecanum wheels, the automatic forklift is capable of taking the goods and putting the goods on the same goods shelf without steering, any barriers in the working environment can be effectively avoided in tine by the laser radar and an infrared sensor, and the automatic forklift can be automatically charged by communication between an upper computer and a charging box.
Description
Technical field
The present invention relates to fork truck technical field, in particular to a kind of omnidirectional from electrical forklift and 3D stereoscopic vision navigation locating method.
Background technology
At present, the rising of cost of labor becomes in current enterprise operation and development the main difficulty run into, in the countries and regions having advanced manufacturing industry, use to substitute from electrical forklift and in warehouse, manually carry out cargo handling and delivery has become current main flow with cost-saving.At home, the fork truck of current use, major part is still by manual operation or uses track navigation and RFID location technology to convey goods to carry out autonomous, although the method can meet certain needs, but limitation is larger, need to carry out larger transformation for warehouse, not there is versatility.Meanwhile, the investigative range adopting current navigator fix technology from electrical forklift is wide, and the stability of navigation performance and accuracy are not high, can not evade preferably barrier, and the dead angle that cannot detect accuracy of can not navigating is poor.
Summary of the invention
For solving the problem, the object of the present invention is to provide a kind of versatility is good, stability is high, degree of accuracy is high omnidirectional from electrical forklift and 3D stereoscopic vision navigation locating method.
The invention provides a kind of omnidirectional from electrical forklift 3D stereoscopic vision navigation locating method, comprise the following steps:
Step 1, multiple stage binocular stereo vision camera carries out 360 degree of scannings to the working environment from electrical forklift, obtain the described image information from the working environment of electrical forklift, obtained the 3D coordinate information of each pixel in described automatic fork truck working environment by image processing apparatus;
Step 2, described image processing apparatus, by vision SLAM algorithm, in conjunction with the described anglec of rotation from electrical forklift that inertial measuring unit obtains, generates the 3D map of described automatic fork truck working environment;
Step 3, describedly obtains realtime graphic from electrical forklift by described binocular stereo vision camera, and positions the described reference position from the current place of electrical forklift according to described 3D map;
Step 4, describedly determines from electrical forklift the target location needing work;
Step 5, describedly navigate to target location according to target location by A* algorithm from electrical forklift, barrier is not run in the course of the work from electrical forklift if described, perform step 6, otherwise, by described laser radar and infrared sensor scanning barrier whether in safety zone, judge whether feasible, if feasible, described from electrical forklift cut-through thing from the side, if infeasible, describedly to quit work from electrical forklift, the signal that gives the alarm is until barrier is removed;
Step 6, described after electrical forklift drives to target location, by the Quick Response Code on front-facing camera scanning recognition shelf;
Step 7, described in odometer and described laser radar detection from electrical forklift whether just facing to goods and to quasi-goods, if described from electrical forklift front towards goods and to quasi-goods, perform step 8, otherwise, described front-facing camera by Quick Response Code continue calibration described from the orientation of electrical forklift until described from electrical forklift front towards goods and to quasi-goods;
Step 8, described from electrical forklift insertion shelf tray, complete picking or goods putting.
Further improve as the present invention, described safety zone comprises the scanning area of described laser radar and described infrared sensor and described radius region bottom electrical forklift.
Further improve as the present invention, the barrier described in described laser radar early warning in electrical forklift travel, the barrier on automatic fork truck body surrounding space described in described infrared sensor early warning.
Present invention also offers a kind of omnidirectional from electrical forklift, comprising:
Be provided with the motion car body of four Mecanum wheels, described motion car body comprises supporting construction, is arranged on the laser radar of described supporting construction on the position on ground and battery, direct current generator, control device, central processing unit, image processing apparatus, inertial measuring unit, odometer, the wireless device be arranged in described supporting construction;
Forklift lifting device, described forklift lifting device comprises lifting structure, the multiple stage binocular stereo vision camera be arranged in the top pallet of described fork truck lifting structure, the front-facing camera being arranged on the bottom of described lifting structure and four infrared sensors be arranged on the four direction all around at described lifting structure top;
Host computer, sends instructions under described host computer to described central processing unit;
Charging case, described charging case charges to the described battery in supporting construction;
Described host computer and described central processing unit and described charging case carry out communication by described wireless device;
Described binocular stereo vision camera carries out the comprehensive scanning of 360 degree, obtain the image information of described sport(s) car body running environment, by the image information that described image processing apparatus process obtains, obtain the attitude information of described sport(s) car body running in conjunction with described inertial measuring unit, construct the 3D map of described sport(s) car body running environment;
Barrier in motion car body travel described in described Laser Radar Scanning, described infrared sensor scans the barrier on described motion car body surrounding space, both carry out early warning to the barrier in described sport(s) car body running at cooperation, and send alerting signal to described central processing unit;
Quick Response Code on described front-facing camera scanning shelf;
Described central processing unit obtains the information of described binocular stereo vision camera, described front-facing camera, described laser radar and described infrared sensor, in conjunction with the 3D cartographic information built, the coordinate information of target location is converted to command information, and issues command information to control device;
Described control device controls described direct current generator according to the instruction that described central processing unit issues;
Described DC motor Driver four Mecanum wheels and then control the work of described motion car body;
The travel information of described sport(s) car body running measured by described odometer.
Further improve as the present invention, described binocular stereo vision camera is 5, to be placed in respectively directly over described forklift lifting device top pallet and four direction up and down, to form a pyramidal enclosure space.
Further improve as the present invention, the direction of scanning of four described infrared sensors is oblique below, forms a pyramidal enclosure space.
Preferably, the sweep limit of described laser radar reaches 180 °, and distance of reaction reaches 7m, and the reaction time reaches 60ms.
Beneficial effect of the present invention is:
1, utilize multiple stage binocular solid camera can the 3D map of the wider depth image of quick obtaining and then construction work environment, in conjunction with odometer and laser radar and front-facing camera, the location of reference position, target location can be realized effectively, accurately, the flexible planning in path, accurately picking and placeing of goods.
2, under the effect of electrical forklift at Mecanum wheel, the all-around mobile of Three Degree Of Freedom in plane can be realized, there is the ability of zero radius of turn, transverse translation, freely can walk in narrow space or in rugged surroundings, freely level and smooth Omni-mobile can be carried out in small space, fork truck is moved flexibly and comfortably with the speed expected and direction.Special in the fetching process of warehouse shelf, utilize this platform just can pick and place goods on same shelf without the need to turning to completely.
3, by the early warning of laser radar energy at any barrier on electrical forklift travel, by the barrier of the automatic fork truck body surrounding space of infrared sensor energy early warning, both coordinate any barrier ensureing evade timely and effectively in the course of the work from electrical forklift in working environment simultaneously.
4, when electrical forklift electricity is low, host computer and charging case carry out communication by wireless device, complete the automatic charging from electrical forklift.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of omnidirectional of the present invention from electrical forklift.
Fig. 2 is that a kind of omnidirectional of the present invention is from electrical forklift 3D stereoscopic vision navigation locating method process flow diagram.
In figure, 1, supporting construction; 2, lifting structure; 3, laser radar; 4, binocular camera; 5, front-facing camera; 6, infrared sensor.
Embodiment
Also by reference to the accompanying drawings the present invention is described in further detail below by specific embodiment.
As shown in Figure 1, a kind of omnidirectional described in the embodiment of the present invention, from electrical forklift, should comprise from electrical forklift:
Chassis is provided with the motion car body of four Mecanum wheels, comprises supporting construction 1, be arranged on the laser radar 3 of supporting construction 1 on the position on ground and battery, direct current generator, control device, central processing unit, image processing apparatus, inertial measuring unit, odometer, the wireless device be arranged in supporting construction 1;
Forklift lifting device, comprise lifting structure 2, be arranged on five binocular stereo vision cameras 4 in the top pallet of fork truck lifting structure 2, the front-facing camera 5 being arranged on the bottom of lifting structure 2 and four infrared sensors 6 be arranged on the four direction all around at lifting structure 2 top, five binocular stereo vision cameras 4 to be placed in directly over described forklift lifting device top pallet and four direction up and down respectively, form a pyramidal enclosure space, the direction of scanning of four infrared sensors 6 is oblique below, form a pyramidal enclosure space,
Host computer, sends instructions under host computer to central processing unit;
Charging case, charging case charges to the battery in supporting construction 1;
Host computer and central processing unit and charging case carry out communication by wireless device;
Five binocular stereo vision cameras 4 carry out the comprehensive scanning of 360 degree, obtain the image information of sport(s) car body running environment, by the image information that image processing apparatus process obtains, obtain the attitude information of sport(s) car body running in conjunction with inertial measuring unit, construct the 3D map of sport(s) car body running environment;
Barrier in laser radar 3 scanning motion car body travel, the barrier on infrared sensor 6 scanning motion car body surrounding space, both carry out early warning to the barrier in sport(s) car body running at cooperation, and send alerting signal to central processing unit;
Front-facing camera 5 scans the Quick Response Code on shelf;
Central processing unit obtains the information of five binocular stereo vision cameras 4, front-facing camera 5, laser radar 3 and four infrared sensors 6, in conjunction with the 3D cartographic information built, the coordinate information of target location is converted to command information, and issues command information to control device;
The instruction that control device issues according to central processing unit controls direct current generator;
The work of DC motor Driver four Mecanum wheels and then controlled motion car body;
The travel information of sport(s) car body running measured by odometer.
As shown in Figure 2, present invention also offers a kind of omnidirectional from electrical forklift 3D stereoscopic vision navigation locating method, comprise the following steps:
Step 1, five binocular stereo vision cameras 4 carry out 360 degree of scannings to the working environment from electrical forklift, are obtained from the image information of the working environment of electrical forklift, are obtained the 3D coordinate information of each pixel in automatic fork truck working environment by image processing apparatus;
Step 2, image processing apparatus, by vision SLAM algorithm, in conjunction with the anglec of rotation from electrical forklift that inertial measuring unit obtains, generates the 3D map of automatic fork truck working environment;
Step 3, obtains realtime graphic from electrical forklift by five binocular stereo vision cameras 4, and positions the reference position from the current place of electrical forklift according to described 3D map;
Step 4, determines from electrical forklift the target location needing work;
Step 5, target location is navigate to according to target location according to path planning from electrical forklift, if do not run into barrier in the course of the work from electrical forklift, perform step 6, otherwise, whether feasiblely scan disturbance in judgement thing by laser radar 3 and four infrared sensors 6, if feasible, from electrical forklift cut-through thing from the side, if infeasible, quit work from electrical forklift, the signal that gives the alarm is until barrier is removed;
Step 6 after electrical forklift drives to target location, by the Quick Response Code on front-facing camera 5 scanning recognition shelf;
Step 7, odometer and described laser radar 3 detect described from electrical forklift whether just facing to goods and to quasi-goods, if described from electrical forklift front towards goods and to quasi-goods, perform step 8, otherwise, described front-facing camera 5 by Quick Response Code continue calibration described from the orientation of electrical forklift until described from electrical forklift front towards goods and to quasi-goods;
Step 8, inserts shelf tray from electrical forklift, completes picking or goods putting.
Wherein, safety zone comprises the scanning area of laser radar and infrared sensor and the radius region bottom electrical forklift.
In the present invention, the sweep limit of laser radar 3 reaches 180 °, and distance of reaction reaches 7m, and the reaction time reaches 60ms.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (7)
1. omnidirectional is from electrical forklift 3D stereoscopic vision navigation locating method, it is characterized in that, comprises the following steps:
Step 1, multiple stage binocular stereo vision camera carries out 360 degree of scannings to the working environment from electrical forklift, obtain the described image information from the working environment of electrical forklift, obtained the 3D coordinate information of each pixel in described automatic fork truck working environment by image processing apparatus;
Step 2, described image processing apparatus, by vision SLAM algorithm, in conjunction with the described anglec of rotation from electrical forklift that inertial measuring unit obtains, generates the 3D map of described automatic fork truck working environment;
Step 3, describedly obtains realtime graphic from electrical forklift by described binocular stereo vision camera, and positions the described reference position from the current place of electrical forklift according to described 3D map;
Step 4, describedly determines from electrical forklift the target location needing work;
Step 5, describedly navigate to target location according to target location by A* algorithm from electrical forklift, barrier is not run in the course of the work from electrical forklift if described, perform step 6, otherwise, by described laser radar and infrared sensor scanning barrier whether in safety zone, judge whether feasible, if feasible, described from electrical forklift cut-through thing from the side, if infeasible, describedly to quit work from electrical forklift, the signal that gives the alarm is until barrier is removed;
Step 6, described after electrical forklift drives to target location, by the Quick Response Code on front-facing camera scanning recognition shelf;
Step 7, described in odometer and described laser radar detection from electrical forklift whether just facing to goods and to quasi-goods, if described from electrical forklift front towards goods and to quasi-goods, perform step 8, otherwise, described front-facing camera by Quick Response Code continue calibration described from the orientation of electrical forklift until described from electrical forklift front towards goods and to quasi-goods;
Step 8, described from electrical forklift insertion shelf tray, complete picking or goods putting.
2. a kind of omnidirectional according to claim 1 is from electrical forklift 3D stereoscopic vision navigation locating method, it is characterized in that, described safety zone comprises the scanning area of described laser radar and described infrared sensor and described radius region bottom electrical forklift.
3. a kind of omnidirectional according to claim 1 is from electrical forklift 3D stereoscopic vision navigation locating method, it is characterized in that, barrier described in described Laser Radar Scanning in electrical forklift travel, the described barrier on electrical forklift surrounding space of described infrared sensor scanning.
4. omnidirectional is from an electrical forklift, it is characterized in that, comprising:
Be provided with the motion car body of four Mecanum wheels, described motion car body comprises supporting construction, is arranged on the laser radar of described supporting construction on the position on ground and battery, direct current generator, control device, central processing unit, image processing apparatus, inertial measuring unit, odometer, the wireless device be arranged in described supporting construction;
Forklift lifting device, described forklift lifting device comprises lifting structure, the multiple stage binocular stereo vision camera be arranged in the top pallet of described fork truck lifting structure, the front-facing camera being arranged on the bottom of described lifting structure and four infrared sensors be arranged on the four direction all around at described lifting structure top;
Described laser radar and described infrared sensor scan the barrier in described sport(s) car body running environment, carry out early warning, and send alerting signal to described central processing unit to the barrier in described sport(s) car body running;
Host computer, sends instructions under described host computer to described central processing unit;
Charging case, described charging case charges to described battery;
Described host computer and described central processing unit and described charging case carry out communication by described wireless device;
Described binocular stereo vision camera carries out the comprehensive scanning of 360 degree, obtain the image information of described sport(s) car body running environment, by the image information that described image processing apparatus process obtains, obtain the attitude information of described sport(s) car body running in conjunction with described inertial measuring unit, construct the 3D map of described sport(s) car body running environment;
Barrier in motion car body travel described in described Laser Radar Scanning, described infrared sensor scans the barrier on described motion car body surrounding space, both carry out early warning to the barrier in described sport(s) car body running at cooperation, and send alerting signal to described central processing unit;
Quick Response Code on described front-facing camera scanning shelf;
Described central processing unit obtains the information of described binocular stereo vision camera, described front-facing camera, described laser radar and described infrared sensor, in conjunction with the 3D cartographic information built, the coordinate information of target location is converted to command information, and issues command information to control device;
Described control device controls described direct current generator according to the instruction that described central processing unit issues;
Described DC motor Driver four Mecanum wheels and then control the work of described motion car body;
The travel information of described sport(s) car body running measured by described odometer.
5. a kind of omnidirectional according to claim 4 is from electrical forklift, it is characterized in that, described binocular stereo vision camera is 5, to be placed in respectively directly over described forklift lifting device top pallet and four direction up and down, to form a pyramidal enclosure space.
6. a kind of omnidirectional according to claim 4 is from electrical forklift, it is characterized in that, the direction of scanning of four described infrared sensors is oblique below, forms a pyramidal enclosure space.
7. a kind of omnidirectional according to claim 4 is from electrical forklift, it is characterized in that, the sweep limit of described laser radar reaches 180 °, and distance of reaction reaches 7m, and the reaction time reaches 60ms.
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