CN108181912A - A kind of storage transportation system based on laser radar trolley - Google Patents
A kind of storage transportation system based on laser radar trolley Download PDFInfo
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- CN108181912A CN108181912A CN201810230070.4A CN201810230070A CN108181912A CN 108181912 A CN108181912 A CN 108181912A CN 201810230070 A CN201810230070 A CN 201810230070A CN 108181912 A CN108181912 A CN 108181912A
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- 238000012545 processing Methods 0.000 claims description 87
- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000000007 visual effect Effects 0.000 abstract description 7
- 230000007246 mechanism Effects 0.000 abstract description 6
- 238000000034 method Methods 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
A kind of storage transportation system based on laser radar trolley provided by the invention, it solves in the prior art, trolley is mostly using visual sensor, after gathered data progress image procossing, the operation of next step is carried out again, is increased processor cost and is caused time delay simultaneously.And the prior art carries out tissue distribution, cooperation and execution by more trolley communication negotiation modes to local task, trolley is enabled to carry out state switching between basic function and completes kinds of goods carrying task, more trolleies need to carry out cooperative cooperating, needing each trolley, there are multiple controlling mechanisms, it can not ensure real-time, and network is depended on unduly, once communication is obstructed, the technical issues of by system errors are caused.
Description
Technical field
The present invention relates to storage transport field more particularly to a kind of storage transportation systems based on laser radar trolley.
Background technology
In article handling process of storing in a warehouse, single crab running is difficult to the huge item quantity of load.More trolleies and collaboration remove
Cargo transport product can improve conevying efficiency, reduce manpower.In the prior art, trolley is mostly using visual sensor, to gathered data into
After row image procossing, then the operation of next step is carried out, increase processor cost and cause time delay simultaneously.And the prior art is led to
Excessive trolley communication negotiation mode carries out tissue distribution, cooperation and execution to local task, enable trolley between basic function into
The switching of row state completes kinds of goods and carries task, and more trolleies need to carry out cooperative cooperating, and needing each trolley, there are multiple control machines
System, can not ensure real-time, and network is depended on unduly, once communication is obstructed, will lead to system errors.
Invention content
The present invention provides a kind of storage transportation systems based on laser radar trolley, small for solving in the prior art
Vehicle after carrying out image procossing to gathered data, then carries out the operation of next step mostly using visual sensor, increase processor into
This causes time delay simultaneously.And the prior art carries out local task by more trolley communication negotiation modes tissue distribution, association
Make and perform, trolley is enabled to carry out state switching between basic function and completes kinds of goods carrying task, more trolleies are cooperateed with
Cooperation, needing each trolley, there are multiple controlling mechanisms, can not ensure real-time, and network is depended on unduly, once communication
It is obstructed, system errors will be led to.
A kind of storage transportation system based on laser radar trolley provided by the invention, including：
Trolley equipped with laser radar, central data processing platform；
Equipped with global data space in the central data processing platform, for storing and the corresponding number of global navigation
According to；
The trolley equipped with laser radar is communicated to connect with the central data processing platform, described equipped with laser
The trolley of radar is provided with laser radar sensor, data processing module and drive module；
The data processing module is communicated to connect with the drive module, for being obtained from the central data processing platform
Global navigation data is taken, and the drive module is driven according to the global navigation data so that is described equipped with laser radar
Trolley moved according to desired guiding trajectory；
The data processing module is communicated to connect with the laser radar sensor, is passed for getting the laser radar
The range data that sensor is sent, and the drive module is driven according to the range data so that it is described equipped with laser radar
Trolley carry out avoidance operation.
Preferably, the trolley equipped with laser radar passes through wireless communication with the central data processing platform
Connection.
Preferably, the quantity of the trolley equipped with laser radar is at least two.
Preferably, it further includes：With the one-to-one timer of described at least two trolleies equipped with laser radar；
The timer is arranged on the corresponding trolley equipped with laser radar, with the corresponding data processing
Module communicates to connect, for sending time signal to the data processing module.
Preferably, the data processing module is specially：Embedded board Raspberry Pi.
Preferably, the data processing module is communicated to connect with the drive module, for being handled from the central data
Global navigation data is obtained in platform to specifically include：
The data processing module is communicated to connect with the drive module, for being based on Data distributing from the center
Global navigation data is obtained in data processing platform (DPP).
As can be seen from the above technical solutions, the present invention has the following advantages：
A kind of storage transportation system based on laser radar trolley provided by the invention, including：Equipped with laser radar
Trolley, central data processing platform；Equipped with global data space in the central data processing platform, for storing and the overall situation
It navigates corresponding data；The trolley equipped with laser radar is communicated to connect with the central data processing platform, described to take
The trolley for being loaded with laser radar is provided with laser radar sensor, data processing module and drive module；The data processing mould
Block is communicated to connect with the drive module, for the global navigation data of acquisition from the central data processing platform, and according to
The overall situation navigation data drives the drive module so that the trolley equipped with laser radar is carried out according to desired guiding trajectory
Movement；The data processing module is communicated to connect with the laser radar sensor, for getting the laser radar sensing
The range data that device is sent, and the drive module is driven according to the range data so that described equipped with laser radar
Trolley carries out avoidance operation.
In the present invention, by the warehousing system based on laser radar trolley, using laser radar as master reference, pass through
Collected range data can be observed by obtained point cloud chart, not show image to reduce the load of individual trolley,
Trolley operating system host and slave processors function is realized by central data processing platform, the laser radar trolley can realize more trolleies
It cooperates, using central data processing platform as host, remaining trolley is slave, while meets one-to-many and one-to-one control
System, and the independent processing ability of individual trolley is not influenced, it solves in the prior art, trolley is mostly using visual sensor, to adopting
After collecting data progress image procossing, then the operation of next step is carried out, increase processor cost and cause time delay simultaneously.It is and existing
There is technology to carry out tissue distribution, cooperation and execution to local task by more trolley communication negotiation modes, enable trolley in basic training
State switching is carried out between energy and completes kinds of goods carrying task, more trolleies need to carry out cooperative cooperating, each trolley are needed to exist more
A controlling mechanism can not ensure real-time, and network is depended on unduly, once communication is obstructed, will lead to system errors
The technical issues of.
Description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used also
To obtain other attached drawings according to these attached drawings.
Fig. 1 is a kind of structure of one embodiment of storage transportation system based on laser radar trolley provided by the invention
Schematic diagram；
Fig. 2 is a kind of knot of another embodiment of storage transportation system based on laser radar trolley provided by the invention
Structure schematic diagram；
It is below description of the drawings：
1st, central data processing platform；2nd, global data space；3rd, laser radar sensor；4th, data processing module；5、
Drive module.
Specific embodiment
An embodiment of the present invention provides a kind of storage transportation systems based on laser radar trolley, solve the prior art
In, trolley mostly using visual sensor, after carrying out image procossing to gathered data, then carries out the operation of next step, increases place
Reason device cost causes time delay simultaneously.And the prior art carries out local task by more trolley communication negotiation modes in tissue point
Match, cooperate and perform, trolley is enabled to carry out state switching between basic function and completes kinds of goods carrying task, more trolleies need to carry out
Cooperative cooperating, needing each trolley, there are multiple controlling mechanisms, can not ensure real-time, and network is depended on unduly, once
Communication is obstructed, the technical issues of by system errors are caused.
In order to make the invention's purpose, features and advantages of the invention more obvious and easy to understand, below in conjunction with the present invention
Attached drawing in embodiment is clearly and completely described the technical solution in the embodiment of the present invention, it is clear that disclosed below
Embodiment be only part of the embodiment of the present invention, and not all embodiment.Based on the embodiments of the present invention, this field
All other embodiment that those of ordinary skill is obtained without making creative work, belongs to protection of the present invention
Range.
Referring to Fig. 1, one an embodiment of the present invention provides a kind of storage transportation system based on laser radar trolley
Embodiment, including：
Trolley equipped with laser radar, central data processing platform 1；
It should be noted that robot operating system second generation version may be used as Embedded operating system, lead to
Data distributing (DDS) function of crossing system improves the reliability of system, is detected and ensured by the data transmission quality of system
The real-time of system；
Equipped with global data space 2 in central data processing platform 1, for storing and the corresponding data of global navigation；
It is alternatively possible to more trolleies are coupled in by the host and slave processors pattern that wireless network and trolley operating system carry
Entreat data processing platform (DPP) 1, in the warehousing system based on laser radar trolley, controlled by center controlling platform trolley,
Tissue trolley cooperates；
Trolley equipped with laser radar is communicated to connect with central data processing platform 1, the trolley equipped with laser radar
It is provided with laser radar sensor 3, data processing module 4 and drive module 5；
Optionally, data processing module 4 of the Raspberry Pi as laser radar trolley may be used in laser radar trolley；
Data processing module 4 is communicated to connect with drive module 5, is led for obtaining the overall situation from central data processing platform (DPP) 1
Navigate data, and according to global navigation data drive drive module 5 so that the trolley equipped with laser radar according to desired guiding trajectory into
Row movement；
It should be noted that in laser radar trolley, using laser radar as sensor, ambient enviroment can be obtained
Distribution, handled in obtained data transmission to Raspberry Pi, passage path planning and navigation algorithm obtain the movement of trolley
Track and the local paths planning based on preset path；
Data processing module 4 is communicated to connect with laser radar sensor 3, is sent for getting laser radar sensor 3
Range data, and drive module 5 is driven according to range data so that trolley equipped with laser radar carries out avoidance operation；
It is alternatively possible to trolley operating system is carried in laser radar trolley data processing module 4 as laser radar
Sensor 3 and the control system of trolley driving；
A kind of storage transportation system based on laser radar trolley provided in an embodiment of the present invention, including：Equipped with laser
Trolley, the central data processing platform 1 of radar；Equipped with global data space 2 in central data processing platform 1, for storing
With the corresponding data of global navigation；Trolley equipped with laser radar is communicated to connect with central data processing platform 1, equipped with sharp
The trolley of optical radar is provided with laser radar sensor 3, data processing module 4 and drive module 5；Data processing module 4 is with driving
Dynamic model block 5 communicates to connect, for obtaining global navigation data from central data processing platform (DPP) 1, and according to global navigation data
Drive drive module 5 so that the trolley equipped with laser radar is moved according to desired guiding trajectory；Data processing module 4 is with swashing
Optical radar sensor 3 communicates to connect, for getting the range data of the transmission of laser radar sensor 3, and according to range data
Drive drive module 5 so that the trolley equipped with laser radar carries out avoidance operation, passes through the storage based on laser radar trolley
System using laser radar as master reference, by collected range data, can be seen by obtained point cloud chart
It surveys, does not show image to reduce the load of individual trolley, realize that trolley operating system is master and slave by central data processing platform 1
Machine function, laser radar trolley can realize that more trolleies cooperate, and be host with central data processing platform 1, remaining trolley is equal
For slave, while meet one-to-many and one-to-one control, and do not influence the independent processing ability of individual trolley, solve existing skill
In art, trolley mostly using visual sensor, after carrying out image procossing to gathered data, then carries out the operation of next step, increases
Processor cost causes time delay simultaneously.And the prior art carries out tissue by more trolley communication negotiation modes to local task
Distribution, cooperation and perform, enable trolley is carried out between basic function state switching complete kinds of goods carrying task, more trolleies need into
Row cooperative cooperating, needing each trolley, there are multiple controlling mechanisms, can not ensure real-time, and network is depended on unduly, one
Denier communication is obstructed, the technical issues of by system errors are caused.
It is the description carried out to a kind of one embodiment of the storage transportation system based on laser radar trolley above, below
A kind of storage transportation system based on laser radar trolley will be described in detail.
With reference to Fig. 2, a kind of another embodiment of the storage transportation system based on laser radar trolley provided by the invention,
Including：
Trolley equipped with laser radar, central data processing platform 1；
It should be noted that robot operating system second generation version may be used as Embedded operating system, lead to
Data distributing (DDS) function of crossing system improves the reliability of system, is detected and ensured by the data transmission quality of system
The real-time of system；
Equipped with global data space 2 in central data processing platform 1, for storing and the corresponding data of global navigation；
It is alternatively possible to more trolleies are coupled in by the host and slave processors pattern that wireless network and trolley operating system carry
Entreat data processing platform (DPP) 1, in the warehousing system based on laser radar trolley, controlled by center controlling platform trolley,
Tissue trolley cooperates；
Trolley equipped with laser radar is communicated to connect with central data processing platform 1, the trolley equipped with laser radar
It is provided with laser radar sensor 3, data processing module 4 and drive module 5；
Optionally, data processing module 4 of the Raspberry Pi as laser radar trolley may be used in laser radar trolley；
Data processing module 4 is communicated to connect with drive module 5, is led for obtaining the overall situation from central data processing platform (DPP) 1
Navigate data, and according to global navigation data drive drive module 5 so that the trolley equipped with laser radar according to desired guiding trajectory into
Row movement；
It should be noted that in laser radar trolley, using laser radar as sensor, ambient enviroment can be obtained
Distribution, handled in obtained data transmission to Raspberry Pi, passage path planning and navigation algorithm obtain the movement of trolley
Track and the local paths planning based on preset path；
Data processing module 4 is communicated to connect with laser radar sensor 3, is sent for getting laser radar sensor 3
Range data, and drive module 5 is driven according to range data so that trolley equipped with laser radar carries out avoidance operation；
It is alternatively possible to trolley operating system is carried in laser radar trolley data processing module 4 as laser radar
Sensor 3 and the control system of trolley driving；
Further, the quantity of the trolley equipped with laser radar is at least two；
Fig. 2 shows the situations when the quantity of trolley is 2；
Further, it further includes：With the one-to-one timer of at least two trolleies equipped with laser radar；
Timer is arranged on the corresponding trolley equipped with laser radar, with corresponding 4 communication link of data processing module
It connects, for sending time signal to data processing module 4；
Further, data processing module 4 is specially：Embedded board Raspberry Pi.
Further, data processing module 4 is communicated to connect with drive module 5, for being obtained from central data processing platform (DPP) 1
Global navigation data is taken to specifically include：
Data processing module 4 is communicated to connect with drive module 5, is put down for being based on Data distributing from central data processing
Global navigation data is obtained in platform 1.
A kind of storage transportation system based on laser radar trolley provided in an embodiment of the present invention, including：Equipped with laser
Trolley, the central data processing platform 1 of radar；Equipped with global data space 2 in central data processing platform 1, for storing
With the corresponding data of global navigation；Trolley equipped with laser radar is communicated to connect with central data processing platform 1, equipped with sharp
The trolley of optical radar is provided with laser radar sensor 3, data processing module 4 and drive module 5；Data processing module 4 is with driving
Dynamic model block 5 communicates to connect, for obtaining global navigation data from central data processing platform (DPP) 1, and according to global navigation data
Drive drive module 5 so that the trolley equipped with laser radar is moved according to desired guiding trajectory；Data processing module 4 is with swashing
Optical radar sensor 3 communicates to connect, for getting the range data of the transmission of laser radar sensor 3, and according to range data
Drive drive module 5 so that the trolley equipped with laser radar carries out avoidance operation, passes through the storage based on laser radar trolley
System using laser radar as master reference, by collected range data, can be seen by obtained point cloud chart
It surveys, does not show image to reduce the load of individual trolley, realize that trolley operating system is master and slave by central data processing platform 1
Machine function, laser radar trolley can realize that more trolleies cooperate, and be host with central data processing platform 1, remaining trolley is equal
For slave, while meet one-to-many and one-to-one control, and do not influence the independent processing ability of individual trolley, solve existing skill
In art, trolley mostly using visual sensor, after carrying out image procossing to gathered data, then carries out the operation of next step, increases
Processor cost causes time delay simultaneously.And the prior art carries out tissue by more trolley communication negotiation modes to local task
Distribution, cooperation and perform, enable trolley is carried out between basic function state switching complete kinds of goods carrying task, more trolleies need into
Row cooperative cooperating, needing each trolley, there are multiple controlling mechanisms, can not ensure real-time, and network is depended on unduly, one
Denier communication is obstructed, the technical issues of by system errors are caused.
Specific embodiment in the present embodiment illustrates which is not described herein again in the above-described embodiments.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of system and module can refer to the corresponding process in preceding method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed module and method can pass through it
Its mode is realized.For example, module embodiments described above are only schematical, for example, the division of the module, only
Only a kind of division of logic function can have other dividing mode in actual implementation, such as multiple module or components can be tied
It closes or is desirably integrated into another system or some features can be ignored or does not perform.Another point, it is shown or discussed
Mutual coupling, direct-coupling or communication connection can be the INDIRECT COUPLING or logical by some interfaces, device or module
Letter connection can be electrical, machinery or other forms.
The module illustrated as separating component may or may not be physically separate, be shown as module
The component shown may or may not be physical module, you can be located at a place or can also be distributed to multiple
On network module.Some or all of module therein can be selected according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each function module in each embodiment of the present invention can be integrated in a processing module, it can also
That modules are individually physically present, can also two or more modules be integrated in a module.Above-mentioned integrated mould
The form that hardware had both may be used in block is realized, can also be realized in the form of software function module.
The above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to before
Embodiment is stated the present invention is described in detail, it will be understood by those of ordinary skill in the art that：It still can be to preceding
The technical solution recorded in each embodiment is stated to modify or carry out equivalent replacement to which part technical characteristic；And these
Modification is replaced, the spirit and scope for various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution.
Claims (6)
1. a kind of storage transportation system based on laser radar trolley, feature are, including：
Trolley equipped with laser radar, central data processing platform；
Equipped with global data space in the central data processing platform, for storing and the corresponding data of global navigation；
The trolley equipped with laser radar is communicated to connect with the central data processing platform, described equipped with laser radar
Trolley be provided with laser radar sensor, data processing module and drive module；
The data processing module is communicated to connect with the drive module, complete for being obtained from the central data processing platform
Office's navigation data, and the drive module is driven according to the global navigation data so that it is described equipped with the small of laser radar
Vehicle is moved according to desired guiding trajectory；
The data processing module is communicated to connect with the laser radar sensor, for getting the laser radar sensor
The range data of transmission, and the drive module is driven according to the range data so that it is described equipped with the small of laser radar
Vehicle carries out avoidance operation.
2. the storage transportation system according to claim 1 based on laser radar trolley, which is characterized in that it is described equipped with
The trolley of laser radar is connect with the central data processing platform by wireless communication.
3. the storage transportation system according to claim 2 based on laser radar trolley, which is characterized in that it is described equipped with
The quantity of the trolley of laser radar is at least two.
4. the storage transportation system according to claim 3 based on laser radar trolley, which is characterized in that further include：With
The one-to-one timer of described at least two trolleies equipped with laser radar；
The timer is arranged on the corresponding trolley equipped with laser radar, with the corresponding data processing module
Communication connection, for sending time signal to the data processing module.
5. the storage transportation system according to claim 4 based on laser radar trolley, which is characterized in that at the data
Managing module is specially：Embedded board Raspberry Pi.
6. the storage transportation system according to claim 5 based on laser radar trolley, which is characterized in that at the data
Module is managed to communicate to connect with the drive module, it is specific for obtaining global navigation data from the central data processing platform
Including：
The data processing module is communicated to connect with the drive module, for being based on Data distributing from the central data
Global navigation data is obtained in processing platform.
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| CN109079736B (en) * | 2018-08-02 | 2022-02-22 | 广东工业大学 | ROS-based mobile robot platform control method and system |
| CN111580528A (en) * | 2020-05-28 | 2020-08-25 | 北京洺楠汇科技有限公司 | Intelligent trolley cluster |
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