CN104460664A - Full-automatic unmanned traveling loading and unloading position detection system - Google Patents
Full-automatic unmanned traveling loading and unloading position detection system Download PDFInfo
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- CN104460664A CN104460664A CN201310561119.1A CN201310561119A CN104460664A CN 104460664 A CN104460664 A CN 104460664A CN 201310561119 A CN201310561119 A CN 201310561119A CN 104460664 A CN104460664 A CN 104460664A
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Abstract
The invention provides a full-automatic unmanned traveling loading and unloading position detection system which comprises a ground control cabinet, a laser scanning module, a video monitoring module and a laser detection module. The laser scanning module, the video monitoring module and the laser detection module are connected with the ground control cabinet. By means of the full-automatic unmanned traveling loading and unloading position detection system and method, the automation degree and the operation efficiency of unmanned traveling operation can be improved, damage to eyes of a truck driver is reduced, a full-automatic mode can have higher operability and applicability, hardware facilities needed for erecting the position detection system are generally common and easy to obtain, and the position detection system can be widely applied to production operation of warehouse areas with a full-automatic unmanned traveling function, and has good application prospects.
Description
Technical field
The present invention relates to without man-powered vehicle handling, particularly, relate to a kind of full-automatic unmanned driving loading position detection system.
Background technology
Growing along with automatic technology, modern industry proposes more and more higher demand to the high efficiency of driving, security.Driving progressively develops into the important component part automatic flexibleization production from single handbarrow.Full-automatic driving will become execution component required in modern production manufacture execution system, it utilizes advanced Computer Control Technology, the accurate location of the detection to material, each mechanism that drives a vehicle is carried out according to the upper layer network job instruction received, complete discharging, material loading, move the operations such as storehouse, realize full-automatic storage and the handling of material.Wherein, when material is via truck or chassis warehouse-in, outbound, to be realized it automatically by full-automatic unmanned driving, accurately, one of entrucking efficiently and the core that becomes whole full-automatic unmanned driving system research of unloading.
At present, following scheme is mainly contained for the research of the entrucking/position detecting system of unloading of driving both at home and abroad:
(1) semiautomatic fashion.In reservoir area, fully automatic mode is adopted when operation without man-powered vehicle, but then adopt semiautomatic-mode in handling material region, namely load and unload localized ground and be equipped with operating personnel, telepilot is utilized to control the traveling of driving, when travelling to loading position when driving a vehicle, telepilot is utilized to control the lifting, closed thus complete lifting to material/put down of clamp.In this mode, the automatization level of unmanned vehicling operation is lower, the many factors of human intervention, reduces security and the operating efficiency of unmanned vehicling operation;
(2) fully automatic mode of fixed position.In order to improve the automatization level of unmanned vehicling operation, fully automatic mode is adopted when loading and unloading area operation without man-powered vehicle, namely the truck of all warehouse-ins, outbound adopts identical model, namely the position, buttress position on truck fixes and on truck, material position is fixed, truck docks is in the fixed position of loading and unloading area, accurately can obtain the position of material and buttress position without man-powered vehicle, thus realize automatic traveling, handling material.In this mode, the automatization level of unmanned vehicling operation is improved, but due to too high to the requirement of truck, in actual production operation, feasibility is lower;
(3) fully automatic mode of relative position.In order to improve the applicability of fully automatic mode, the truck of warehouse-in, outbound can adopt disposable type, and truck docks is in the specified scope of loading and unloading area, and during truck outbound, driver manually controls the material on the truck of laser scanning device location or piles up neatly position, position; During truck warehouse-in, the material on laser scanning device automatic positioning car or buttress position, position.Thus the position of material and buttress position can be obtained without man-powered vehicle, thus realize automatic traveling, handling material.In this mode, truck driver needs the visible red light (laser scanning line) dropped on by visual inspection on truck, when range of observation higher than driver of the vehicle frame of truck, driver needs just can observe sweep trace by assistance platform, and this just brings inconvenience to the enforcement of this pattern; Visible red light (laser scanning line) harm to human eye is larger simultaneously.
Following pertinent literature is found through retrieval.
Coordinate indexing result 1:
Title: the applied research of laser scanning measurement system, is recorded in " Surveying Engineering " calendar year 2001 the 1st phase 49-52 page.
Summary: the principle describing laser scanning measurement technology, and the techniques and methods piling the real-time change monitoring of body with regard to laser scanning measurement has in the industry carried out research, proposes a kind of quick monitoring method based on the change of laser scanning measurement heap body.Experiment shows: this measuring technique has stronger real-time and higher measuring accuracy compared with traditional measuring method.
Coordinate indexing result 2:
Title: intelligent travelling crane system is anti-shakes control, is recorded in " Shanghai Communications University " Master's thesis in 2008.
Summary: have studied and motion analysis has been carried out to the motion process of driving system, by careful theoretical analysis, establish mathematical model and the state equation of kinematic system, and motion analysis has been carried out to driving tangential movement and oscillating motion, the principle analysis situation of optimum solution controlled with Bang-Bang.And then by using for reference the comparison to several velocity transformation model, " the fixed step size velocity transformation pattern " method that proposes realizes the scheme that driving controls automatically.There is also described herein fuzzy control and fuzzy Neural Network Control Method.For the motion feature of driving, propose principle of design and the method for designing of fuzzy controller.By in motion state equation.
Technical essential compares:
Coordinate indexing result 1 proposes one laser detecting method fast; And it is comparatively convenient to apply laser detection location method in the present invention.
The intelligent travelling crane control method of coordinate indexing result 2, lays particular emphasis on driving the anti-of driving process and waves control; The position that the present invention overweights driving entrucking/unload is detected.
Summary of the invention
For defect of the prior art, the object of this invention is to provide a kind of full-automatic unmanned driving loading position detection system.
In order to make fully automatic mode, there is operability and applicability more widely, the fully automatic mode adopting relative position without man-powered vehicle handling system when loading and unloading area operation designed by the present invention, namely the truck of warehouse-in, outbound can adopt disposable type, and the height of chassis above ground of truck does not limit.Truck docks is in the specified scope of loading and unloading area, truck driver observes monitored picture and the material controlled on the truck of laser scanning device location or buttress position, position, thus the position of material and buttress position can be obtained without man-powered vehicle, thus realize automatic traveling, handling material.The method that this system adopts can be avoided driver's naked eyes to come to harm and extend the scope of application of system simultaneously widely.
According to an aspect of the present invention, the one provided full-automatic unmanned driving loading position detection system, comprises ground control box, laser scanning module, video monitoring module and laser detection module;
Described laser scanning module, described video monitoring module and described laser detection module are all connected with ground control box.
Preferably, described ground control box comprises touch-screen, ground controller, the network switch, I/O modular converter; Wherein said ground controller is connected with I/O modular converter by the network switch; Described touch-screen is connected with described ground controller, and described touch-screen is used for input of control commands.
Preferably, described laser scanning module is used for position and detects to generate physical coordinates, and coordinate information is sent to ground controller, and laser scanning module comprises The Cloud Terrace and laser scanner; Wherein, described The Cloud Terrace is for carrying described laser scanner, and described laser scanner is all connected with described ground control box by external interface with described The Cloud Terrace.
Preferably, described video monitoring module is for monitoring the field condition of loading position, and video monitoring module comprises gun shaped video camera, and video monitoring module is connected with described ground controller by external interface.
Preferably, described laser detection module comprises laser sensor and LED display; Described laser sensor is all connected with ground controller with described LED display.
Preferably, also comprise full-automatic unmanned driving system server, wherein, described full-automatic unmanned driving system server is connected with described ground control box by the network switch, and full-automatic unmanned driving system server is for receiving described coordinate information.
Preferably, also comprise middle control intercommunication module, described ground control box also comprises intercommunication module, and middle control intercommunication module to be connected with described intercommunication module by external interface, and going forward side by side works interrogates.
Preferably, also comprise onboard wireless switch module, described ground control box also comprises wireless switch modules, and onboard wireless switch module to be connected with described wireless switch modules by external interface, and going forward side by side works interrogates.
Preferably, described ground controller is provided with scram button.
Compared with prior art, the present invention has following beneficial effect: the position detecting system of the full-automatic unmanned driving handling that the application of the invention proposes and method can improve the gentle operating efficiency of Automated water of unmanned vehicling operation, reduce and the naked eyes of truck driver are injured, fully automatic mode is made to have operability and applicability more widely, it is all comparatively common that position detecting system simultaneously designed by the present invention builds required hardware device, be easy to realize, the present invention can be widely used in the production operation being equipped with full-automatic unmanned driving reservoir area, there is good application prospect.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is system architecture diagram of the present invention;
Fig. 2 is entrucking schematic diagram of the present invention;
Fig. 3 is schematic diagram of unloading of the present invention.
In figure:
1 is truck, and 2 is LED display, and 3 is ground control box, 4 is intercommunication module, 5 wireless switch modules, and 6 is I/O modular converter, 7 is ground controller, 8 is laser scanner, and 9 is The Cloud Terrace, and 10 is gun shaped video camera, 11 is laser sensor, 12 is full-automatic unmanned driving system server, and 13 is middle control intercommunication module, and 14 is onboard wireless switch module, 15 is truck, 16 is buttress position, and 17 is laser scanning line, and 18 is ground parking region, 19 is crossbeam, 20 is emergency stop push button, and 21 is material, and 22 is touch-screen.
Embodiment
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art and understand the present invention further, but not limit the present invention in any form.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, some distortion and improvement can also be made.These all belong to protection scope of the present invention.
The full-automatic unmanned driving loading position detection system that the present embodiment provides comprises ground control box 3, laser scanning module, video monitoring module and laser detection module.Described laser scanning module, described video monitoring module and described laser detection module are all connected with ground control box.As shown in Figure 1.
As shown in Figure 1 and Figure 2, ground control box 3, as the core component of whole system, comprises following equipment: ground controller 7, touch-screen 22, I/O modular converter 6, wireless switch modules 5, intercommunication module 4.Ground controller, as controller of the present invention, is responsible for function treatment, is carried out communication by external interface and full-automatic unmanned driving system server 12, laser scanner 8, The Cloud Terrace 9, video monitor, laser detection module etc.Ground controller carries out communication by serial line interface (RS422/485) and The Cloud Terrace 9; Digital I/O interface communication is carried out by I/O modular converter 6 and laser detection module.Wireless switch modules 5 mainly performs signal transmission work when stopping in emergency, and carries out communication by external interface and the onboard wireless switch module 14 without man-powered vehicle end.Intercommunication module 4 is responsible for transmitting voice messaging to Central Control Room, carries out communication by external interface and middle control intercommunication module 13.Described touch-screen 22 is connected with described ground controller 7.
Laser scanning module is used for position and detects to generate physical coordinates, and coordinate information is sent to ground controller, comprises The Cloud Terrace 9 and laser scanner 8.The Cloud Terrace 9 can carry out turning round and luffing, is responsible for carrying laser scanner 8, carries out communication by external interface and ground controller 7.Laser scanner 8 can detect the distance of the barrier in laser scanning plane to Laser emission initial point, detects, carry out communication by external interface and ground controller 7 for position.
Video monitoring module monitors the laser scanning situation of material on truck in scanning area and buttress position, position for auxiliary truck driver.Sweep trace in laser scanner 8 scanning process is presented on video pictures.Video monitoring module comprises gun shaped video camera 10, carries out communication by external interface and ground controller 7.
Laser detection module is used for auxiliary truck driver and is stopped by truck, in the specified scope of loading and unloading area, to comprise 2 laser sensors 11, LED display 2 and ground parking region.Whether the first laser sensor exceedes parking area for detecting truck, and the second laser sensor detects truck and whether arrives parking area, carries out communication by external interface and ground controller 7.Whether LED display 2 is berthed by pilot lamp prompting truck driver is put in place, needs to advance or retreat, carries out communication by external interface and ground controller 8.
The present invention can realize following four kinds of functions:
1) entrucking buttress position, position is detected, truck driver's Non-follow control laser scanning module determination truck is piled up neatly the physical coordinates of position, position, ground controller 7 is connected with full-automatic unmanned driving system server 12, coordinate information is sent to full-automatic unmanned driving system server 12, and then generation driving fortune hangs instruction, sends to and automatically performs entrucking outbound without man-powered vehicle.
2) unload material position detect, laser scanning module autoscan truck dock area, measure the shape of truck loaded material and computational physics coordinate, shape and coordinate information are sent to full-automatic unmanned driving system server 12 by ground controller 7, and then generation driving fortune hangs instruction, sends to and automatically performs without man-powered vehicle warehouse-in of unloading.
3) stop in emergency, when breaking down or emergency condition in loading-unloading vehicle process without man-powered vehicle, truck driver directly can press the scram button of ground control box 3, controls driving and stops in emergency;
4) call out Central Control Room, when abnormal conditions appear in the present invention and truck driver cannot solve, truck driver calls out ground Central Control Room personnel by intercommunication module 4 and processes.
The present invention realizes by following technical scheme:
(1) entrucking buttress position, position is detected
Deliver in reservoir area, truck reaches and specifies dock area by truck driver, as shown in Figure 2.Whether laser detection module detects truck in place, and wherein the first laser sensor does not detect signal, and the second laser sensor detects signal, and LED display 2 points out driver to stop; Second laser sensor does not detect signal, and LED display 2 points out driver to advance; First laser sensor detects signal, and LED display 2 points out driver to retreat.
After truck berths by truck driver, to corresponding ground control box 3 place, operation touch-screen 22 carries out outbound car loading operation.By the laser sensor signal that laser detection module obtains, ground controller 7 judges whether outbound truck berths in place.If truck is in place, touch-screen 22 shows the truck number of needed outbound entrucking, driver selects current truck number, touch-screen 22 shows all material informations treating entrucking on this truck.Driver's confirmation is errorless, and the position, buttress position that startup laser scanning module is carried out on truck is detected.
Truck driver's The Cloud Terrace 9 control knob operated on touch-screen 22 controls the rotary scanning of laser scanner 8, observes the position of the laser scanning line on monitored picture simultaneously.When laser scanning line drops on Duo Wei center, truck driver clicks ACK button, extracts the physical coordinates of buttress position, position.Execution aforesaid operations completes the extraction to position, all buttress positions successively, and is presented on touch-screen 22.
Truck driver confirms all behind the position that entrucking material all has correspondence, clicks outbound ACK button.Position, buttress position corresponding for material is sent to full-automatic unmanned driving system server 12 by ground controller 8.
Full-automatic unmanned driving system server 12 generates driving instruction according to the information received and sends to without man-powered vehicle, automatically performs the handling outbound of material without man-powered vehicle according to instruction.
The executing state of driving handling is fed back to ground-based server and shows on touch-screen 22 by full-automatic unmanned driving system server 12.
(2) unload material position detect
Stock up in reservoir area, truck reaches and specifies dock area by truck driver, as shown in Figure 3.Whether laser detection module detects truck in place, and wherein the first laser sensor does not detect signal, and the second laser sensor detects signal, and LED display 2 points out driver to stop; Second laser sensor does not detect signal, and LED display 2 points out driver to advance; First laser sensor detects signal, and LED display 2 points out driver to retreat.
After truck berths by truck driver, to corresponding ground control box 3 place, operation touch-screen 22 carries out warehouse-in car unloading operation.By the laser detection signal that laser detection module obtains, ground controller 7 judges that whether warehouse-in truck is in place.If truck is in place, touch-screen 22 shows need to put the truck number of unloading in storage, driver selects current truck number, touch-screen 22 shows all material informations to be unloaded on this truck.Driver's confirmation is errorless, and the material position that startup laser scanning module is carried out on truck is detected.
The whole truck dock area of the automatic traverse scanning of laser scanning module, obtains the scan-data in whole region.The all scan-datas of ground controller process, extract size and the position coordinates of material on truck, and are presented on touch-screen 22.
Truck driver confirm after the material that needs to be unloaded all has corresponding position, click putaway verification button.Material size and position are sent to full-automatic unmanned driving system server 12 by ground controller 7.
Full-automatic unmanned driving system server 12 generates driving instruction according to the information received and sends to without man-powered vehicle, automatically performs the handling warehouse-in of material without man-powered vehicle according to instruction.
The executing state of driving handling is fed back to ground-based server and shows on touch-screen 22 by full-automatic unmanned driving system server 12.
(3) stop in emergency
When breaking down or emergency condition in loading-unloading vehicle process without man-powered vehicle, truck driver presses the scram button on ground control box 3, controls driving and stops in emergency.
(4) Central Control Room is called out
When there are abnormal conditions without man-powered vehicle in loading-unloading vehicle process and truck driver cannot solve, truck driver calls out ground Central Control Room personnel by the intercommunication module 4 on ground control box 3 and processes.
To sum up, the position detecting system of full-automatic unmanned driving handling makes to have operability and applicability more widely without man-powered vehicle fully automatic mode by above-mentioned functions.
Each component devices of the full-automatic unmanned driving loading position detection system proposed according to technical scheme builds whole detection system.Industry control PC and full-automatic unmanned driving system server 12, laser scanner 8, video monitor, laser detection module etc. carry out network interface communication; Communication is carried out with The Cloud Terrace 9 by serial line interface RS422 or serial line interface 485; Digital I/O interface communication is carried out by I/O modular converter 6 and laser detection module.Wireless switch modules 5 carries out communication by radio network interface and the onboard wireless switch module 14 without man-powered vehicle end.Intercommunication module 4 carries out communication by network interface and middle control intercommunication module 13.When utilizing the present invention:
(1) entrucking outbound
Truck reaches and specifies dock area by truck driver, observes LED display 2.After berthing, to corresponding ground control box 3 place, operation touch-screen 22 carries out outbound car loading operation.Driver selects current truck number, and the position, buttress position that startup laser scanning module is carried out on truck is detected.Truck driver confirms all behind the position that entrucking material all has correspondence, clicks outbound ACK button.
(2) to unload warehouse-in
Truck reaches and specifies dock area by truck driver, observes LED display 2.After berthing, to corresponding ground control box 3 place, operation touch-screen 22 carries out warehouse-in car unloading operation.Driver selects current truck number, and the material position that startup laser scanning module is carried out on truck is detected.Truck driver confirm after the material that needs to be unloaded all has corresponding position, click putaway verification button.
(3) stop in emergency
Truck driver presses the scram button on ground control box 3, controls driving and stops in emergency.
(4) Central Control Room is called out
Truck driver calls out ground Central Control Room personnel by the intercommunication module 4 on ground control box 3 and processes.
Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (9)
1. a full-automatic unmanned driving loading position detection system, is characterized in that, comprises ground control box, laser scanning module, video monitoring module and laser detection module;
Described laser scanning module, described video monitoring module and described laser detection module are all connected with ground control box.
2. full-automatic unmanned driving loading position according to claim 1 detection system, it is characterized in that, described ground control box comprises touch-screen, ground controller, I/O modular converter; Wherein said ground controller is connected with I/O modular converter; Described touch-screen is connected with described ground controller, and described touch-screen is used for input of control commands.
3. full-automatic unmanned driving loading position according to claim 2 detection system, it is characterized in that, described laser scanning module is used for position and detects to generate physical coordinates, and coordinate information is sent to ground controller, and laser scanning module comprises The Cloud Terrace and laser scanner; Wherein, described The Cloud Terrace is for carrying described laser scanner, and described laser scanner is all connected with described ground control box by external interface with described The Cloud Terrace.
4. full-automatic unmanned driving loading position according to claim 2 detection system, it is characterized in that, described video monitoring module is for monitoring the field condition of loading position, and video monitoring module comprises gun shaped video camera, and video monitoring module is connected with described ground controller by external interface.
5. full-automatic unmanned driving loading position according to claim 2 detection system, it is characterized in that, described laser detection module comprises laser sensor and LED display; Described laser sensor is all connected with ground controller with described LED display.
6. full-automatic unmanned driving loading position according to claim 3 detection system, it is characterized in that, also comprise full-automatic unmanned driving system server, wherein, described full-automatic unmanned driving system server is connected with described ground control box, and full-automatic unmanned driving system server is for receiving described coordinate information.
7. full-automatic unmanned driving loading position according to claim 1 detection system, it is characterized in that, also comprise middle control intercommunication module, described ground control box also comprises intercommunication module, and middle control intercommunication module to be connected with described intercommunication module by external interface, and going forward side by side works interrogates.
8. full-automatic unmanned driving loading position according to claim 1 detection system, it is characterized in that, also comprise onboard wireless switch module, described ground control box also comprises wireless switch modules, and onboard wireless switch module to be connected with described wireless switch modules by external interface, and going forward side by side works interrogates.
9. full-automatic unmanned driving loading position according to claim 2 detection system, it is characterized in that, described ground controller is provided with scram button.
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| CN104778859A (en) * | 2015-05-04 | 2015-07-15 | 重庆大学 | Multilane conflict-free traveling method for multiple ferry pushes in bricks and tiles plant |
| CN105302145A (en) * | 2015-12-03 | 2016-02-03 | 湖南信息职业技术学院 | Transportation apparatus and realization method thereof |
| CN106843087A (en) * | 2017-04-05 | 2017-06-13 | 深圳市鑫华威机电设备有限公司 | Traffic control method and system based on coil winding machine |
| CN107585588A (en) * | 2016-07-06 | 2018-01-16 | 杭州威士德灵智科技有限公司 | A kind of bulk cement automatic filling system |
| CN108846393A (en) * | 2017-12-20 | 2018-11-20 | 江苏耐维思通科技股份有限公司 | A kind of driving automatic identification equipment of parking area |
| CN109697594A (en) * | 2019-01-15 | 2019-04-30 | 江苏智库物流科技有限公司 | Full-automatic unmanned driving cable disc warehousing system |
| CN110941216A (en) * | 2019-11-25 | 2020-03-31 | 江苏徐工工程机械研究院有限公司 | Wireless emergency stop system and method |
| CN111634636A (en) * | 2020-05-19 | 2020-09-08 | 大连华锐重工集团股份有限公司 | Full-automatic material taking control system of bucket wheel machine |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104778859A (en) * | 2015-05-04 | 2015-07-15 | 重庆大学 | Multilane conflict-free traveling method for multiple ferry pushes in bricks and tiles plant |
| CN105302145A (en) * | 2015-12-03 | 2016-02-03 | 湖南信息职业技术学院 | Transportation apparatus and realization method thereof |
| CN105302145B (en) * | 2015-12-03 | 2018-10-09 | 湖南信息职业技术学院 | Transport device and its implementation |
| CN107585588A (en) * | 2016-07-06 | 2018-01-16 | 杭州威士德灵智科技有限公司 | A kind of bulk cement automatic filling system |
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| CN109697594A (en) * | 2019-01-15 | 2019-04-30 | 江苏智库物流科技有限公司 | Full-automatic unmanned driving cable disc warehousing system |
| CN109697594B (en) * | 2019-01-15 | 2021-05-11 | 江苏智库智能科技有限公司 | Full-automatic unmanned travelling cable dish storage system |
| CN110941216A (en) * | 2019-11-25 | 2020-03-31 | 江苏徐工工程机械研究院有限公司 | Wireless emergency stop system and method |
| CN111634636A (en) * | 2020-05-19 | 2020-09-08 | 大连华锐重工集团股份有限公司 | Full-automatic material taking control system of bucket wheel machine |
| CN111634636B (en) * | 2020-05-19 | 2024-04-02 | 大连华锐重工集团股份有限公司 | Full-automatic material taking control system of bucket wheel machine |
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