CN109213172B - Multi-sensor logistics navigation system based on optical navigation device - Google Patents
Multi-sensor logistics navigation system based on optical navigation device Download PDFInfo
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- CN109213172B CN109213172B CN201811125540.7A CN201811125540A CN109213172B CN 109213172 B CN109213172 B CN 109213172B CN 201811125540 A CN201811125540 A CN 201811125540A CN 109213172 B CN109213172 B CN 109213172B
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- 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
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- 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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
Abstract
The invention relates to a multi-sensor logistics navigation system based on an optical navigation device, which comprises a laser beam, a logistics trolley and a radio frequency module, wherein the laser beam is arranged in the center of a road and is transmitted along the road, the logistics trolley runs on the road, the radio frequency module is arranged at the intersection of the two roads, the logistics trolley comprises a trolley body, wheels arranged at the bottom of the trolley body, optical navigation sensors arranged on four side walls of the trolley body and used for sensing the deviation angles of the laser beam and the trolley body, a radio frequency module arranged at the top of the trolley body, and a central processing unit connected with the optical navigation sensors, the wheels and the radio frequency. Compared with the prior art, the optical navigation sensor has the characteristic of low error, is different from inertial navigation, cannot generate larger accumulated error, ensures the passing of a plurality of logistics trolleys on a straight line by adopting a transparent lighting grid structure, reduces the complexity of building navigation supporting facilities and improves the bearing capacity of a navigation system.
Description
Technical Field
The invention relates to the technical field of logistics navigation, in particular to a multi-sensor logistics navigation system based on an optical navigation device.
Background
With the continuous advance of science and technology and the proposal of industry 4.0, the logistics system increasingly restricts the development of the social industrialization process. Logistics transportation is embodied in many aspects of production and life, and various fields such as factory workshops, product storage warehouses, transportation and classification of express delivery objects and the like all put higher and higher requirements on a logistics navigation system. Road sign, magnetism nail and inertial navigation are comparatively common in the present commodity circulation navigation field, but because the erection of magnetism nail and road sign needs the unsuitable later stage of planning earlier stage to reform transform, its accumulative error of inertial navigation is great in addition, need one end distance of interval to eliminate accumulative error, still a great deal of not enough.
At present, a novel logistics navigation system is urgently needed, has high precision and strong anti-interference capability, has low requirement on peripheral hardware supporting facilities, and is convenient to popularize and use.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a multi-sensor logistics navigation system based on an optical navigation device, which has accurate navigation and low cost.
The purpose of the invention can be realized by the following technical scheme: the utility model provides a many sensors commodity circulation navigation based on optical navigation device, this navigation includes the laser beam that sets up at road central authorities and propagate along the road, the commodity circulation dolly of traveling on the road and set up the radio frequency module at two road intersections, the commodity circulation dolly includes the automobile body, sets up the wheel at the automobile body bottom, sets up and be used for responding to laser beam and the optical navigation sensor of automobile body deviation angle on four lateral walls of automobile body, sets up the radio frequency module at the automobile body top and the central processing unit who all is connected with optical navigation sensor, wheel, radio frequency module.
Firstly, the invention can carry out radio frequency communication on each logistics trolley through the radio frequency module and the radio frequency module so as to determine the cargo information and the navigation information, and transmits the related navigation information to the central processing unit through the radio frequency module, and the central processing unit controls the direction of the wheels, thereby selecting the advancing direction of the logistics trolleys on the whole.
During the running process of the trolley, laser beams are injected from the optical navigation sensor on one side wall of the trolley and are emitted from the optical navigation sensor on the side wall opposite to the side wall, the two optical navigation sensors can detect that the laser beams are positioned at the positions of the optical navigation sensors when being injected, then the two positions are analyzed by the central processing unit, whether the advancing direction of the logistics trolley is deviated from the laser beam direction or not can be obtained, and if the deviation exists, the central processing unit controls the wheels to adjust until the advancing direction of the logistics trolley is superposed with the laser beam direction. Besides the function of straightening the vehicle body, the pose of the vehicle body can be adjusted. For example, when the vehicle body moves away from the center of the road, the laser beam irradiates one transparent lighting grid which is not at the center, for example, each optical navigation sensor has 13 transparent lighting grids, only when the laser beam is injected from the 7 th transparent lighting grid, the vehicle body moves along the center of the road, and if the laser beam is injected from other transparent lighting grids, the central processing unit adjusts the wheels, so that the vehicle body gradually moves to the center of the road.
The projections of two optical navigation sensors located on two opposite sides of the vehicle body onto a plane parallel to these two sides coincide.
The optical navigation sensor comprises a sensor frame, a transparent lighting grid which is arranged in parallel and vertically in the sensor frame, and an optical probe which is arranged at the top of the transparent lighting grid, wherein the optical probe is connected with a central processing unit, when laser beams irradiate on the transparent lighting grid, part of the laser beams continuously transmit forwards through the transparent lighting grid, and part of the laser beams diffract upwards to be sensed by the optical probe and detect light intensity. When a laser beam enters the transparent lighting grid, diffraction occurs in the transparent lighting grid, one part leaves the transparent lighting grid according to the original route, the rest part upwards propagates along the transparent lighting grid and is sensed by the optical probe, because a plurality of transparent lighting grids are distributed in parallel, and the gaps among the transparent lighting grids are ignored, the laser beam is always irradiated on one transparent lighting grid and is detected by the optical probe corresponding to the transparent lighting grid, and even if the laser beam is incident on different positions of the transparent lighting grid, the light intensity detected by the optical probe is different, when the optical probes positioned at the same position on two opposite sides detect laser with the same light intensity, the advancing direction of the trolley is proved to be completely the same as the direction of the laser beam, otherwise, deviation exists. The thickness of the transparent lighting grid is determined according to the resolution ratio, the transparent lighting grid is made of transparent materials, and the transparent lighting grid is made by adopting a multilayer coating process, so that the light paths of laser incident rays and laser emergent rays are basically kept unchanged.
And a condenser lens is arranged between the top of the transparent lighting grid and the optical probe, and the optical probe is arranged at the focus of the condenser lens. Set up the condensing lens, can be with light gathering to optical probe on, avoid the light intensity can't be responded to by optical probe.
The optical navigation sensor comprises a gland arranged at the top of the sensor frame and a light collection frame fixedly arranged at the bottom of the gland, the bottom of the light collection frame is abutted against the top of the sensor frame, and the condensing lens and the optical probe are arranged at the bottom of the light collection frame.
The light collecting frame is characterized in that a plurality of conical grooves are formed in the center of the bottom of the light collecting frame upwards, and the collecting lens and the optical probe are arranged in the conical grooves. The arrangement is that the condenser lens and the optical probe are arranged in a relatively closed space, so that the detected light is all from the laser beam, and the interference of stray light on the navigation system is avoided.
The wheels are universal wheels.
Compared with the prior art, the beneficial effects of the invention are embodied in the following aspects:
(1) the invention skillfully adopts the cooperation of the front and the rear novel optical navigation devices to realize the adjustment of the pose of the vehicle body, and realizes the multi-sensor logistics navigation system by matching with radio frequency. The complexity of building logistics navigation system supporting facilities is reduced, accumulated errors are eliminated, the stability of the navigation system is improved, the designed novel optical navigation device realizes accurate measurement of the vehicle body inclination angle and the offset distance, and breakthrough progress is achieved in the aspect of navigation.
(2) The invention skillfully adopts the front and the back optical navigation sensors to correct the pose of the vehicle body, and adopts the transparent lighting grid structure to match with the condensing lens and the photoelectric probe above the transparent lighting grid structure to judge the position with high resolution.
(3) The transparent lighting grid structure adopted by the invention ensures that a plurality of logistics trolleys pass on a straight line, reduces the complexity of building navigation supporting facilities and improves the bearing capacity of a navigation system.
(4) The invention improves the stability and the error-free performance of the system by matching the optical navigation sensor with the radio frequency, and ensures the stable operation of the system.
Drawings
Fig. 1 is an overall schematic diagram of a multi-sensor logistics navigation system based on a novel optical navigation device.
Fig. 2 is an isometric view of a logistics trolley of a multi-sensor logistics navigation system based on a novel optical navigation device.
Fig. 3 is an isometric view of an optical navigation sensor of a multi-sensor logistics navigation system based on a novel optical navigation device according to the invention.
Fig. 4 is a front view of an optical navigation sensor of a multi-sensor logistics navigation system based on a novel optical navigation device.
FIG. 5 is a schematic diagram of the tilt and alignment of the body of the logistics trolley.
FIG. 6 is a schematic diagram of the posture correction of the body of the logistics trolley.
FIG. 7 is a control flow chart of the navigation system of the present invention.
FIG. 8 is a block diagram of a navigation system of the present invention.
Wherein, 1 is a field; 2 is a laser beam; 3 is a radio frequency module; 4 is a material flow trolley, 41 is a trolley body; 42 is an optical navigation sensor; 43 is a wheel; 44 is a radio frequency module, 421 is a gland; 422 is a light collecting frame; 423 is a transparent lighting grid; 424 is a sensor stand; 425 is a photoelectric probe; 426 is a condenser lens.
Detailed Description
The following examples are given for the detailed implementation and specific operation of the present invention, but the scope of the present invention is not limited to the following examples.
Example 1
As shown in fig. 1-8, a multi-sensor logistics navigation system based on a novel optical navigation device comprises a laser beam 2, a radio frequency module 3, a logistics trolley 4 and a central processing unit, wherein the laser beam 2 is arranged in the center of each road of a field 1 in a direction parallel to the road, and the laser beam 2 is used for correcting the posture of a trolley body of the logistics trolley 4; the radio frequency module 3 is installed at each road intersection so as to perform radio frequency communication on each logistics trolley 4 to determine cargo information and navigation information.
As shown in fig. 2, the logistics trolley 4 comprises a trolley body 41, an optical navigation sensor 42, wheels 43 and a radio frequency module 44, wherein,
the radio frequency module 44 is arranged at the top of the vehicle body 41, and the central processor is in communication connection with the radio frequency module 3 through the radio frequency module 44;
as shown in fig. 2, the number of the optical navigation sensors 42 is 4, and the optical navigation sensors 42 are symmetrically arranged on the vehicle body 41 in pairs and opposite to each other, and the optical navigation sensors 42 detect the light intensity position of the laser beam 2 inside the vehicle body;
the central processor respectively judges the light intensity positions inside the two optical navigation sensors 42 at the relative positions to judge the pose deflection and offset conditions of the trolley so as to correct the pose of the logistics trolley.
As shown in fig. 3 and 4, an optical navigation sensor 42. The optical navigation sensor 42 comprises a gland 421, a light collection frame 422, a transparent lighting grid 423, a sensor frame 424, an optoelectronic probe 425 and a condenser lens 426; wherein, a plurality of transparent lighting grids 423 are distributed in parallel and installed inside the sensor frame 424; a light collection frame 422 is disposed at the upper opening of the sensor frame 424 corresponding to the upper side of the transparent lighting grid 423; a condenser lens 426 and a photoelectric probe 425 are arranged below the light collection frame 422 corresponding to the central axis of each transparent lighting grid 423, and the laser beams are condensed by the condenser lens 426 and then the photoelectric probe 425 detects the light intensity of each transparent lighting grid 423 to determine the laser irradiation position; a gland 421 is connected to the sensor frame 424 above the light collecting frame 422.
In order to ensure the passing of a plurality of logistics trolleys on a straight line, reduce the complexity of building navigation supporting facilities and improve the bearing capacity of a navigation system, the transparent lighting grid 423 determines the thickness of the transparent lighting grid 423 according to the resolution ratio and is made of transparent materials, and the film coating of the transparent lighting grid 423 has no influence on a laser light path.
As shown in fig. 5 and 6, the central processing unit of the system judges the deflection and offset degree of the vehicle body according to different positions of the transparent lighting grid 423 irradiated by the laser beam 2, so as to control the logistics trolley 4 to correct the vehicle body pose.
As shown in fig. 3 and 4, a conical window is formed below the light collecting frame 422 at the position corresponding to the central axis of each transparent lighting grid 423, and the condenser lens 426 and the photoelectric probe 425 are correspondingly arranged at the entrance of the conical window. The sensor frame 424 and the gland 421 are connected together by screws or bolts.
As shown in fig. 2, 5, and 6, four optical navigation sensors 42 are symmetrically disposed at the front and rear, left and right positions of the vehicle body 41, and the central processing unit determines the photosensitive positions of the front and rear optical navigation sensors 42 or the photosensitive positions of the left and right optical navigation sensors 42 to determine the pose deflection and offset of the trolley, so as to correct the pose of the logistics trolley.
In addition, this embodiment provides a logistics trolley navigation method of a multi-sensor logistics navigation system based on an optical navigation device, which adopts the multi-sensor logistics navigation system based on an optical navigation device provided above, and as shown in fig. 7 and fig. 8, a flow chart and a block diagram of a control system of the present invention are provided.
The method uses the optical navigation sensor 42 to determine the pose of the vehicle body 41 of the logistics trolley 4, the vehicle body 41 is straightened and then moves forward, and when meeting an intersection, the radio frequency communication is carried out to determine the navigation direction and then the next navigation process is carried out. The multi-sensor logistics navigation system determines the navigation direction through radio frequency communication, the central processing unit sends signals to the radio frequency module 3 of each intersection, and the radio frequency module 3 determines information of each logistics trolley 4 passing through the intersection; in the process of navigation and traveling of the logistics trolley 4, the position and posture of the trolley body are judged by an external laser beam 2 through two optical navigation sensors arranged in front of and behind the trolley body in the same direction, so that the trolley is controlled to adjust the position and posture to ensure linear traveling.
As shown in fig. 5 and 6, the method for correcting the pose of the logistics trolley specifically comprises the following steps:
it is assumed that two optical navigation sensors a and B in front and back of the same direction are both provided with N transparent lighting grids 423, where N is an integer greater than or equal to 2, and in this embodiment, N is an integer greater than 13;
the theoretical light intensity positions of two optical navigation sensors A and B in front of and behind the optical navigation sensors A and B in the same direction at a certain moment are respectively A13 and B13, namely, the laser beam irradiates the 13 th transparent lighting grid positions of the optical navigation sensors A and B;
when the position detected by the front optical navigation sensor A is on the left side of A13 and the position detected by the rear optical navigation sensor B is on the right side of B13, the situation shows that the whole vehicle body deflects anticlockwise around the central point of the axis and needs to be adjusted;
when the position detected by the front optical navigation sensor A is on the left side of A13, and the position detected by the rear optical navigation sensor B is on the left side of B13, the illumination positions of the front and rear optical navigation sensors A and B need to be detected specifically, and the positions A4 and B5 are assumed to be illuminated respectively, which indicates that the vehicle body is deflected while being tilted integrally, specifically, the vehicle body is deflected anticlockwise around the central point of the axis of the vehicle body, and the vehicle body is deflected towards the right side integrally, and needs to be adjusted;
similarly, the state of the position deflection and the offset of the trolley is judged by respectively judging the positions of the light intensity corresponding to the front and the back optical navigation sensors A and B or the positions of the light intensity corresponding to the left and the right optical navigation sensors, and the position of the logistics trolley is corrected.
The invention skillfully adopts the cooperation of the front and the rear optical navigation devices to realize the adjustment of the pose of the vehicle body, and realizes the multi-sensor logistics navigation system by matching with radio frequency. The complexity of building supporting facilities of the logistics navigation system is reduced, accumulated errors are eliminated, the stability of the navigation system is improved, the designed optical navigation device realizes accurate measurement of the vehicle body inclination angle and the offset distance, and the method has breakthrough progress in the aspect of navigation.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. The multi-sensor logistics navigation system based on the optical navigation device is characterized by comprising a laser beam (2) which is arranged in the center of a road and is transmitted along the road, a logistics trolley (4) which runs on the road and a radio frequency module (3) which is arranged at the intersection of the two roads, wherein the logistics trolley (4) comprises a trolley body (41), wheels (43) which are arranged at the bottom of the trolley body (41), optical navigation sensors (42) which are arranged on four side walls of the trolley body (41) and are used for sensing the deviation angle of the laser beam (2) and the trolley body (41), a radio frequency module (44) which is arranged at the top of the trolley body (41) and a central processing unit which is connected with the optical navigation sensors (42), the wheels (43) and the radio frequency module (44);
the projections of two optical navigation sensors (42) located on two opposite sides of the vehicle body (41) on a plane parallel to the two sides coincide;
the optical navigation sensor (42) comprises a sensor frame (424), a transparent lighting grid (423) which is arranged in parallel and vertically in the sensor frame (424), and an optical probe (425) which is arranged at the top of the transparent lighting grid (423), wherein the optical probe (425) is connected with a central processing unit, when a laser beam (2) irradiates on the transparent lighting grid (423), part of the laser beam continuously transmits forwards through the transparent lighting grid (423), and part of the laser beam diffracts upwards to be sensed by the optical probe (425) and detects the light intensity.
2. The optical navigation device-based multi-sensor logistics navigation system of claim 1, wherein a condenser (426) is arranged between the top of the transparent lighting grid (423) and the optical probe (425), and the optical probe (425) is arranged at the focus of the condenser (426).
3. The optical navigation device-based multi-sensor logistics navigation system of claim 2, wherein the optical navigation sensor (42) comprises a gland (421) arranged at the top of the sensor frame (424), and a light collection frame (422) fixedly arranged at the bottom of the gland (421), the bottom of the light collection frame (422) is abutted against the top of the sensor frame (424), and the condenser lens (426) and the optical probe (425) are arranged at the bottom of the light collection frame (422).
4. The optical navigation device-based multi-sensor logistics navigation system of claim 3, wherein the light collection frame is provided with a plurality of tapered grooves upwards at the bottom center, and the condenser lens (426) and the optical probe (425) are arranged in the tapered grooves.
5. The optical navigation device-based multi-sensor logistics navigation system of claim 1, wherein the wheels (43) are universal wheels.
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