CN104460664B - Full-automatic unmanned driving loading position detecting system - Google Patents
Full-automatic unmanned driving loading position detecting system Download PDFInfo
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- CN104460664B CN104460664B CN201310561119.1A CN201310561119A CN104460664B CN 104460664 B CN104460664 B CN 104460664B CN 201310561119 A CN201310561119 A CN 201310561119A CN 104460664 B CN104460664 B CN 104460664B
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Abstract
The invention provides a kind of full-automatic unmanned driving loading position detecting system, including ground control box, laser scanning module, video monitoring module and laser detection module；The laser scanning module, the video monitoring module and the laser detection module are connected with ground control box.The gentle operating efficiency of Automated water of unmanned vehicling operation can be improved with method by using the position detecting system of full-automatic unmanned driving handling proposed by the present invention, reduce the naked eyes injury to truck driver, so that fully automatic mode has more extensive operability and applicability, simultaneously the present invention designed by position detecting system build needed for hardware device it is relatively conventional, be easily achieved, the present invention can be widely applied for being equipped with the production operation of full-automatic unmanned driving reservoir area, with good application prospect.
Description
Technical field
The present invention relates to be loaded and unloaded without man-powered vehicle, in particular it relates to a kind of full-automatic unmanned driving loading position detecting system.
Background technology
Growing with automatic technology, modern industry proposes more and more higher to the high efficiency driven a vehicle, security
Demand.Driving progressively develops into the important component during automatic flexible metaplasia is produced from single handbarrow.Entirely certainly
Dynamic driving will be as required execution component in modern production manufacture execution system, and it utilizes advanced computer controls skill
Art, carries out detection to material, each mechanism that drives a vehicle and is accurately positioned according to the upper layer network job instruction for receiving, and completes to unload
The operations such as material, feeding, shifting storehouse, realize the full-automatic storage and handling of material.Wherein, material enters via truck or chassis
When storehouse, outbound, realize to its automatic, accurate, efficient entrucking and unload as whole full-automatic by full-automatic unmanned driving
One of core of unmanned driving system research.
At present, the research of entrucking/drop off location detecting system both at home and abroad for driving a vehicle mainly has following scheme：
(1) semiautomatic fashion.Fully automatic mode is used during operation in reservoir area without man-powered vehicle, but in handling material region
Semiautomatic-mode, i.e. loading and unloading area ground is then used to be equipped with operating personnel, the traveling driven a vehicle using remote control control, when driving is gone
Sail during to loading position, using the lifting of remote control control clamp, closure so as to complete lifting to material/put down.In the mould
Under formula, the automatization level of unmanned vehicling operation is relatively low, and the factor of human intervention is more, reduces the safety of unmanned vehicling operation
Property and operating efficiency；
(2) fully automatic mode of fixed position.In order to improve the automatization level of unmanned vehicling operation, without man-powered vehicle in dress
The stack position on identical model, i.e. truck is used using fully automatic mode, i.e., all storages, the truck of outbound when unloading region job
Position fix and truck on material position fix, truck docks, can be accurate without man-powered vehicle in the fixed position of loading and unloading area
Ground obtains the position of material and stack position, so as to realize automatic traveling, handling material.In this mode, unmanned vehicling operation
Automatization level is improved, too high yet with the requirement to truck, and feasibility is relatively low in actual production operation；
(3) fully automatic mode of relative position.In order to improve the applicability of fully automatic mode, storage, outbound truck can
To use disposable type, in the specified range of loading and unloading area, during truck outbound, driver manually controls laser to sweep for truck docks
Material or stack position position on imaging apparatus positioning truck；When truck is put in storage, laser scanning device is automatically positioned the material on truck
Or stack position position.So as to the position of material and stack position can be obtained without man-powered vehicle, so as to realize automatic traveling, handling material.
In this mode, truck driver needs to observe by the naked eye the visible red light on truck（Laser scanning line）, work as truck
Vehicle frame higher than driver range of observation when, driver is needed by assistance platform just it is observed that scan line, and this just gives the pattern
Implementation bring inconvenience；While visible red light（Laser scanning line）Harm to human eye is larger.
Following pertinent literature is found through retrieval.
Coordinate indexing result 1：
Title：The application study of laser scanning measurement system, is recorded in《Surveying Engineering》1st 49-52 pages of the phase in 2001.
Summary：Describe the principle of laser scanning measurement technology, and with regard to the real-time of laser scanning measurement heap body in the industry
The technology and method of variation monitoring are inquired into and studied, it is proposed that a kind of based on the quick of laser scanning measurement heap body change
Monitoring method.Experiment shows：This e measurement technology has stronger real-time and survey higher compared with traditional measuring method
Accuracy of measurement.
Coordinate indexing result 2：
Title：Intelligent travelling crane system is anti-to shake control, is recorded in《Shanghai Communications University》Master's thesis in 2008.
Summary：Have studied has carried out motion analysis to the motion process of driving system, by careful theory analysis, sets up
The Mathematical Modeling and state equation of kinematic system, and motion analysis carried out to driving horizontal movement and oscillating motion, with
The principle analysis situation of optimal solution of Bang-Bang controls.And then by using for reference the comparing to several velocity transformation models, carry
Go out " fixed step size velocity transformation pattern " method and realize the scheme that driving is automatically controlled.There is also described herein fuzzy control and fuzzy
Neural network control method.For the motion feature of driving, it is proposed that the design principle and method for designing of fuzzy controller.Pass through
In motion state equation.
Technical essential compares：
Coordinate indexing result 1 proposes a kind of quick laser detecting method；And application laser detection position side in the present invention
Method is more convenient.
The intelligent travelling crane control method of coordinate indexing result 2, lays particular emphasis on driving the anti-of traveling process and waves control；The present invention
Overweight the position detection of driving entrucking/unload.
The content of the invention
For defect of the prior art, detected it is an object of the invention to provide a kind of full-automatic unmanned driving loading position
System.
In order that fully automatic mode has more extensive operability and an applicability, designed by the present invention without man-powered vehicle
Handling system can be used in loading and unloading area operation using the truck of the fully automatic mode of relative position, i.e. storage, outbound appoints
Meaning model, the height of chassis above ground of truck is not limited.In the specified range of loading and unloading area, truck driver's observation monitors picture for truck docks
Face simultaneously controls laser scanning device to position material or stack position position on truck, so as to obtain material and pile without man-powered vehicle
The position of position, so as to realize automatic traveling, handling material.It is same that the method that the system is used can avoid driver's naked eyes from coming to harm
When greatly extend the scope of application of system.
According to an aspect of the present invention, there is provided a kind of full-automatic unmanned driving loading position detecting system, including ground
Face control cabinet, laser scanning module, video monitoring module and laser detection module；
The laser scanning module, the video monitoring module and the laser detection module with ground control box phase
Even.
Preferably, the ground control box includes touch-screen, ground controller, the network switch, I/O modular converters；Its
Described in ground controller be connected with I/O modular converters by the network switch；The touch-screen and the ground controller phase
Even, the touch-screen is used to be input into control command.
Preferably, the laser scanning module is used for position detection to generate physical coordinates, and coordinate information is sent to
Ground controller, laser scanning module includes head and laser scanner；Wherein, the head is used to carry the laser scanning
Instrument, the laser scanner and the head are connected by external interface with the ground control box.
Preferably, the video monitoring module is used to monitor the field condition of loading position, and video monitoring module includes rifle
Type video camera, video monitoring module is connected by external interface with the ground controller.
Preferably, the laser detection module includes laser sensor and LED display；The laser sensor and described
LED display is connected with ground controller.
Preferably, also including full-automatic unmanned driving system server, wherein, the full-automatic unmanned driving system service
Device is connected by the network switch with the ground control box, and full-automatic unmanned driving system server is used to receive the coordinate
Information.
Preferably, also including middle control intercommunication module, the ground control box also includes intercommunication module, and middle control intercommunication module is led to
External interface is crossed to be connected and communicated with the intercommunication module.
Preferably, also including onboard wireless switch module, the ground control box also includes wireless switch modules, vehicle-mounted nothing
Wiretap module is connected and is communicated by external interface with the wireless switch modules.
Preferably, the ground controller is provided with scram button.
Compared with prior art, the present invention has following beneficial effect：By using full-automatic nothing proposed by the present invention
The position detecting system of man-powered vehicle handling can improve the gentle operating efficiency of Automated water of unmanned vehicling operation with method, reduce
Naked eyes injury to truck driver so that fully automatic mode has more extensive operability and applicability, while institute of the present invention
The position detecting system of design build needed for hardware device it is relatively conventional, be easily achieved, the present invention can be answered extensively
Production operation for being equipped with full-automatic unmanned driving reservoir area, with good application prospect.
Brief description of the drawings
The detailed description made to non-limiting example with reference to the following drawings by reading, further feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is system architecture diagram of the invention；
Fig. 2 is entrucking schematic diagram of the invention；
Fig. 3 is schematic diagram of unloading of the invention.
In figure：
1 is truck, and 2 is LED display, and 3 is ground control box, and 4 is intercommunication module, 5 wireless switch modules, and 6 is that I/O turns
Mold changing block, 7 is ground controller, and 8 is laser scanner, and 9 is head, and 10 is gun shaped video camera, and 11 is laser sensor, and 12 are
Full-automatic unmanned driving system server, 13 is middle control intercommunication module, and 14 is onboard wireless switch module, and 15 is truck, and 16 are
Stack position, 17 is laser scanning line, and 18 is ground parking region, and 19 is crossbeam, and 20 is emergency stop push button, and 21 is material, and 22 are
Touch-screen.
Specific embodiment
With reference to specific embodiment, the present invention is described in detail.Following examples will be helpful to the technology of this area
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that to the ordinary skill of this area
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection domain.
The full-automatic unmanned driving loading position detecting system that the present embodiment is provided includes ground control box 3, laser scanning
Module, video monitoring module and laser detection module.The laser scanning module, the video monitoring module and the laser
Detection module is connected with ground control box.As shown in Figure 1.
As shown in Figure 1 and Figure 2, ground control box 3 as whole system core component, comprising following equipment：Ground controls
Device 7, touch-screen 22, I/O modular converters 6, wireless switch modules 5, intercommunication module 4.Ground controller is used as control of the invention
Device, is responsible for function treatment, by external interface and full-automatic unmanned driving system server 12, laser scanner 8, head 9, regards
Frequency watch-dog, laser detection module etc. are communicated.Ground controller passes through serial line interface（RS422/485）Carried out with head 9
Communication；Digital I/O interface communications are carried out by I/O modular converters 6 and laser detection module.Wireless switch modules 5 are mainly performed
Signal transmission work when stopping in emergency, is led to by external interface with the onboard wireless switch module 14 without man-powered vehicle end
News.Intercommunication module 4 is responsible for transmission voice messaging to Central Control Room, is communicated with middle control intercommunication module 13 by external interface.Institute
Touch-screen 22 is stated to be connected with the ground controller 7.
Laser scanning module is used for position and detects to generate physical coordinates, and coordinate information is sent into ground controller,
Including head 9 and laser scanner 8.Head 9 can be turned round and elevating movement, be responsible for carrying laser scanner 8, by outer
Portion's interface is communicated with ground controller 7.Laser scanner 8 can detect barrier in laser scanning plane to swashing
The distance of light Launching origin, for position detection, is communicated by external interface with ground controller 7.
Video monitoring module is used to aid in truck driver to monitor material and stack position position on truck in scanning area
Laser scanning situation.Scan line in the scanning process of laser scanner 8 is displayed on video pictures.Video monitoring module includes
Gun shaped video camera 10, is communicated by external interface with ground controller 7.
Laser detection module is used to aid in truck driver to stop in the specified range of loading and unloading area truck, including 2 are swashed
Optical sensor 11, LED display 2 and ground parking region.First laser sensor is used to detect whether truck exceedes parking
Whether region, second laser sensor detection truck reaches parking area, is led to ground controller 7 by external interface
News.Whether LED display 2 points out truck driver to berth in place, it is necessary to advance or retreat, by external interface by indicator lamp
Communicated with ground controller 8.
The present invention can realize following four function：
1) entrucking stack position position detection, truck driver controls laser scanning module to determine the thing of stack position position on truck manually
Reason coordinate, 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, is sent to and performs entrucking outbound automatically without man-powered vehicle.
2) unload material position detection, laser scanning module automatically scanning truck dock area, measure truck loaded material
Shape and calculate physical coordinates, shape and coordinate information are sent to full-automatic unmanned driving system service by ground controller 7
Device 12, and then generation driving fortune hangs instruction, is sent to and performs storage of unloading automatically without man-powered vehicle.
3) stop in emergency, broken down or emergency during loading-unloading vehicle when without man-powered vehicle, truck driver can be straight
The scram button for pressing ground control box 3 is connect, control driving is stopped in emergency；
4) Central Control Room is called, when abnormal conditions occurs in the present invention and truck driver cannot solve, truck driver is by right
Say that the calling ground Central Control Room personnel of module 4 are processed.
The present invention can be achieved through the following technical solutions：
（1）Detect entrucking stack position position
Reservoir area is delivered, and truck is reached specified dock area by truck driver, as shown in Figure 2.Laser detection module detection card
Whether car is in place, and wherein first laser sensor is not detected by signal, and second laser sensor detects signal, LED display 2
Prompting driver's parking；Second laser sensor is not detected by signal, and LED display 2 prompting driver advance；First laser sensor
Signal is detected, LED display 2 prompting driver retreat.
After truck driver berths truck, at corresponding ground control box 3, operation touch-screen 22 carries out outbound entrucking work
Industry.Ground controller 7 judges whether outbound truck berths in place by the laser sensor signal that laser detection module is obtained.Such as
Fruit truck is in place, and the truck number of needed outbound entrucking is shown on touch-screen 22, and driver selects current truck number, on touch-screen 22
Show all materials information for treating entrucking on the truck.Driver's confirmation is errorless, and starting laser scanning module carries out truck
On stack position position detection.
The control button of head 9 in truck driver's operation touch-screen 22 controls the rotary scanning of laser scanner 8, while seeing
Examine the position of the laser scanning line on monitored picture.When laser scanning line falls at stack position center, truck driver clicks on confirmation and presses
Button, extracts the physical coordinates of stack position position.Extraction of the aforesaid operations completion to all stack position positions is performed successively, and is shown
On touch-screen 22.
Truck driver confirms all after entrucking material has corresponding position, click outbound ACK button.Ground controls
The corresponding stack position position of material is sent to full-automatic unmanned driving system server 12 by device 8.
Full-automatic unmanned driving system server 12 is sent to without man-powered vehicle according to the information generation driving instruction for receiving,
Without man-powered vehicle according to the automatic handling outbound for performing material of instruction.
Full-automatic unmanned driving system server 12 is by the execution feedback of status of handling of driving a vehicle is to ground-based server and is touching
Touch and shown on screen 22.
（2）Unload material position detection
Reservoir area is stocked up, and truck is reached specified dock area by truck driver, as shown in Figure 3.Laser detection module detection card
Whether car is in place, and wherein first laser sensor is not detected by signal, and second laser sensor detects signal, LED display 2
Prompting driver's parking；Second laser sensor is not detected by signal, and LED display 2 prompting driver advance；First laser sensor
Signal is detected, LED display 2 prompting driver retreat.
After truck driver berths truck, at corresponding ground control box 3, operation touch-screen 22 carries out storage and unloads work
Industry.Ground controller 7 judges whether storage truck is in place by the laser detection signal that laser detection module is obtained.If truck
In place, the truck number for needing to be put in storage and unloading is shown on touch-screen 22, driver selects current truck number, display should on touch-screen 22
All materials information to be unloaded on truck.Driver's confirmation is errorless, starts the thing that laser scanning module is carried out on truck
Discharge position is detected.
The whole truck dock area of the automatic traverse scanning of laser scanning module, obtains the scan data of whole region.Ground
The all scan datas of controller treatment, extract the size and position coordinates of material on truck, and including in touch-screen 22
On.
Truck driver confirms to need to be unloaded after material has corresponding position, click putaway verification button.Ground controls
Material size and position are sent to full-automatic unmanned driving system server 12 by device 7.
Full-automatic unmanned driving system server 12 is sent to without man-powered vehicle according to the information generation driving instruction for receiving,
Without man-powered vehicle according to the automatic handling storage for performing material of instruction.
Full-automatic unmanned driving system server 12 is by the execution feedback of status of handling of driving a vehicle is to ground-based server and is touching
Touch and shown on screen 22.
（3）Stop in emergency
Broken down or emergency during loading-unloading vehicle when without man-powered vehicle, truck driver is pressed on ground control box 3
Scram button, control driving stop in emergency.
（4）Calling Central Control Room
When without man-powered vehicle, when occurring abnormal conditions during loading-unloading vehicle and truck driver cannot solve, truck driver passes through
The calling ground Central Control Room personnel of intercommunication module 4 on ground control box 3 are processed.
To sum up, the position detecting system of full-automatic unmanned driving handling is caused without the full-automatic mould of man-powered vehicle by above-mentioned functions
Formula has more extensive operability and applicability.
Each component devices of the full-automatic unmanned driving loading position detecting system proposed according to technical scheme are built whole
Individual detecting system.Industry control PC is examined with full-automatic unmanned driving system server 12, laser scanner 8, video monitor, laser
Surveying module etc. carries out network interface communication；Communicated with head 9 by serial line interface RS422 or serial line interface 485；Pass through
I/O modular converters 6 carry out digital I/O interface communications with laser detection module.Wireless switch modules 5 by radio network interface with
Onboard wireless switch module 14 without man-powered vehicle end is communicated.Intercommunication module 4 is by network interface and middle control intercommunication module 13
Communicated.When utilizing the present invention：
（1）Entrucking outbound
Truck is reached specified dock area by truck driver, observes LED display 2.After berthing, to the control of corresponding ground
At case 3, operation touch-screen 22 carries out outbound car loading operation.Driver selects current truck number, starts laser scanning module and is blocked
Stack position position detection on car.Truck driver's confirmation is all after entrucking material has corresponding position, clicks on outbound and confirms to press
Button.
（2）Unload storage
Truck is reached specified dock area by truck driver, observes LED display 2.After berthing, to the control of corresponding ground
At case 3, operation touch-screen 22 carries out storage car unloading operation.Driver selects current truck number, starts laser scanning module and is blocked
Material position detection on car.Truck driver confirms to need to be unloaded after material has corresponding position, and click putaway verification is pressed
Button.
（3）Stop in emergency
Truck driver presses the scram button on ground control box 3, and control driving is stopped in emergency.
（4）Calling Central Control Room
Truck driver calls ground Central Control Room personnel and is processed by the intercommunication module 4 on ground control box 3.
Specific embodiment of the invention is described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can within the scope of the claims make various deformations or amendments, this not shadow
Sound substance of the invention.
Claims (1)
1. a kind of full-automatic unmanned driving loading position detecting system, it is characterised in that including ground control box, laser scanning mould
Block, video monitoring module and laser detection module；
The laser scanning module, the video monitoring module and the laser detection module are connected with ground control box；
The ground control box includes touch-screen, ground controller, I/O modular converters；Wherein described ground controller turns with I/O
Mold changing block is connected；The touch-screen is connected with the ground controller, and the touch-screen is used to be input into control command；
The laser scanning module is used for position and detects to generate physical coordinates, and coordinate information is sent into ground controller,
Laser scanning module includes head and laser scanner；Wherein, the head is used to carry the laser scanner, the laser
Scanner and the head are connected by external interface with the ground control box；
The video monitoring module is used to monitor the field condition of loading position, and video monitoring module includes gun shaped video camera, depending on
Frequency monitoring module is connected by external interface with the ground controller；
The laser detection module includes laser sensor and LED display；The laser sensor and the LED display are equal
It is connected with ground controller；
Also include full-automatic unmanned driving system server, wherein, the full-automatic unmanned driving system server with it is described
Face control cabinet is connected, and full-automatic unmanned driving system server is used to receive the coordinate information；
Also include middle control intercommunication module, the ground control box also includes intercommunication module, and middle control intercommunication module passes through external interface
It is connected and is communicated with the intercommunication module；
Also include onboard wireless switch module, the ground control box also includes wireless switch modules, onboard wireless switch module
It is connected and is communicated with the wireless switch modules by external interface；
The ground controller is provided with scram button；
Full-automatic unmanned driving loading position detecting system, is specifically detected in the following way：
Detect-entrucking stack position position：Reservoir area is delivered, and truck is reached specified dock area, the inspection of laser detection module by truck driver
Whether in place survey truck, wherein first laser sensor is not detected by signal, second laser sensor detects signal, and LED shows
Display screen prompting driver's parking；Second laser sensor is not detected by signal, and LED display prompting driver advance；First laser is passed
Sensor detects signal, and LED display prompting driver retreat；After truck driver berths truck, to corresponding ground control box
Place, operation touch-screen carries out outbound car loading operation, the laser sensor signal that ground controller is obtained by laser detection module
Judge whether outbound truck berths in place, if truck is in place, touch the truck number that screen display needs outbound entrucking, driver
Select current truck number, touch all materials information for treating entrucking on the screen display truck, driver's confirmation is errorless, opens
Dynamic laser scanning module carries out the stack position position detection on truck；Cradle head control button control in truck driver's operation touch-screen
The rotary scanning of laser scanner, while observing the position of the laser scanning line on monitored picture；When laser scanning line falls in pile
During the center of position, truck driver clicks on ACK button, extracts the physical coordinates of stack position position；Truck driver's confirmation is all to treat entrucking thing
After material has corresponding position, outbound ACK button is clicked on；Ground controller by the corresponding stack position position of material be sent to it is complete from
Move unmanned driving system server；Full-automatic unmanned driving system server sends according to the information generation driving instruction for receiving
To without man-powered vehicle, without man-powered vehicle according to the automatic handling outbound for performing material of instruction；Full-automatic unmanned driving system server will
Driving handling execution feedback of status is to ground-based server and shows on the touchscreen；
- material position detection of unloading：Reservoir area is stocked up, and truck is reached specified dock area, the inspection of laser detection module by truck driver
Whether in place survey truck, wherein first laser sensor is not detected by signal, second laser sensor detects signal, and LED shows
Display screen prompting driver's parking；Second laser sensor is not detected by signal, and LED display prompting driver advance；First laser is passed
Sensor detects signal, and LED display prompting driver retreat；After truck driver berths truck, to corresponding ground control box
Place, operation touch-screen carries out storage car unloading operation；Ground controller is sentenced by the laser detection signal that laser detection module is obtained
Whether in place break storehouse truck；If truck is in place, touches screen display and need to be put in storage the truck number unloaded, driver's selection is worked as
Preceding truck number, touches all materials information to be unloaded on the screen display truck；Driver's confirmation is errorless, starts laser
Scan module carries out the material position detection on truck；The whole truck dock area of the automatic traverse scanning of laser scanning module, obtains
To the scan data of whole region；The all scan datas of ground controller treatment, extract the size of material and position on truck
Coordinate, and shown on the touchscreen；Truck driver confirms to need to be unloaded after material has corresponding position, clicks on and is put in storage
ACK button；Material size and position are sent to full-automatic unmanned driving system server by ground controller；It is full-automatic unmanned
Driving system server is sent to without man-powered vehicle according to the information generation driving instruction for receiving, automatic according to instruction without man-powered vehicle
Perform the handling storage of material；Full-automatic unmanned driving system server is by the execution feedback of status of handling of driving a vehicle to ground service
Device simultaneously shows on the touchscreen；
- stop in emergency：Broken down or emergency during loading-unloading vehicle when without man-powered vehicle, truck driver presses ground control
Scram button on case, control driving is stopped in emergency；
- calling Central Control Room：When without man-powered vehicle when occurring abnormal conditions during loading-unloading vehicle and truck driver cannot solve, truck
Driver calls ground Central Control Room personnel and is processed by the intercommunication module on ground control box.
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| CN103161337A (en) * | 2011-12-12 | 2013-06-19 | 西安正昌电子有限责任公司 | Control system of lifting and lateral moving stopping device |
| CN203229326U (en) * | 2013-02-06 | 2013-10-09 | 上海理工大学 | Intelligent container gantry crane loading and unloading control system |
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