CN116087979A - Container loading and unloading robot positioning navigation method, device, equipment and medium - Google Patents
Container loading and unloading robot positioning navigation method, device, equipment and medium Download PDFInfo
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- CN116087979A CN116087979A CN202310079970.4A CN202310079970A CN116087979A CN 116087979 A CN116087979 A CN 116087979A CN 202310079970 A CN202310079970 A CN 202310079970A CN 116087979 A CN116087979 A CN 116087979A
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- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- G01C21/20—Instruments for performing navigational calculations
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Abstract
The application provides a container loading and unloading robot positioning navigation method, a device, equipment and a medium, wherein the application detects contour point cloud information of a target container through a radar device so as to obtain relative position information between a mobile robot and the target container; then according to the current position coordinate of the mobile robot in the platform coordinate system, converting the parking position of the target container into the platform coordinate system, and obtaining the parking coordinate of the target container in the platform coordinate system, so as to realize the positioning of the parking position of the target container; according to the position coordinates of the target container and the mobile robot in the platform coordinate system, the moving path of the mobile robot moving to the target container is calculated, and the positioning accuracy of the mobile robot to the container and the loading and unloading efficiency of the mobile robot are improved.
Description
Technical Field
The present disclosure relates to the field of robot navigation technologies, and in particular, to a container handling robot positioning navigation method, device, equipment, and medium.
Background
Cargo containers become an important component of the modern transportation industry due to the advantages of high transportation capacity, acceleration of cargo turnover and circulation, packaging material saving, and the like.
At present, in order to improve the loading and unloading efficiency, a robot is often used to replace a manual loading and unloading mode for cargo loading and unloading of cargo containers. However, the existing robots for loading and unloading container cargos are mostly fixed and have lower flexibility. The mobile robot needs to consider the parking position of the cargo container, and the parking of the cargo container often cannot be parked at the limiting position in a limiting standard posture due to the limitation of the actual parking space, so that the mobile robot is difficult to position the cargo container when carrying out cargo handling of the container, and the loading and unloading efficiency of the mobile robot in the cargo handling application process of the container is low.
Therefore, how to solve the technical problem that the positioning accuracy of the mobile robot to the container is low at present is urgent to be solved.
Disclosure of Invention
The application provides a container loading and unloading robot positioning navigation method, device, equipment and medium, and aims to improve the positioning accuracy of a mobile robot on a container.
In a first aspect, the present application provides a container handling robot positioning navigation method, comprising the steps of:
Detecting contour point cloud information of a target container based on a radar device installed on a mobile robot, and calculating relative position information of the target container relative to the mobile robot based on the contour point cloud information;
calculating a parking coordinate of the target container in a platform coordinate system based on a current position coordinate of the mobile robot in the platform coordinate system and the relative position information;
calculating a moving path of the mobile robot to a target position inside the target container based on the parking coordinate of the target container in the platform coordinate system, the current position coordinate of the mobile robot in the platform coordinate system and the contour point cloud information of the target container;
based on a moving instruction and the moving path, driving the mobile robot to move to the target position inside the target container, and based on the radar device, scanning the outline of the target cargo, and determining the grabbing point and the placing point of the target cargo;
and placing the target goods from the mobile robot to the inside of the target container or loading the target goods from the inside of the target container to the mobile robot based on the mechanical arm loaded on the mobile robot, the grabbing point and the placing point of the target goods.
In a second aspect, the present application also provides a container handling robot positioning navigation device, the container handling robot positioning navigation device comprising:
the container detection module is used for detecting contour point cloud information of a target container based on a radar device installed on the mobile robot and calculating relative position information of the target container relative to the mobile robot based on the contour point cloud information;
the container parking coordinate calculation module is used for calculating the parking coordinate of the target container in the platform coordinate system based on the current position coordinate of the mobile robot in the platform coordinate system and the relative position information;
the moving path calculation module is used for calculating a moving path of the mobile robot to a target position in the target container based on the parking coordinate of the target container in the platform coordinate system, the current position coordinate of the mobile robot in the platform coordinate system and the contour point cloud information of the target container;
the moving instruction execution module is used for driving the moving robot to move to the target position in the target container based on a moving instruction and the moving path, scanning the outline of the target cargo based on the radar device, and determining the grabbing point and the placing point of the target cargo;
And the goods loading and unloading module is used for placing the target goods from the mobile robot to the inside of the target container or loading the target goods from the inside of the target container to the mobile robot based on the mechanical arm loaded on the mobile robot, the grabbing point and the placing point of the target goods.
In a third aspect, the present application also provides a computer device comprising a processor, a memory, and a computer program stored on the memory and executable by the processor, wherein the computer program when executed by the processor implements the steps of the container handling robot positioning navigation method as described above.
In a fourth aspect, the present application further provides a computer readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the container handling robot positioning navigation method as described above.
The application provides a container loading and unloading robot positioning navigation method, a device, equipment and a medium, wherein the method is used for detecting contour point cloud information of a target container based on a radar device installed on a mobile robot and calculating relative position information of the target container relative to the mobile robot based on the contour point cloud information; calculating a parking coordinate of the target container in a platform coordinate system based on a current position coordinate of the mobile robot in the platform coordinate system and the relative position information; calculating a moving path of the mobile robot to a target position inside the target container based on the parking coordinate of the target container in the platform coordinate system, the current position coordinate of the mobile robot in the platform coordinate system and the contour point cloud information of the target container; based on a moving instruction and the moving path, driving the mobile robot to move to the target position inside the target container, and based on the radar device, scanning the outline of the target cargo, and determining the grabbing point and the placing point of the target cargo; and placing the target goods from the mobile robot to the inside of the target container or loading the target goods from the inside of the target container to the mobile robot based on the mechanical arm loaded on the mobile robot, the grabbing point and the placing point of the target goods. By the mode, the radar device detects the contour point cloud information of the target container, so that the relative position information between the mobile robot and the target container is obtained; then according to the current position coordinate of the mobile robot in the platform coordinate system, converting the parking position of the target container into the platform coordinate system, and obtaining the parking coordinate of the target container in the platform coordinate system, so as to realize the positioning of the parking position of the target container; according to the position coordinates of the target container and the mobile robot in the platform coordinate system, the moving path of the mobile robot moving to the target container is calculated, so that the mobile robot is driven to move to the target position to load and unload cargoes, and the positioning accuracy of the mobile robot to the container and the loading and unloading efficiency of the mobile robot are improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a first embodiment of a container handling robot positioning navigation method provided in the present application;
fig. 2 is a schematic flow chart of a second embodiment of a positioning and navigation method of a container handling robot provided in the present application;
fig. 3 is a schematic flow chart of a third embodiment of a positioning and navigation method of a container handling robot provided in the present application;
FIG. 4 is a schematic structural view of a first embodiment of a container handling robot positioning navigation device provided herein;
fig. 5 is a schematic block diagram of a computer device according to an embodiment of the present application.
The realization, functional characteristics and advantages of the present application will be further described with reference to the embodiments, referring to the attached drawings.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
The flow diagrams depicted in the figures are merely illustrative and not necessarily all of the elements and operations/steps are included or performed in the order described. For example, some operations/steps may be further divided, combined, or partially combined, so that the order of actual execution may be changed according to actual situations.
Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.
The embodiment of the application provides a container loading and unloading robot positioning navigation method, device, equipment and storage medium, which are used for detecting relative position information of a target container and a mobile robot through a radar device, and then calculating position coordinates of the target container in a platform coordinate system according to the coordinate positions of the mobile robot in the platform coordinate system, so that the positioning of a target container parking position is realized, the moving path of the mobile robot to the target container is calculated in the platform coordinate system, and the loading and unloading efficiency of the mobile robot is improved.
Referring to fig. 1, fig. 1 is a flowchart of a first embodiment of a positioning and navigation method of a container handling robot provided in the present application. The container loading and unloading robot positioning navigation method can be used in a server of a container loading and unloading robot positioning navigation system.
As shown in fig. 1, the container handling robot positioning navigation method includes steps S101 to S105.
Step S101, detecting contour point cloud information of a target container based on a radar device installed on a mobile robot, and calculating relative position information of the target container relative to the mobile robot based on the contour point cloud information;
in this embodiment, the radar device mounted on the mobile robot can detect the information such as the outline, distance, size, etc. of the object within a certain range of the mobile robot; when the target container is detected, the outline point cloud information of the target container can be extracted through the radar point cloud information scanned by the radar device, and the relative position information of the target container relative to the mobile robot is obtained.
In an embodiment, the relative position information includes a relative distance and a relative pose.
In an embodiment, the calculating, based on the contour point cloud information, relative position information of the target container with respect to the mobile robot includes: identifying a multi-section line element of the target container based on the contour point cloud information; determining the relative pose of the target container relative to the mobile robot based on the polyline element and standard size information of the target container; and detecting the relative distance between the target container and the mobile robot based on the radar device, and acquiring the relative position information based on the relative distance and the relative pose.
In an embodiment, the radar device may detect a relative distance between the mobile robot and the target container, identify a plurality of line elements in the point cloud according to the contour point cloud information, compare all the line elements according to a standard size of the container, screen a line in the line elements, which corresponds to a geometric position relationship of the target container, and calculate a relative pose between the target container and the mobile robot.
In one embodiment, the relative pose may include information of the tail gate orientation of the target container, the relative distance between the vertices of the target container contour and the mobile robot, and the like.
In an embodiment, the radar device may be a 2D laser radar, so as to reduce the use cost of the mobile robot; the scanning device can also be a higher-end 3D laser radar or other visual equipment, so that the scanning accuracy is improved.
Step S102, calculating parking coordinates of the target container in a platform coordinate system based on the current position coordinates of the mobile robot in the platform coordinate system and the relative position information;
in this embodiment, the parking position of the target container may be converted into the dock coordinate system by a coordinate conversion algorithm according to the current position coordinate of the mobile robot in the dock coordinate system and the relative position information of the target container and the mobile robot, so as to obtain the parking coordinate of the target container.
In an embodiment, the position coordinates of each vertex of the target container in the platform coordinate system can be calculated according to the relative position information of each vertex of the contour of the target container relative to the mobile robot, so that the moving path of the mobile robot moving into the target container can be calculated more accurately.
In an embodiment, the platform coordinate system may be a two-dimensional coordinate system, and the geometric line segment of the outline of the target container may be converted into the platform coordinate system when the coordinate conversion is performed, so as to facilitate positioning and navigation of the mobile robot inside the target container.
In an embodiment, when the coordinate conversion is performed, the current position coordinate of the mobile robot in the platform coordinate system may include position coordinate information of the mobile robot and a relative pose of the mobile robot with respect to the preset light reflecting column; the position coordinates of the preset reflecting column in the platform coordinate system are fixed, and the relative pose comprises distance and pose information.
Step S103, calculating a moving path of the mobile robot to a target position inside the target container based on the parking coordinate of the target container in the platform coordinate system, the current position coordinate of the mobile robot in the platform coordinate system and the contour point cloud information of the target container;
In this embodiment, in the same platform coordinate system, the position coordinates of the mobile robot, the position coordinates of the target container and the contour are included, so that the moving path from the mobile robot to the inside of the target container can be planned.
In an embodiment, the planning of the moving path of the mobile robot moving to the interior of the target container may be global path planning or local path planning.
In an embodiment, the global path planning may include an environment modeling method, a search-based path planning method, a sample-based planning method, and the like.
In one embodiment, the environment modeling method includes a free space method, a grid method and a topology method, for example, the free space method is to represent the robot working space by a commonly used geometric shape such as a convex polygon which is defined in advance, and then the robot working space is converted into a connected graph on a topology structure; the grid method is to decompose the working space of the mobile robot into a plurality of grid-shaped units, the units are generally represented by two values of 0 and 1, the shapes and the sizes of barriers in the working environment are consistent, the positions, the shapes and the sizes of the barriers are fixed and unchanged in the walking process of the mobile robot, the working environment of the mobile robot is divided by grids with the same size, and the grid size is generally determined according to the size of the robot; the topology method is to divide the working environment into a plurality of small spaces according to some characteristics on the topology structure, and then establish a network with the topology structure relationship by the relationship of communication or non-communication between the small spaces.
In one embodiment, the search-based path planning algorithm includes Dijkstra algorithm (Dijkstra) algorithm, a-algorithm, and the like. The Dijkstra algorithm accesses nodes in the graph starting from the initial point where the object is located. It iteratively examines the nodes in the set of nodes and adds the nodes closest to the node that have not yet been examined to the set of points to be examined. The set of nodes extends outward from the initial node until the target node is reached. The Dijkstra algorithm ensures that a shortest path from the initial point to the target point can be found. The Dijkstra algorithm accesses nodes in the graph starting from the initial point where the object is located. It iteratively examines the nodes in the set of nodes and adds the nodes closest to the node that have not yet been examined to the set of points to be examined. The set of nodes extends outward from the initial node until the target node is reached. The Dijkstra algorithm ensures that a shortest path from the initial point to the target point can be found.
In an embodiment, the planning method based on sampling may be a probabilistic road map method based on graph search, a random sampling technique is used to convert continuous space into discrete space, and then a search algorithm such as a is used to search a path on a road map, so as to improve the search efficiency; the method can also be a path planning algorithm based on a rapid expansion random tree, and can effectively solve the path planning problems of a high-dimensional space and complex constraint by performing collision detection on sampling points in a state space, so that modeling of the space is avoided.
In an embodiment, the local path planning may include artificial potential field methods, dynamic window methods, and the like. Wherein the artificial potential field method calculates repulsive potential between the test points and the respective obstacles and attractive potential between the targets by selecting points for testing on the mobile robot, and adds the repulsive potential and the attractive potential obtained. Finally, a collision-free path is found by calculating the gradient descending direction of the potential function. The dynamic window rule samples a plurality of groups of speeds in a speed space, considers the motion constraint of limited speeds and acceleration in the design of a dynamic window, simulates the motion trail of the mobile robot in a certain time with a certain speed, scores the trails through an evaluation function after obtaining the motion trail, and selects the speed corresponding to the optimal trail to drive the mobile robot to move.
Step S104, driving the mobile robot to move to the target position in the target container based on a moving instruction and the moving path, and scanning the outline of the target cargo based on the radar device to determine the grabbing point and the placing point of the target cargo;
in this embodiment, a movement instruction may be issued to the mobile robot according to the movement path, so that the mobile robot moves to a target position inside the target container along the movement path, so as to execute the loading and unloading action of the next step.
In an embodiment, after the mobile robot moves to the target position, the radar device scans the outline of the target cargo and the current environment inside the target container, and determines the current optimal grabbing point of the target cargo and the placement point of the target cargo according to the information such as the size and the specification of the cargo pre-stored in the server or the processor, the current stacking mode of the target cargo and the type of the mechanical arm claw of the mobile robot.
In an embodiment, the placement point may be inside the target container or on a mobile robotic pallet.
In an embodiment, for target cargoes with different shapes and sizes, in order to ensure stability in the grabbing and transferring processes and grabbing, transferring and placing requirements, the target cargoes can be marked, and the mobile robot can calculate corresponding grabbing points and placing modes according to the marks of the target cargoes.
Optionally, a plurality of mechanical arm claws with different specifications and types can be installed on the mobile robot so as to adapt to the grabbing requirements of different cargoes. For example, a suction cup may be selected for drop-resistant cargo to allow a robotic arm gripper, a gripper grip may be selected for small cargo, etc.
In an embodiment, the robotic arm gripper may include a clamp type pick-up hand, an adsorption type pick-up hand, and a bionic multi-finger dexterous hand.
The clamp type material taking hand generally adopts pneumatic, hydraulic, electric and electromagnetic to drive the opening and closing of fingers. The pneumatic paw has the advantages of wide application, simple structure, low cost, easy maintenance, rapid opening and closing and light weight. But the compressibility of the air medium complicates the jaw clamping control. The cost of hydraulically driven jaws is high. The finger opening and closing motor control and the robot control of the electric gripper can share one system, but the clamping force is smaller than that of the pneumatic gripper and the hydraulic gripper. The electromagnetic paw control signal is simple, but the electromagnetic clamping force is related to the stroke of the paw, and the electromagnetic paw is only used in the occasion with small opening and closing distance.
The magnetic chuck is provided with an electromagnetic chuck and a permanent magnetic chuck. The magnetic chuck is characterized in that: the device has small volume, light dead weight and strong holding force, and can be used in water. The magnetic chuck is widely applied to the connection of massive and cylindrical magnetically permeable steel workpieces in the carrying and hoisting processes of steel, machining, dies, warehouses and the like, can greatly improve the efficiency of workpiece loading, unloading and carrying, and is an ideal hoisting tool in industries such as factories, wharfs, warehouses, transportation and the like.
The bionic multi-finger dexterous hand can grasp objects with different shapes, the surface of the object is stressed uniformly, and each sub finger is formed by connecting a plurality of joints in series. The finger transmission part consists of a traction steel wire rope and a friction roller. Each finger is pulled by 2 steel wire ropes, one side is held tightly, and the other side is loosened. The drive source may be motor driven or hydraulic or pneumatic. The flexible wrist can grasp the object with the concave-convex shape and make the stress of the object more uniform. One end of the flexible hand made of flexible material is fixed, and the other end is a flexible tubular sub-claw integrated by two free tubes. When one side pipe is filled with gas (liquid) and the other side pipe is used for pumping out the gas (liquid), a pressure difference is formed, and the flexible paw bends towards the pumping-out side. Such a flexible hand is suitable for gripping light, round objects, such as glassware and the like.
Step S105, placing the target cargo from the mobile robot into the target container or loading the target cargo from the target cargo into the mobile robot based on the mechanical arm loaded on the mobile robot, the gripping point and the placement point of the target cargo.
In this embodiment, according to the grabbing requirements of the target cargo, the corresponding grabbing mechanical arm and the grabbing point of the target cargo are selected, and the target cargo is grabbed and transferred, so that the target cargo is transferred to the placement point.
In one embodiment, the loading and unloading of the target cargo may be transferred from the mobile robot to the interior of the target container or from the interior of the target container to the mobile robot.
In an embodiment, the placement process further includes placement modes, such as selecting different stacking modes according to the size and type of the target cargo. For example, fragile objects can be stacked on the upper layer or stably, and non-fragile objects can be placed on the bottom layer preferentially. While also taking into account the size of the mobile robot tray, etc.
The embodiment provides a container loading and unloading robot positioning navigation method, which is used for detecting contour point cloud information of a target container based on a radar device installed on a mobile robot and calculating relative position information of the target container relative to the mobile robot based on the contour point cloud information; calculating a parking coordinate of the target container in a platform coordinate system based on a current position coordinate of the mobile robot in the platform coordinate system and the relative position information; calculating a moving path of the mobile robot to a target position inside the target container based on the parking coordinate of the target container in the platform coordinate system, the current position coordinate of the mobile robot in the platform coordinate system and the contour point cloud information of the target container; based on a moving instruction and the moving path, driving the mobile robot to move to the target position inside the target container, and based on the radar device, scanning the outline of the target cargo, and determining the grabbing point and the placing point of the target cargo; and placing the target goods from the mobile robot to the inside of the target container or loading the target goods from the inside of the target container to the mobile robot based on the mechanical arm loaded on the mobile robot, the grabbing point and the placing point of the target goods. By the mode, the radar device detects the contour point cloud information of the target container, so that the relative position information between the mobile robot and the target container is obtained; then according to the current position coordinate of the mobile robot in the platform coordinate system, converting the parking position of the target container into the platform coordinate system, and obtaining the parking coordinate of the target container in the platform coordinate system, so as to realize the positioning of the parking position of the target container; according to the position coordinates of the target container and the mobile robot in the platform coordinate system, the moving path of the mobile robot moving to the target container is calculated, so that the mobile robot is driven to move to the target position to load and unload cargoes, and the positioning accuracy of the mobile robot to the container and the loading and unloading efficiency of the mobile robot are improved.
Referring to fig. 2, fig. 2 is a flow chart of a second embodiment of a positioning and navigation method of a container handling robot provided in the present application.
In this embodiment, based on the embodiment shown in fig. 1, the step S103 specifically includes:
step S201, determining a container center line and a container bottom line of the target container based on contour point cloud information of the target container, and constructing a container internal coordinate system of the target container based on the container center line and the container bottom line;
step S202, determining target coordinates of the target position in a container internal coordinate system based on a first distance between the target position and a container centerline and a second distance between the target position and the container bottom line;
in this embodiment, for the operation of the mobile robot, it is desirable that the mobile robot can perform accurate positioning in the container, so that the loading and unloading operation of the mobile robot is more efficient and accurate.
In one embodiment, the size of the target container is fixed so that a container internal coordinate system can be established based on the container centerline and container bottom line for locating the mobile robot within the container.
In one embodiment, a target position may be set inside the container as a moving target of the mobile robot, and in the container internal coordinate system, a position coordinate of the target position in the container internal coordinate system is calculated according to a distance between the target position and a center line of the container and a bottom of the container.
Step S203, calculating a moving path of the mobile robot to a target position inside the target container based on the parking coordinate of the target container in the platform coordinate system, the current position coordinate of the mobile robot in the platform coordinate system, and the target coordinate of the target position in the container internal coordinate system.
In an embodiment, the movement path of the mobile robot may be split into a movement path outside the container and a movement path inside the container. The moving path outside the container is a moving path of the mobile robot from the current position to the center of the container entrance in the platform coordinate system, and the moving path inside the container is a moving path of the mobile robot from the center of the container entrance to the target position in the container internal coordinate system.
In an embodiment, the container internal coordinate system may be incorporated into the dock coordinate system, with the coordinates of the target location being limited to the container internal region but located in the dock coordinate system, thereby directly calculating the path of movement of the mobile robot from the current location to the target location.
Further, based on the embodiment shown in fig. 2, the driving the mobile robot to move to the target position inside the target container based on the movement instruction and the movement path includes:
when the mobile robot moves into the target container, switching to an environment contour positioning mode;
detecting real-time environmental profile information inside the target cargo box based on the environmental profile positioning mode and the radar device;
and determining real-time moving coordinates of the mobile robot in the target container based on the real-time environment contour information and the container internal coordinate system until the real-time moving coordinates coincide with the target coordinates of the target position, so as to complete a moving instruction for driving the mobile robot to move to the target position.
In an embodiment, when the mobile robot leaves the dock and cannot detect the reflective column, the environment profile can be switched for positioning and navigation, for example, a positioning method based on graph search can be used for constructing a profile map of the interior of the target container.
In an embodiment, after the mobile robot loads, the profile inside the container changes, and the mobile robot can update the changes to the profile map in real time, so that the uninterrupted positioning function through the environment profile is realized. After the mobile robot returns to the platform, the mobile robot can successfully position through the reflective marks, and at the moment, the mobile robot is switched to position by using the reflective columns, so that the cycle of one loading task is completed.
Further, the determining, based on the real-time environmental profile information and the container internal coordinate system, real-time movement coordinates of the mobile robot inside the target container includes:
calculating a third distance between the mobile robot and the container centerline and a fourth distance between the mobile robot and the container bottom line based on the real-time environment profile information;
and calculating the real-time movement coordinates of the mobile robot in the target container based on the third distance, the fourth distance and the container internal coordinate system.
In this embodiment, when the mobile robot moves in the target container, the distance between the mobile robot and the container center line and the container bottom line can be calculated according to the container internal contour information detected by the radar device, so that the real-time moving coordinates of the mobile robot in the container internal coordinate system can be calculated, and the positioning and tracking of the mobile robot in the container can be realized.
In one embodiment, the cargo box interior coordinate system is set according to the contour interior geometry and is therefore immune to cargo box depth, truck dock angle errors.
Referring to fig. 3, fig. 3 is a flow chart of a third embodiment of a positioning and navigation method of a container handling robot provided in the present application.
In this embodiment, based on the embodiment shown in fig. 1, before step S101, the method specifically further includes:
step 301, obtaining a positioning coordinate of at least one preset reflection column in the platform coordinate system;
step S302, when the radar device detects the preset reflecting column, calculating the relative position information of the preset reflecting column and the mobile robot based on radar signals reflected by the preset reflecting column;
step S303, calculating the current position coordinate of the mobile robot in a platform coordinate system based on the positioning coordinate and the relative position information.
In this embodiment, a plurality of fixed preset reflection columns may be set in the dock coordinate system, and the position coordinates of the preset reflection columns in the dock coordinate system are fixed, so that the method can be used for positioning reference of the mobile robot in the dock coordinate system.
In an embodiment, when the mobile robot moves on the dock, the mobile robot may position the radar signal reflected on the preset light reflecting column, and because the position coordinate of the preset light reflecting column is fixed, the position coordinate of the mobile robot in the dock coordinate system may be calculated according to the fixed position coordinate of the preset light reflecting column and the pose information of the mobile robot relative to the preset light reflecting column.
Referring to fig. 4, fig. 4 is a schematic structural diagram of a first embodiment of a container handling robot positioning and navigation device provided in the present application, where the container handling robot positioning and navigation device is used to execute the foregoing container handling robot positioning and navigation method. Wherein, the container loading and unloading robot positioning navigation device can be configured in a server.
As shown in fig. 4, the container handling robot positioning navigation device 400 includes: a cargo box detection module 401, a cargo box parking coordinate calculation module 402, a movement path calculation module 403, and a movement instruction execution module 404.
A cargo box detection module 401, configured to detect contour point cloud information of a target cargo box based on a radar device installed on a mobile robot, and calculate relative position information of the target cargo box relative to the mobile robot based on the contour point cloud information;
a container parking coordinate calculation module 402, configured to calculate a parking coordinate of the target container in a dock coordinate system based on a current position coordinate of the mobile robot in the dock coordinate system and the relative position information;
a movement path calculation module 403, configured to calculate a movement path of the mobile robot to a target position inside the target container based on a parking coordinate of the target container in the dock coordinate system, a current position coordinate of the mobile robot in the dock coordinate system, and contour point cloud information of the target container;
A moving instruction execution module 404, configured to drive the moving robot to move to the target position inside the target container based on a moving instruction and the moving path, and scan a contour of a target cargo based on the radar device, to determine a grabbing point and a placing point of the target cargo;
and the cargo handling module 405 is configured to place the target cargo from the mobile robot into the target cargo box or load the target cargo from the target cargo box onto the mobile robot based on the mechanical arm loaded on the mobile robot, the gripping point and the placement point of the target cargo.
In an embodiment, the movement path calculation module 403 is further configured to determine a container centerline and a container bottom line of the target container based on the contour point cloud information of the target container, and construct a container internal coordinate system of the target container based on the container centerline and the container bottom line; determining target coordinates of the target position in the container internal coordinate system based on a first distance between the target position and the container centerline and a second distance between the target position and the container bottom line; and calculating a moving path of the mobile robot to a target position in the target container based on the parking coordinate of the target container in the platform coordinate system, the current position coordinate of the mobile robot in the platform coordinate system and the target coordinate of the target position in the container internal coordinate system.
In an embodiment, the moving path calculating module 403 is further configured to switch to an environment contour positioning mode when the mobile robot moves into the target container; detecting real-time environmental profile information inside the target cargo box based on the environmental profile positioning mode and the radar device; and determining real-time moving coordinates of the mobile robot in the target container based on the real-time environment contour information and the container internal coordinate system until the real-time moving coordinates coincide with the target coordinates of the target position, so as to complete a moving instruction for driving the mobile robot to move to the target position.
In an embodiment, the moving path calculating module 403 is further configured to calculate, based on the real-time environmental profile information, a third distance from the mobile robot to the container centerline and a fourth distance from the mobile robot to the container bottom line; and calculating the real-time movement coordinates of the mobile robot in the target container based on the third distance, the fourth distance and the container internal coordinate system.
In an embodiment, the relative position information includes a relative distance and a relative pose.
In an embodiment, the container detection module 401 is further configured to identify a multi-segment line element of the target container based on the contour point cloud information; determining the relative pose of the target container relative to the mobile robot based on the polyline element and standard size information of the target container; and detecting the relative distance between the target container and the mobile robot based on the radar device, and acquiring the relative position information based on the relative distance and the relative pose.
In an embodiment, the container handling robot positioning navigation device 400 is further configured to move a robot positioning module, and is configured to obtain a positioning coordinate of the platform coordinate system and at least one preset reflection column in the platform coordinate system; when the radar device detects the preset reflecting column, calculating the relative position information of the preset reflecting column and the mobile robot based on radar signals reflected by the preset reflecting column; and calculating the current position coordinate of the mobile robot in a platform coordinate system based on the positioning coordinate and the relative position information.
It should be noted that, for convenience and brevity of description, the specific working process of the above-described device and each module may refer to the corresponding process in the foregoing embodiment of the container handling robot positioning navigation method, which is not described herein again.
The apparatus provided by the above embodiments may be implemented in the form of a computer program which may be run on a computer device as shown in fig. 5.
Referring to fig. 5, fig. 5 is a schematic block diagram of a computer device according to an embodiment of the present application. The computer device may be a server.
With reference to FIG. 5, the computer device includes a processor, memory, and a network interface connected by a system bus, where the memory may include a non-volatile storage medium and an internal memory.
The non-volatile storage medium may store an operating system and a computer program. The computer program comprises program instructions that, when executed, cause the processor to perform any of a number of container handling robot positioning navigation methods.
The processor is used to provide computing and control capabilities to support the operation of the entire computer device.
The internal memory provides an environment for the execution of a computer program in the non-volatile storage medium that, when executed by the processor, causes the processor to perform any of the container handling robot positioning navigation methods.
The network interface is used for network communication such as transmitting assigned tasks and the like. It will be appreciated by those skilled in the art that the structure shown in fig. 5 is merely a block diagram of some of the structures associated with the present application and is not limiting of the computer device to which the present application may be applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
It should be appreciated that the processor may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field-programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. Wherein the general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Wherein in one embodiment the processor is configured to run a computer program stored in the memory to implement the steps of:
detecting contour point cloud information of a target container based on a radar device installed on a mobile robot, and calculating relative position information of the target container relative to the mobile robot based on the contour point cloud information;
calculating a parking coordinate of the target container in a platform coordinate system based on a current position coordinate of the mobile robot in the platform coordinate system and the relative position information;
Calculating a moving path of the mobile robot to a target position inside the target container based on the parking coordinate of the target container in the platform coordinate system, the current position coordinate of the mobile robot in the platform coordinate system and the contour point cloud information of the target container;
based on a moving instruction and the moving path, driving the mobile robot to move to the target position inside the target container, and based on the radar device, scanning the outline of the target cargo, and determining the grabbing point and the placing point of the target cargo;
and placing the target goods from the mobile robot to the inside of the target container or loading the target goods from the inside of the target container to the mobile robot based on the mechanical arm loaded on the mobile robot, the grabbing point and the placing point of the target goods.
In one embodiment, the processor is configured to, when implementing the calculation of the movement path of the mobile robot to the target position inside the target container based on the parking coordinates of the target container in the dock coordinate system, the current position coordinates of the mobile robot in the dock coordinate system, and the contour point cloud information of the target container, implement:
Determining a container center line and a container bottom line of the target container based on the contour point cloud information of the target container, and constructing a container internal coordinate system of the target container based on the container center line and the container bottom line;
determining target coordinates of the target position in the container internal coordinate system based on a first distance between the target position and the container centerline and a second distance between the target position and the container bottom line;
and calculating a moving path of the mobile robot to a target position in the target container based on the parking coordinate of the target container in the platform coordinate system, the current position coordinate of the mobile robot in the platform coordinate system and the target coordinate of the target position in the container internal coordinate system.
In one embodiment, the processor, when implementing the movement instructions and the movement path, is configured to implement:
when the mobile robot moves into the target container, switching to an environment contour positioning mode;
detecting real-time environmental profile information inside the target cargo box based on the environmental profile positioning mode and the radar device;
And determining real-time moving coordinates of the mobile robot in the target container based on the real-time environment contour information and the container internal coordinate system until the real-time moving coordinates coincide with the target coordinates of the target position, so as to complete a moving instruction for driving the mobile robot to move to the target position.
In one embodiment, the processor, when implementing the determining the real-time movement coordinates of the mobile robot inside the target container based on the real-time environmental profile information and the container internal coordinate system, is configured to implement:
calculating a third distance between the mobile robot and the container centerline and a fourth distance between the mobile robot and the container bottom line based on the real-time environment profile information;
and calculating the real-time movement coordinates of the mobile robot in the target container based on the third distance, the fourth distance and the container internal coordinate system.
In an embodiment, the relative position information includes a relative distance and a relative pose.
In one embodiment, the processor, when implementing the calculating the relative position information of the target container relative to the mobile robot based on the contour point cloud information, is configured to implement:
Identifying a multi-section line element of the target container based on the contour point cloud information;
determining the relative pose of the target container relative to the mobile robot based on the polyline element and standard size information of the target container;
and detecting the relative distance between the target container and the mobile robot based on the radar device, and acquiring the relative position information based on the relative distance and the relative pose.
In one embodiment, before implementing the radar apparatus mounted on a mobile robot, the processor is further configured to, before implementing the step of detecting contour point cloud information of a target cargo box and calculating relative position information of the target cargo box with respect to the mobile robot based on the contour point cloud information:
acquiring a positioning coordinate of at least one preset reflection column in the platform coordinate system;
when the radar device detects the preset reflecting column, calculating the relative position information of the preset reflecting column and the mobile robot based on radar signals reflected by the preset reflecting column;
and calculating the current position coordinate of the mobile robot in a platform coordinate system based on the positioning coordinate and the relative position information.
The embodiment of the application also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, the computer program comprises program instructions, and the processor executes the program instructions to realize any container loading and unloading robot positioning navigation method provided by the embodiment of the application.
The computer readable storage medium may be an internal storage unit of the computer device according to the foregoing embodiment, for example, a hard disk or a memory of the computer device. The computer readable storage medium may also be an external storage device of the computer device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like, which are provided on the computer device.
While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A container handling robot positioning navigation method, the method comprising the steps of:
detecting contour point cloud information of a target container based on a radar device installed on a mobile robot, and calculating relative position information of the target container relative to the mobile robot based on the contour point cloud information;
calculating a parking coordinate of the target container in a platform coordinate system based on a current position coordinate of the mobile robot in the platform coordinate system and the relative position information;
calculating a moving path of the mobile robot to a target position inside the target container based on the parking coordinate of the target container in the platform coordinate system, the current position coordinate of the mobile robot in the platform coordinate system and the contour point cloud information of the target container;
based on a moving instruction and the moving path, driving the mobile robot to move to the target position inside the target container, and based on the radar device, scanning the outline of the target cargo, and determining the grabbing point and the placing point of the target cargo;
and placing the target goods from the mobile robot to the inside of the target container or loading the target goods from the inside of the target container to the mobile robot based on the mechanical arm loaded on the mobile robot, the grabbing point and the placing point of the target goods.
2. The container loading robot positioning navigation method according to claim 1, wherein the calculating a movement path of the mobile robot to a target position inside the target container based on a parking coordinate of the target container in the dock coordinate system, a current position coordinate of the mobile robot in the dock coordinate system, and contour point cloud information of the target container includes:
determining a container center line and a container bottom line of the target container based on the contour point cloud information of the target container, and constructing a container internal coordinate system of the target container based on the container center line and the container bottom line;
determining target coordinates of the target position in the container internal coordinate system based on a first distance between the target position and the container centerline and a second distance between the target position and the container bottom line;
and calculating a moving path of the mobile robot to a target position in the target container based on the parking coordinate of the target container in the platform coordinate system, the current position coordinate of the mobile robot in the platform coordinate system and the target coordinate of the target position in the container internal coordinate system.
3. The container handling robot positioning navigation method of claim 2, wherein the forcing the mobile robot to move to the target location inside the target container based on the movement instructions and the movement path comprises:
when the mobile robot moves into the target container, switching to an environment contour positioning mode;
detecting real-time environmental profile information inside the target cargo box based on the environmental profile positioning mode and the radar device;
and determining real-time moving coordinates of the mobile robot in the target container based on the real-time environment contour information and the container internal coordinate system until the real-time moving coordinates coincide with the target coordinates of the target position, so as to complete a moving instruction for driving the mobile robot to move to the target position.
4. A container handling robot positioning navigation method according to claim 3, wherein said determining real-time movement coordinates of said mobile robot inside said target container based on said real-time environmental profile information and said container internal coordinate system comprises:
calculating a third distance between the mobile robot and the container centerline and a fourth distance between the mobile robot and the container bottom line based on the real-time environment profile information;
And calculating the real-time movement coordinates of the mobile robot in the target container based on the third distance, the fourth distance and the container internal coordinate system.
5. The container handling robot positioning navigation method of claim 1, wherein the relative position information includes a relative distance and a relative pose.
6. The container handling robot positioning navigation method of claim 5, wherein the calculating the relative position information of the target cargo box with respect to the mobile robot based on the contour point cloud information comprises:
identifying a multi-section line element of the target container based on the contour point cloud information;
determining the relative pose of the target container relative to the mobile robot based on the polyline element and standard size information of the target container;
and detecting the relative distance between the target container and the mobile robot based on the radar device, and acquiring the relative position information based on the relative distance and the relative pose.
7. The container handling robot positioning and navigation method according to any one of claims 1 to 6, wherein before detecting contour point cloud information of a target cargo box based on a radar device mounted on a mobile robot and calculating relative position information of the target cargo box with respect to the mobile robot based on the contour point cloud information, further comprising:
Acquiring a positioning coordinate of at least one preset reflection column in the platform coordinate system;
when the radar device detects the preset reflecting column, calculating the relative position information of the preset reflecting column and the mobile robot based on radar signals reflected by the preset reflecting column;
and calculating the current position coordinate of the mobile robot in a platform coordinate system based on the positioning coordinate and the relative position information.
8. A container handling robot positioning navigation device, comprising:
the container detection module is used for detecting contour point cloud information of a target container based on a radar device installed on the mobile robot and calculating relative position information of the target container relative to the mobile robot based on the contour point cloud information;
the container parking coordinate calculation module is used for calculating the parking coordinate of the target container in the platform coordinate system based on the current position coordinate of the mobile robot in the platform coordinate system and the relative position information;
the moving path calculation module is used for calculating a moving path of the mobile robot to a target position in the target container based on the parking coordinate of the target container in the platform coordinate system, the current position coordinate of the mobile robot in the platform coordinate system and the contour point cloud information of the target container;
The moving instruction execution module is used for driving the moving robot to move to the target position in the target container based on a moving instruction and the moving path, scanning the outline of the target cargo based on the radar device, and determining the grabbing point and the placing point of the target cargo;
and the goods loading and unloading module is used for placing the target goods from the mobile robot to the inside of the target container or loading the target goods from the inside of the target container to the mobile robot based on the mechanical arm loaded on the mobile robot, the grabbing point and the placing point of the target goods.
9. A computer device, characterized in that it comprises a processor, a memory, and a computer program stored on the memory and executable by the processor, wherein the computer program, when being executed by the processor, realizes the steps of the container handling robot positioning navigation method according to any of claims 1 to 7.
10. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a computer program, wherein the computer program, when being executed by a processor, realizes the steps of the container handling robot positioning navigation method according to any of claims 1 to 7.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310079970.4A CN116087979A (en) | 2023-02-02 | 2023-02-02 | Container loading and unloading robot positioning navigation method, device, equipment and medium |
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| CN202310079970.4A CN116087979A (en) | 2023-02-02 | 2023-02-02 | Container loading and unloading robot positioning navigation method, device, equipment and medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116772887A (en) * | 2023-08-25 | 2023-09-19 | 北京斯年智驾科技有限公司 | Vehicle course initialization method, system, device and readable storage medium |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116772887A (en) * | 2023-08-25 | 2023-09-19 | 北京斯年智驾科技有限公司 | Vehicle course initialization method, system, device and readable storage medium |
| CN116772887B (en) * | 2023-08-25 | 2023-11-14 | 北京斯年智驾科技有限公司 | Vehicle course initialization method, system, device and readable storage medium |
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