CN112099513A - Method and system for accurately taking materials by mobile robot - Google Patents
Method and system for accurately taking materials by mobile robot Download PDFInfo
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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Abstract
The invention discloses a method and a system for accurately taking materials by a mobile robot, wherein the method comprises the following steps: the mobile robot sets a goods placing point as an initial station; the mobile robot reaches the butt joint point according to the received instruction content, and the sensor identifies the goods to obtain a deviation value; and calculating the position of the identified goods in the map according to the deviation value, comparing the position with the position of the initial station, judging whether the identified goods are goods to be transported, and taking the goods according to the result. Within an allowable error range, if the position of the goods is consistent with that of the initial station, starting a material taking unit; if the position of the goods is not consistent with the position of the initial station, continuously searching for consistent goods; if the material taking unit is found, the material taking unit is started, and if the material taking unit cannot be found, an alarm is output. The method and the system have the effect of accurately identifying the goods, and can improve the efficiency and the accuracy of intelligent transportation.
Description
Technical Field
The invention relates to the field of intelligent transportation, in particular to a method and a system for accurately taking materials by a mobile robot.
Background
The mobile robot adopts autonomous navigation algorithm, need not to lay tracks such as two-dimensional code, magnetic stripe, be applied to the intelligent transport of material, and in intelligent handling, need accomplish automatic identification material, get tasks such as material automatically, if wait to change goods placement position too near or similar with characteristic thing on every side, can appear discernment mistake and lead to getting the condition of wrong material, prior art can't solve this defect, lead to getting material efficiency and rate of accuracy low, perhaps can't satisfy same region and put the same or similar material simultaneously, consequently can't satisfy full automatic transport's requirement.
In view of the above, the present invention is particularly proposed.
Disclosure of Invention
To solve the technical problems in the prior art, an object of the present application is to provide a method and a system for accurately taking materials by a mobile robot.
In order to achieve the purpose of the invention, the invention provides the following technical solutions:
in a first aspect, the invention provides a method for accurately taking materials by a mobile robot, which comprises the following steps:
the mobile robot sets a goods placing point as an initial station;
the mobile robot reaches the butt joint point according to the received instruction content, and the sensor identifies the goods to obtain a deviation value;
and calculating the position of the identified goods in the map according to the deviation value, comparing the position with the position of the initial station, judging whether the identified goods are goods to be transported, and taking the goods according to the result.
In an embodiment, the determining whether the identified cargo is a cargo to be transported and taking a material according to a result further includes:
within an allowable error range, if the position of the goods is consistent with that of the initial station, the goods are the goods to be transported, and a material taking unit is started;
if the position of the goods is not consistent with the position of the initial station, the goods are not the goods to be transported, and the consistent goods are continuously searched;
if the material taking unit is found, the material taking unit is started, and if the material taking unit cannot be found, an alarm is output.
In one embodiment, the starting material taking unit further includes: according to the deviation value of the goods and the position identified by the sensor, the mobile robot adjusts the position and posture, and the robot reaches a material taking point to take materials.
In one embodiment, the mobile robot sets the goods placement point as an initial station, further comprising: the mobile robot drives to a goods placement point, uploads the current position as an initial station, or designates a coordinate point on a map as the initial station.
In one embodiment, the instructional content includes at least initial site coordinates.
In one embodiment, the reaching the docking point specifically includes navigating to the reaching docking point according to the initial site setting docking point.
In one embodiment, the mobile robot travels to a cargo placement site, scans a build map or imports a map file before uploading the current location as an initial site.
In an embodiment, the comparing the position with the initial station specifically includes:
calculating the coordinate value of the recognized goods according to the deviation value of the goods recognized by the sensor;
converting the coordinate value of the goods into the coordinate value of the initial station in the same coordinate system according to the distance between the sensor and the mobile robot;
and comparing the converted coordinate values of the goods with the coordinate values of the initial station.
In one embodiment, the coordinate system is a map coordinate system.
In a second aspect, the invention provides a system for accurately taking materials by a mobile robot, and a method for accurately taking materials by the mobile robot is applied.
In one embodiment, the mobile robot comprises a control system and a motion system, the control system comprises a task management unit and a navigation unit, the task management unit sets a docking point according to an initial station, the navigation unit plans a navigation driving path according to a docking point coordinate, and the motion system reaches the docking point according to the navigation driving path.
In one embodiment, the control system further comprises a docking unit, and the docking unit calculates the position of the identified cargo according to the deviation value of the cargo, which is identified by the sensor, and compares the position of the identified cargo with the position of the initial station.
In one embodiment, the control system further comprises a material taking unit, wherein within an allowable error range, if the position of the goods is consistent with the position of the initial station, the material taking unit is started, and the material taking unit controls the motion system to perform pose adjustment according to a deviation value between the position of the goods and the position of the goods, which is identified by a sensor, and the position of the motion system is adjusted to reach a material taking point to take the materials.
In one embodiment, the mobile robot further includes an alarm system, if the position of the goods is not consistent with the position of the initial station, the mobile robot continues to search for consistent goods, and if the goods cannot be searched, an alarm signal is output to the alarm system.
In one embodiment, the control system further comprises one or more processors for processing a method for accurately taking materials by the mobile robot, and a storage device for storing one or more programs and storing programs or data of the method for accurately taking materials by the mobile robot.
Compared with the prior art, the method and the system for accurately taking materials by using the mobile robot have the following advantages or beneficial effects:
(1) goods are accurately identified, and the intelligent transportation efficiency and accuracy are improved;
(2) and determining the butt joint position of the mobile robot, and efficiently realizing intelligent transportation.
(3) The initial stations are calibrated to carry out position comparison, the requirements that the same or similar materials are placed in the same area without setting different features for distinguishing are met.
Drawings
Fig. 1 is a schematic step view illustrating a method for accurately taking materials by a mobile robot according to embodiment 1 of the present invention;
fig. 2 is a logic framework diagram of a method for accurately taking materials by a mobile robot according to embodiment 1 of the present invention;
FIG. 3 is a schematic diagram illustrating coordinate transformation of a docking point according to embodiment 1 of the present invention;
fig. 4 is a schematic diagram showing the coordinate conversion of goods to the same coordinate system as the initial station in the embodiment 1 of the present invention;
fig. 5 is a schematic view of a system for accurately taking materials by a mobile robot according to embodiment 2 of the present invention;
in the figure, 1-mobile robot, 2-sensor, 11-control system, 12-motion system, 13-warning system, 14-processor, 15-storage device, 111-task management unit, 112-navigation unit, 113-docking unit and 114-material taking unit.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when used in this specification the singular forms "a", "an" and/or "the" include "specify the presence of stated features, steps, operations, elements, or modules, components, and/or combinations thereof, unless the context clearly indicates otherwise.
It should be noted that the terms "comprises" and "comprising," and any variations thereof, in the description and claims of this application and the above-described drawings, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be noted that, in the following embodiments, the technical terms "docking", "taking", and the like are only used for indicating and distinguishing actions, and do not indicate a unique manner and an indicating manner of the actions, and other terms may be used for description in a specific implementation process.
It should be understood that aspects of the present invention may be implemented by hardware, software or other devices, singly or in combination, and in the following description of the embodiments, the methods and steps of the present invention may be implemented by storage devices including, but not limited to, hard disks, removable storage devices, magnetic disks, optical disks, and the like.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
Example 1
As shown in fig. 1 and 2, an embodiment 1 of the present invention provides a method for accurately taking materials by a mobile robot, including the following steps:
step S1: the mobile robot sets a goods placing point as an initial station;
step S2: the mobile robot reaches the butt joint point according to the received instruction content, and the sensor identifies the goods to obtain a deviation value;
step S3: and calculating the position of the identified goods in the map according to the deviation value, comparing the position with the position of the initial station, judging whether the identified goods are goods to be transported, and taking the goods according to the result.
In this embodiment, judge whether the goods of discernment is for the goods of freighting, get the material according to the result, further include:
within an allowable error range, if the position of the goods is consistent with that of the initial station, the goods are to-be-transported goods, and a material taking unit is started;
if the position of the goods is not consistent with the position of the initial station, the goods are not the goods to be transported, and the consistent goods are continuously searched;
if the material taking unit is found, the material taking unit is started, and if the material taking unit cannot be found, an alarm is output.
In this embodiment, the start-up material taking unit further includes: according to the deviation value of the goods and the position identified by the sensor, the mobile robot adjusts the position and posture, and the robot reaches a material taking point to take materials.
In this embodiment, the mobile robot sets the goods placement point as an initial station, and further includes: the mobile robot drives to a goods placement point, uploads the current position as an initial station, or designates a coordinate point on a map as the initial station.
In this embodiment, the instruction content includes at least initial site coordinates (x 0, y 0).
As shown in fig. 3, in this embodiment, the specific step of reaching the docking point includes setting the docking point according to an initial station, and navigating to reach the docking point, and since the scanning range and the specific installation position of the sensor are different, the mobile robot needs to first reach a docking point capable of identifying the goods, and therefore, it is necessary to perform conversion of station coordinates according to the known initial station coordinates to obtain docking point coordinates, and perform recognition of the goods at the docking point, and perform conversion according to the following formula one and formula two:
Wherein (X1, Y1) is coordinate values of the docking point in a map coordinate system, (X0, Y0) are coordinate values of the initial station in the map coordinate system, X is a relative abscissa value of the docking point and the initial station, Y is a relative ordinate value of the docking point and the initial station, and θ is a rotation angle of the robot coordinate system and the map coordinate system, wherein the robot coordinate system takes a center of the robot as an origin, the direction of the origin pointing to the head of the robot is a positive X-axis direction, the direction of the origin pointing to the left of the robot is a positive Y-axis direction, and the robot coordinate system moves along with the movement of the robot.
In this embodiment, the mobile robot scans and constructs a map or imports a map file before traveling to a cargo placement point and uploading the current position to an initial station.
As shown in fig. 4, in this embodiment, the comparing with the position of the initial station includes:
step S31: and calculating coordinate values (x 2, y 2) of the recognized cargo in a sensor coordinate system according to the deviation value of the recognized cargo by the sensor, and calculating according to the following formula three and formula four:
The angle deviation value between theta 1 and the goods identified by the sensor, a is a distance deviation value, the sensor coordinate system takes the center of the sensor as an original point, the direction in which the original point points to the front of the scanning is the positive direction of an X axis, and the direction in which the original point points to the left of the sensor is the positive direction of a Y axis.
Step S32: according to the distance between the sensor and the mobile robot, the coordinate values of the cargo are converted to the coordinate values in the same coordinate system as the initial station, and in this embodiment, the conversion to the map coordinate system is described, which includes the following specific steps:
step S321: and calculating coordinate values (x 3, y 3) of the recognized goods in a robot coordinate system, and converting according to the following formulas I and VI:
Wherein x 'is an abscissa value of the sensor relative to the robot coordinate system, y' is an ordinate value of the sensor relative to the robot coordinate system, and θ 2 is a rotation angle of the sensor coordinate system and the robot coordinate system.
Step S322: and calculating coordinate values (x 4, y 4) of the identified cargo in a map coordinate system according to the following formulas seven and eight:
Wherein x 'is the abscissa value of the robot relative to the map coordinate system, y' is the ordinate value of the robot relative to the map coordinate system, and θ 3 is the rotation angle of the robot coordinate system and the map coordinate system.
Step S33: the coordinate values of the goods are compared with the coordinate values of the initial station, and the allowable error range can be set according to actual requirements.
Example 2
As shown in fig. 5, an embodiment 2 of the present invention provides a system for accurately taking materials by a mobile robot, and an application of the system for accurately taking materials by a mobile robot includes a mobile robot 1 and a sensor 2, where the sensor 2 is installed on the mobile robot 1, the sensor 2 may be a sensor that can recognize a distance, such as a laser radar and a camera, the mobile robot 1 sets a goods placement point as an initial station, arrives at a docking point according to a content of a received instruction, and calculates a deviation value between the goods and the sensor 2, and the mobile robot 1 calculates a position of the recognized goods according to the deviation value, and compares the position of the goods with a position of the initial station.
In this embodiment, the mobile robot includes a control system 11 and a motion system 12, the control system 11 includes a task management unit 111 and a navigation unit 112, the task management unit 111 sets an interface point according to an initial station, the navigation unit 112 plans a navigation driving path according to an interface point coordinate, and the motion system 12 reaches the interface point according to the navigation driving path.
In this embodiment, the control system 11 further includes a docking unit 113, and the docking unit 113 calculates the position of the identified cargo according to the deviation value with the cargo, which is identified by the sensor 2, and compares the position with the position of the initial station.
In this embodiment, the control system 11 further includes a material taking unit 114, and in an allowable error range, if the position of the goods is consistent with the position of the initial station, the material taking unit 114 is started, and the material taking unit 114 controls the moving system 12 to perform pose adjustment according to the deviation value with the goods, which is identified by the sensor 2, to reach a material taking point, so as to move the material taking module of the robot 1 to take materials.
In this embodiment, the mobile robot further includes an alarm system 13, if the position of the goods is inconsistent with the position of the initial station, the mobile robot 1 continues to search for the consistent goods, and if the goods cannot be searched, an alarm signal is output to the alarm system 13, and an error message is displayed.
In this embodiment, the control system further includes one or more processors 14 and a storage device 15, where the processor 14 is used for processing a method for accurately taking materials by the mobile robot, and the storage device 15 is used for storing one or more programs and storing programs or data of the method for accurately taking materials by the mobile robot.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (15)
1. The method for accurately taking materials by using the mobile robot is characterized by comprising the following steps of:
the mobile robot sets a goods placing point as an initial station;
the mobile robot reaches the butt joint point according to the received instruction content, and the sensor identifies the goods to obtain a deviation value;
and calculating the position of the identified goods in the map according to the deviation value, comparing the position with the position of the initial station, judging whether the identified goods are goods to be transported, and taking the goods according to the result.
2. The method for accurately taking materials by the mobile robot as claimed in claim 1, wherein the step of judging whether the identified goods are goods to be transported and taking materials according to the result further comprises the steps of:
within an allowable error range, if the position of the goods is consistent with that of the initial station, starting a material taking unit;
if the position of the goods is not consistent with the position of the initial station, continuously searching for consistent goods;
if the material taking unit is found, the material taking unit is started, and if the material taking unit cannot be found, an alarm is output.
3. The method for accurately picking materials by a mobile robot as claimed in claim 2, wherein the activating the picking unit further comprises: according to the deviation value of the goods and the position identified by the sensor, the mobile robot adjusts the position and posture, and the robot reaches a material taking point to take materials.
4. The method for the mobile robot to accurately take the materials as claimed in claim 1, wherein the mobile robot sets the goods placement point as an initial station, and specifically includes the mobile robot driving to the goods placement point, uploading the current position as the initial station, or designating a coordinate point on a map as the initial station.
5. The method for the mobile robot to pick up materials accurately as claimed in claim 1, wherein the instruction content includes at least initial station coordinates.
6. The method for the mobile robot to accurately pick up materials as claimed in claim 1, wherein the reaching the docking point specifically comprises setting the docking point according to an initial station and navigating to reach the docking point.
7. The method for the mobile robot to accurately take materials as claimed in claim 1, wherein the mobile robot travels to a goods placement point, scans and builds a map or imports a map file before uploading the current position to an initial station.
8. The method for accurately taking materials by a mobile robot according to claim 1, wherein the comparing with the position of the initial station specifically comprises:
calculating the coordinate value of the recognized goods according to the deviation value of the goods recognized by the sensor;
converting the coordinate value of the goods into the coordinate value of the initial station in the same coordinate system according to the distance between the sensor and the mobile robot;
and comparing the converted coordinate values of the goods with the coordinate values of the initial station.
9. The method for the mobile robot to pick up materials accurately as claimed in claim 8, wherein the same coordinate system is a map coordinate system.
10. A system for accurately taking materials by a mobile robot is characterized in that the method for accurately taking materials by the mobile robot is applied according to any one of claims 1 to 9, and comprises the mobile robot and a sensor, wherein the sensor is installed on the mobile robot, a goods placing point is set as an initial station by the mobile robot, a butt joint point is reached according to received instruction contents, a deviation value with goods is identified by the sensor, and the position of the identified goods is calculated by the mobile robot according to the deviation value and is compared with the position of the initial station.
11. The system for accurately taking materials by using the mobile robot as claimed in claim 10, wherein the mobile robot comprises a control system and a motion system, the control system comprises a task management unit and a navigation unit, the task management unit sets the docking point according to the initial station, the navigation unit plans a navigation driving path according to the docking point coordinates, and the motion system reaches the docking point according to the navigation driving path.
12. The system for precisely picking materials by a mobile robot as claimed in claim 11, wherein the control system further comprises a docking unit, the docking unit calculates the position of the identified goods according to the deviation value of the goods identified by the sensor, and compares the position of the identified goods with the position of the initial station.
13. The system for accurately taking materials by the mobile robot as claimed in claim 11, wherein the control system further comprises a material taking unit, the material taking unit is started if the position of the goods is consistent with the position of the initial station within an allowable error range, and the material taking unit controls the motion system to perform pose adjustment according to the deviation value of the goods identified by the sensor, so that the materials are taken when the materials reach the material taking point.
14. The system for accurately taking materials by using the mobile robot as claimed in claim 10, wherein the mobile robot further comprises an alarm system, if the position of the goods is inconsistent with the position of the initial station, the mobile robot continues to search for the consistent goods, and if the goods cannot be searched, an alarm signal is output to the alarm system.
15. The system for mobile robot precise material taking according to claim 11, wherein the control system further comprises one or more processors for processing the method for mobile robot precise material taking according to claims 1-9, and a storage device for storing one or more programs for storing the programs or data of the method for mobile robot precise material taking according to claims 1-9.
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102902271A (en) * | 2012-10-23 | 2013-01-30 | 上海大学 | Binocular vision-based robot target identifying and gripping system and method |
| CN106681323A (en) * | 2016-12-22 | 2017-05-17 | 北京光年无限科技有限公司 | Interactive output method used for robot and the robot |
| CN108415437A (en) * | 2018-04-09 | 2018-08-17 | 重庆东渝中能实业有限公司 | Control method for movement and device |
| CN109754421A (en) * | 2018-12-31 | 2019-05-14 | 深圳市越疆科技有限公司 | A kind of vision calibration method, device and robot controller |
| CN111486855A (en) * | 2020-04-28 | 2020-08-04 | 武汉科技大学 | Indoor two-dimensional semantic grid map construction method with object navigation points |
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2020
- 2020-11-09 CN CN202011235704.9A patent/CN112099513A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102902271A (en) * | 2012-10-23 | 2013-01-30 | 上海大学 | Binocular vision-based robot target identifying and gripping system and method |
| CN106681323A (en) * | 2016-12-22 | 2017-05-17 | 北京光年无限科技有限公司 | Interactive output method used for robot and the robot |
| CN108415437A (en) * | 2018-04-09 | 2018-08-17 | 重庆东渝中能实业有限公司 | Control method for movement and device |
| CN109754421A (en) * | 2018-12-31 | 2019-05-14 | 深圳市越疆科技有限公司 | A kind of vision calibration method, device and robot controller |
| CN111486855A (en) * | 2020-04-28 | 2020-08-04 | 武汉科技大学 | Indoor two-dimensional semantic grid map construction method with object navigation points |
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Application publication date: 20201218 |