CN111061260A - Automatic container transfer control method based on automatic driving coarse alignment and two-dimensional image fine alignment - Google Patents
Automatic container transfer control method based on automatic driving coarse alignment and two-dimensional image fine alignment Download PDFInfo
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Abstract
The invention discloses a container automatic transfer control method based on automatic driving coarse alignment and two-dimensional image fine alignment, which comprises the steps of firstly obtaining position information of a container when alignment operation is carried out, and walking to a container area by utilizing an automatic driving mode to complete coarse alignment; then, fine alignment is carried out in an image recognition alignment mode until the butt joint between the unmanned equipment and the container is completed. The invention has the advantages of simple principle, wide application range, accurate butt joint and the like.
Description
Technical Field
The invention mainly relates to the field of logistics, express delivery and storage, in particular to a container automatic transfer control method based on automatic driving coarse alignment and two-dimensional image fine alignment, which is suitable for unmanned equipment.
Background
With the rapid development of logistics and express delivery, the method brings new changes to the way of human life. With the increasing dependence of human beings on logistics and express delivery, more requirements are put on the efficiency and cost of the logistics and express delivery industry. At present, the proportion of the logistics cost to the total value of national production is higher than the level of developed countries. If the logistics distribution cost needs to be reduced, the number of people and vehicles in the whole logistics link needs to be reduced, the number of vehicles is temporarily reduced in an inappropriate way, and the reduction of the number of people can be considered. Ideally, the entire logistics process is replaced by machines, especially unmanned intelligent devices.
In the logistics and express delivery industries, in order to improve the delivery efficiency, multiple levels of warehouses are usually set, and logistics packages are transported among the warehouses until the logistics packages are delivered to the hands of users. The interaction between the transfer vehicle and the warehouse is manually completed by people, and the logistics packages are moved from the warehouse to the transfer vehicle one by one or unloaded from the transfer vehicle to the warehouse by using manpower.
In the interaction process between the transfer vehicle and the warehouse, a lot of manpower participates, so that the logistics cost is high, especially, a large error rate and a certain damage rate exist in the manual link, the controllability and the observability of goods in the whole logistics link can not be ensured, and the real-time management and monitoring of the whole process can be realized in a real sense. In order to improve the logistics efficiency and reduce the cost, many logistics companies have tried to adopt mechanical arms to automatically sort in the warehouse, so as to reduce the manpower and the logistics cost.
In addition, some logistics companies try to realize transportation and terminal distribution by using distribution robots, which can reduce the number of people for terminal logistics distribution; there are also logistics companies that try to transport between warehouses using unmanned vehicles to reduce the demand on drivers during the transport. In summary, in order to reduce the number of people in the logistics process and reduce the logistics cost, in the prior art, unmanned transformation is performed on many processes and links of logistics, but the process of loading and unloading goods carried by unmanned vehicles in a warehouse is still completed by manpower.
However, in the whole logistics link, no better solution is provided for the butt joint between devices, especially between unmanned intelligent devices, and the transfer of goods, and the real full-flow unmanned management cannot be realized.
The butt joint of unmanned aerial vehicle and packing box need be accomplished to the packing box at the transfer in-process, and generally only lean on the walking ability cooperation packing box's of unmanned aerial vehicle self positional information to aim at whole in-process traditional mode, but this kind of alignment mode of only depending on two positional information, under many occasions, can cause the position that the walking reaches and actual alignment demand to produce the error, and the accuracy of aiming at promptly often is not enough to can't guarantee the reliable transportation of packing box.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems in the prior art, the invention provides the automatic transfer control method of the container based on automatic driving coarse alignment and two-dimensional image fine alignment, which has the advantages of simple principle, wide application range and capability of realizing accurate butt joint.
In order to solve the technical problems, the invention adopts the following technical scheme:
a cargo box automatic transfer control method based on automatic driving coarse alignment and two-dimensional image fine alignment is characterized in that when alignment operation is carried out, position information of a cargo box is obtained first, and the cargo box travels to a cargo box area in an automatic driving mode to complete coarse alignment; then, fine alignment is carried out in an image recognition alignment mode until the butt joint between the unmanned equipment and the container is completed.
As a further improvement of the invention: the process is as follows:
step S1: entering an alignment area, and acquiring a container target parameter;
step S2: setting tolerable error parameters of coarse alignment and fine alignment;
step S3: carrying out coarse alignment by using an automatic driving system;
step S4: after the movement is in place, if the error is within the tolerable error range of the coarse alignment, the next step is carried out; otherwise, repeating the previous step;
step S5: carrying out fine alignment by using an image fine alignment system;
step S6: after the movement is in place, if the error is within the tolerable error range of the fine alignment, the next step is carried out, otherwise, the previous step is repeated;
step S7: the container is automatically moved to the platform to be docked.
As a further improvement of the invention: the container target parameters refer to coordinates and attitude parameters when the container is ready to be aligned.
As a further improvement of the invention: the method comprises the steps of roughly aligning by using an automatic driving system, namely determining the position of an unmanned vehicle-mounted container by using a positioning system of the automatic driving system, acquiring surrounding obstacle information through an environment sensing system, planning a route through a planning decision system, sending a path instruction to a control system, and finally conveying the container to a target address.
As a further improvement of the invention: the image fine alignment system adopts a monocular camera to detect a target or a multi-view camera to detect a target, and obtains pose information.
As a further improvement of the invention: and arranging a pattern with a known shape on a known position of the object to be butted, identifying the pattern with the known shape through an image acquisition device, and determining coordinates in a reference coordinate system by using the characteristic points on the pattern to serve as aligned reference coordinates.
As a further improvement of the invention: the packing box is fixedly connected with the car body by utilizing a six-degree-of-freedom platform, and the upper plane of the six-degree-of-freedom platform is fixedly connected with a packing box guide rail; the container is connected with the guide rail through the moving wheel; the container and the container guide rail are not connected with the vehicle body; the motion of the six-degree-of-freedom platform is finally transmitted to the container through the container guide rail, when the container does not actively move, the six-degree-of-freedom platform is fixedly connected with the container, and the posture of the six-degree-of-freedom platform is consistent with that of the container.
As a further improvement of the invention: the ball hinge is matched with a plurality of electric cylinders to form an attitude stabilizing mechanism, a container is connected with a container guide rail, the container guide rail is fixedly connected with a platform, and the platform is connected with a vehicle body through the ball hinge and the electric cylinders of the ball hinge; the driver of the electric cylinder is connected with a vehicle controller, and a cargo box posture measuring device is arranged on the platform.
Compared with the prior art, the invention has the advantages that: the automatic container transfer control method based on automatic driving coarse alignment and two-dimensional image fine alignment is simple in principle and wide in application range, adopts a two-stage alignment mode, can greatly improve the fault-tolerant rate of unmanned equipment, improves the alignment precision, ensures the stability and reliability in the butt joint process and the container switching process, and finally can realize real full-flow unmanned management in the whole logistics link.
Drawings
FIG. 1 is a schematic flow diagram of the process of the present invention.
Fig. 2 is a schematic view of a six degree of freedom adjustment function container in a specific application example of the invention.
FIG. 3 is a schematic diagram of the coordinate system of the target position of the cargo box in the specific application example of the invention.
Fig. 4 is a schematic diagram of the relationship between the coordinate system of the cargo box and the coordinate system of the camera in the embodiment of the invention.
Fig. 5 is a schematic view of an unmanned vehicle entering an alignment area in a specific application example of the present invention.
Fig. 6 is a schematic diagram of coarse alignment of the unmanned vehicle with the platform in a specific application example of the present invention.
Fig. 7 is a schematic diagram of fine alignment of an unmanned vehicle in a specific application example of the invention.
FIG. 8 is a schematic diagram of the automatic transfer of the container in the specific application example of the present invention.
Fig. 9 is a schematic view of a container employing a position stabilizing mechanism in another embodiment of the invention.
Detailed Description
The invention will be described in further detail below with reference to the drawings and specific examples.
As shown in fig. 1, the automatic cargo box transfer control method based on the automatic driving coarse alignment and the two-dimensional image fine alignment of the present invention is suitable for various intelligent logistics devices, especially for autonomous walking unmanned logistics devices. The following takes an unmanned logistics vehicle as an example, and after the control method of the invention is adopted, the steps are as follows when the alignment operation is carried out:
step S1: entering an alignment area, and acquiring a container target parameter;
step S2: setting tolerable error parameters of coarse alignment and fine alignment;
step S3: carrying out coarse alignment by using an automatic driving system;
step S4: after the movement is in place, if the error is within the tolerable error range of the coarse alignment, the next step is carried out; otherwise, repeating the previous step;
step S5: carrying out fine alignment by using an image fine alignment system;
step S6: after the movement is in place, if the error is within the tolerable error range of the fine alignment, the next step is carried out, otherwise, the previous step is repeated;
step S7: the container is automatically moved to the platform to be docked.
In the above process, the container target parameters refer to parameters such as coordinates (in a certain coordinate system) when the container is ideally ready to be aligned and postures of the container, which can describe the container target pose
In the process, an automatic driving system is used for carrying out coarse alignment, and the method is characterized in that the positioning system of the automatic driving system is used for determining the position of the unmanned vehicle-mounted container, the surrounding obstacle information is obtained through an environment sensing system, then a route is planned through a planning decision system, a path instruction is sent to a control system, and finally the container is conveyed to a target address.
In the above process, after the coarse alignment is completed, the constraint can be completed by reasonably configuring the coarse alignment parameters to ensure that the fine image alignment system can normally detect.
In the above process, in the step S5, the image fine-alignment system is used for fine alignment, and a core algorithm of the fine-alignment system is to use a monocular camera to detect a target, so as to acquire pose information. In this example, a monocular camera is used to detect the target, and the principle and process are as follows:
assuming that the camera is mounted on the cargo box, the camera is fixedly connected to the cargo box, so the camera coordinate system (O)cXcYcZc) To the container coordinate system (O)hXhYhZh) The conversion relationship of (a) can be known by measurement.
Assuming that the camera has been calibrated before use, i.e. the intrinsic moments of the cameraThe array A is known. If the platform to be docked has a pattern of known shape (adding a checkerboard) in a known position. The characteristic points on the pattern are in the reference coordinate system (O)wXwYwZw) The coordinates of the lower are known. The reference coordinate system may be exemplified by a world coordinate system.
The camera coordinate system and the reference coordinate system can then be expressed as follows:
according to the camera calibration principle, the following can be obtained:
since the intrinsic parameter matrix A of the camera is known, R can be solved with at least 5 feature points3×3And T3×1Each feature point can be given 3 equations.
To obtain R3×3And T3×1R is also knownchAnd Tch. Thus, combining (formula 1) and (formula 2), R in the formulawhAnd TwhThe solution is obtained.
By RwhThree attitude angles (θ, γ, ψ) of the container with respect to the reference coordinate system can be found:
Twhare the three offsets (x, y, z) of the container relative to the reference coordinate system.
If the reference coordinate system is a container coordinate system of the target container position, the three attitude angles obtained above are the difference value between the current attitude of the container and the target attitude; the three offsets obtained above are the displacement difference between the current position of the container and the current position.
In a specific application, the image fine alignment system can comprise a detection subsystem and a motion subsystem according to actual needs. The detection subsystem may be arranged on the cargo box to detect a special pattern on the platform to be aligned; or may be arranged on the platform to be aligned to detect a particular pattern on the container. The motion subsystem may or may not be located on the vehicle. If the detection and motion subsystems are not on the container or the belt alignment platform at the same time, wireless communication means are required to connect the detection subsystem to the motion subsystem.
In one embodiment, as shown in fig. 2, the cargo box can be adjusted with six degrees of freedom. The six-degree-of-freedom platform is fixedly connected with the vehicle body, and the upper plane of the six-degree-of-freedom platform is fixedly connected with the container guide rail. The container is connected with the guide rail through the moving wheel. The container and the container guide rail are not connected with the vehicle body. Thus, the motion of the six degree of freedom platform may be ultimately transferred to the cargo box through the cargo box rails. Therefore, when the container does not actively move, the six-degree-of-freedom platform is fixedly connected with the container, and the posture of the six-degree-of-freedom platform is consistent with that of the container. The container is provided with angle measuring equipment, and the angle of the container can be measured in real time. Referring to fig. 5-8, the states of the unmanned vehicle entering the alignment area, the unmanned vehicle roughly aligning with the platform, the unmanned vehicle precisely aligning with the platform, and the cargo box automatically transferring are respectively illustrated.
The positioning precision of the automatic driving of the unmanned vehicle is 0.1m, and the motion ranges of the six-freedom-degree motion platforms x, y, z, theta, gamma and psi are +/-0.06 m, +/-5 degrees and +/-5 degrees respectively.
Step S1: firstly, enabling an unmanned vehicle to automatically drive to an alignment area, and obtaining coordinates (0, 0, 0) of a target position of a container and a target posture (0, 0, 0); origin O of coordinate system of target position of cargo boxeAt the lower left corner of the side where the cargo box contacts the belt alignment platform, XeThe direction is consistent with the advancing direction of the vehicle; zeVertically upwards, Ye、Xe、ZeAccording with the right-hand rule. Referring to fig. 3, a schematic diagram of a container target position coordinate system is shown.
Step S2: setting a coarse alignment tolerable error δ xc＝0.1m，δyc＝0.1m，δzc0.1m, regardlessAn angle error; setting a fine alignment tolerable error deltaxc＝0.05m，δyc＝0.05m，δzc＝0.05m，δθc＝1°，δγc＝1°，δψc＝1°。
Step S3: the unmanned vehicle advances to a target position (0, 0, 0) by using an automatic driving system;
step S4: after the coarse movement is in place, the positioning system displays that the position of the container in the container target coordinate system is (0.09, 0.05, 0.02), and the requirement of coarse alignment is met.
Step S5: and detecting the checkerboard on the alignment platform through a camera arranged at the origin of the container coordinate system. Referring to fig. 4, the container coordinate system and the camera coordinate system are related as follows:
the transfer matrix from the camera coordinate system to the container coordinate system can be calculated as follows:
therefore, the temperature of the molten metal is controlled,
the length of the side of the checkerboard is 5 cm, and the coordinates of the corner points of the checkerboard in the container target coordinate system are completely known. Assuming a total of four lattices, 2 white lattices and 2 black lattices, there are 9 known points.
In this embodiment, the coordinates of the 9 known points in the target coordinate system of the cargo box are (0.05, -0.05, -0.05), (0.1, -0.05, -0.05), (0.15, -0.05, -0.05), (0.05, -0.05, -0.1), (0.1, -0.05, -0.1), (0.15, -0.05, -0.1), (0.05, -0.05, -0.15), (0.1, -0.05, -0.15), (0.15, -0.05, -0.15) and (0.05, -0.15), respectively.
After the coordinates of the 9 points in the image coordinate system are obtained, the coordinates (0.06, 0.03, 0.01) of the origin of the container coordinate system in the container target coordinate system and the attitude angles θ, γ, ψ of the container can be finally calculated to be 3 °, -2 °, 1 °, respectively, in combination with the internal parameter matrix a of the camera and the transfer matrix of the camera coordinate system to the container coordinate system.
Therefore, compared with the target position and the target posture, the control command of the six-freedom-degree mechanism can be obtained and wound around the container coordinate system YhThe shaft rotates anticlockwise by 2 DEG around XhThe shaft rotates clockwise by 3 DEG around ZhThe shaft rotates clockwise 1. Coordinate system X of packing boxhMoving 0.06m to Y in the negative direction of the shafthThe axis moves 0.03m in the negative direction and goes to ZhThe axis moves 0.01m in the negative direction. It is to be understood that the command is not limited and depends on different six-free systems, which is only one implementation method, and other ways are possible.
Step S6: after the six-degree-of-freedom platform moves in place, the coordinate of the origin of the container coordinate system in the container target coordinate system is detected again to be (0.01, 0.00 and 0.00) by using the monocular system, and the attitude angle of the container is (-0.1 degrees, 0.2 degrees and 0.1 degrees). Satisfying the criterion deltax of fine alignmentc＝0.05m，δyc＝0.05m，δzc＝0.05m，δθc＝1°，δγc＝1°，δψc＝1°。
Step S7: the container is automatically walked onto the platform to be aligned.
In other embodiments, referring to fig. 9, the six-degree-of-freedom adjusting mechanism may be replaced by a posture stabilizing mechanism in which four electric cylinders are engaged with a spherical hinge, the cargo box is connected to the cargo box guide rail, the cargo box guide rail is fixedly connected to the platform, and the platform is connected to the vehicle body through a large spherical hinge and four electric cylinders with double-headed spherical hinges. The drivers of the four electric cylinders are connected with a vehicle controller, and a cargo box attitude measuring device is arranged on the platform.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.
Claims (8)
1. A cargo box automatic transfer control method based on automatic driving coarse alignment and two-dimensional image fine alignment is characterized in that when alignment operation is carried out, position information of a cargo box is obtained first, and the cargo box travels to a cargo box area in an automatic driving mode to complete coarse alignment; then, fine alignment is carried out in an image recognition alignment mode until the butt joint between the unmanned equipment and the container is completed.
2. The automatic cargo box transfer control method based on automatic driving coarse alignment and two-dimensional image fine alignment as claimed in claim 1, wherein the process is as follows:
step S1: entering an alignment area, and acquiring a container target parameter;
step S2: setting tolerable error parameters of coarse alignment and fine alignment;
step S3: carrying out coarse alignment by using an automatic driving system;
step S4: after the movement is in place, if the error is within the tolerable error range of the coarse alignment, the next step is carried out; otherwise, repeating the previous step;
step S5: carrying out fine alignment by using an image fine alignment system;
step S6: after the movement is in place, if the error is within the tolerable error range of the fine alignment, the next step is carried out, otherwise, the previous step is repeated;
step S7: the container is automatically moved to the platform to be docked.
3. The method for controlling automatic transfer of a cargo box based on automatic coarse alignment and two-dimensional image fine alignment as claimed in claim 2, wherein the cargo box target parameters are coordinates and attitude parameters of the cargo box when the cargo box is ready to be aligned.
4. The automatic cargo box transfer control method based on automatic driving coarse alignment and two-dimensional image fine alignment as claimed in claim 2, wherein the automatic driving system is used for performing coarse alignment, that is, a positioning system of the automatic driving system is used for determining the position of an unmanned vehicle-mounted cargo box, surrounding obstacle information is obtained through an environment sensing system, then a route is planned through a planning decision system, a path instruction is sent to a control system, and finally the cargo box is transported to a target address.
5. The automatic cargo box transfer control method based on automatic driving coarse alignment and two-dimensional image fine alignment as claimed in claim 1, 2, 3 or 4, wherein the image fine alignment system adopts a monocular camera to detect a target or a monocular camera to detect a target, and acquires pose information.
6. The automatic cargo box transfer control method based on automatic driving coarse alignment and two-dimensional image fine alignment as claimed in claim 5, wherein a pattern with a known shape is arranged on a known position of an object to be docked, the pattern with the known shape is recognized by the image capturing device, and coordinates in a reference coordinate system are determined by using feature points on the pattern, and are used as reference coordinates for alignment.
7. The automatic cargo box transfer control method based on automatic driving coarse alignment and two-dimensional image fine alignment as claimed in claim 1, 2, 3 or 4, characterized in that a cargo box is fixedly connected with a vehicle body by using a six-degree-of-freedom platform, and the upper plane of the six-degree-of-freedom platform is fixedly connected with a cargo box guide rail; the container is connected with the guide rail through the moving wheel; the container and the container guide rail are not connected with the vehicle body; the motion of the six-degree-of-freedom platform is finally transmitted to the container through the container guide rail, when the container does not actively move, the six-degree-of-freedom platform is fixedly connected with the container, and the posture of the six-degree-of-freedom platform is consistent with that of the container.
8. The automatic cargo box transfer control method based on automatic driving coarse alignment and two-dimensional image fine alignment as claimed in claim 1, 2, 3 or 4, characterized in that a posture stabilizing mechanism is formed by a plurality of electric cylinders matched by a spherical hinge, a cargo box is connected with a cargo box guide rail, the cargo box guide rail is fixedly connected with a platform, and the platform is connected with a vehicle body through the electric cylinders of the spherical hinge and the spherical hinge; the driver of the electric cylinder is connected with a vehicle controller, and a cargo box posture measuring device is arranged on the platform.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111258260A (en) * | 2020-04-26 | 2020-06-09 | 北京主线科技有限公司 | Vehicle information interaction system and control method thereof |
| CN111856538A (en) * | 2020-06-18 | 2020-10-30 | 北京九曜智能科技有限公司 | Real-time dynamic self-adaptive path planning method for automatic driving |
| CN113401550A (en) * | 2020-05-27 | 2021-09-17 | 新石器慧通（北京）科技有限公司 | Logistics equipment |
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| CN111061260B (en) | 2023-07-21 |
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