CN111301259A - Automatic butt-joint filling system and method for transport vehicle and truck and computer storage medium - Google Patents
Automatic butt-joint filling system and method for transport vehicle and truck and computer storage medium Download PDFInfo
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- CN111301259A CN111301259A CN202010280933.6A CN202010280933A CN111301259A CN 111301259 A CN111301259 A CN 111301259A CN 202010280933 A CN202010280933 A CN 202010280933A CN 111301259 A CN111301259 A CN 111301259A
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- transport vehicle
- hoisting module
- truck
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
- B60P1/54—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading using cranes for self-loading or self-unloading
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
Abstract
The invention relates to the field of vehicle driving, and provides an automatic butt-joint filling system, method and computer storage medium for a transport vehicle and a truck, wherein the system comprises a parking guide detection subsystem, a hoisting module positioning detection subsystem and a control subsystem for controlling a manipulator of a crane, and the parking guide detection subsystem comprises a monitoring camera, a processor, a display, a 16-line laser radar for acquiring three-dimensional contour data of the vehicle body of the transport vehicle and a first near-infrared camera for acquiring images of the transport vehicle; the hoisting module positioning detection subsystem comprises a second near-infrared camera, a near-infrared light source, a laser ranging sensor, a hoisting module target and a vehicle target; and the control subsystem controls the manipulator to load and unload the hoisting module according to the data of the parking guide detection subsystem and the hoisting module positioning detection subsystem. The invention can realize the auxiliary parking guidance, the positioning detection of the hoisting module and the automatic operation control of the truck.
Description
Technical Field
The invention relates to the field of vehicle driving, in particular to an automatic butt-joint filling system and method for a transport vehicle and a truck and a computer storage medium.
Background
Along with the continuous improvement of human cost, vehicle logistics enterprises need to strengthen innovation and reform in the places of reducing operation cost, improving operation efficiency, lightening labor intensity of personnel and the like. However, the present butt-joint loading of the transport vehicle and the truck generally adopts a manual operation mode, which cannot realize the automatic butt-joint loading and unloading of goods, and has high labor cost and high labor intensity.
Disclosure of Invention
In view of the above problems, the present invention provides an automatic docking and loading system, method and computer storage medium for a transport vehicle and a truck.
The purpose of the invention is realized by adopting the following technical scheme:
the embodiment of the first aspect of the invention provides an automatic butt-joint filling system for a transport vehicle and a truck, wherein hoisting modules are arranged on the transport vehicle and the truck, a crane is further arranged on the truck, the system comprises a parking guide detection subsystem, a hoisting module positioning detection subsystem and a control subsystem for controlling a manipulator of the crane, the parking guide detection subsystem comprises a monitoring camera, a processor, a display, a 16-line laser radar for acquiring three-dimensional contour data of a vehicle body of the transport vehicle and a first near-infrared camera for acquiring images of the transport vehicle, and the 16-line laser radar, the first near-infrared camera, the monitoring camera and the display are all connected with the processor;
the processor performs data fusion processing on the three-dimensional outline data of the vehicle body and the images of the transport vehicle acquired by the first near-infrared camera to obtain real-time azimuth and distance information of the transport vehicle relative to the truck, determines guide data according to the real-time azimuth and distance information, combines the guide data with the monitoring real-time images acquired by the monitoring camera, and sends the guide data and the monitoring real-time images to the display for displaying, so that the transport vehicle is guided to stop in a specified range of the truck;
the processor is also used for acquiring the current position and distance information of the transport vehicle relative to the truck according to the current three-dimensional contour data of the vehicle body and the current image of the transport vehicle when the transport vehicle stops in the specified range of the truck, and sending the current position and distance information to the control subsystem;
the hoisting module positioning detection subsystem comprises a second near-infrared camera, a near-infrared light source, a laser ranging sensor, a hoisting module target and a vehicle target, and the second near-infrared camera and the laser ranging sensor are connected with the control subsystem;
the second near-infrared camera is used for shooting the hoisting module, the hoisting module target and the vehicle target to obtain a shot image;
and the control subsystem calculates and analyzes the shot image to obtain real-time position information of the hoisting module, and controls the manipulator to load and unload the hoisting module according to the current azimuth and distance information, the sensing information of the laser ranging sensor and the real-time position information.
According to a mode that can be realized in the first aspect of the present invention, data fusion processing is performed on the three-dimensional contour data of the vehicle body and the image of the transport vehicle acquired by the first near-infrared camera, so as to obtain real-time azimuth and distance information of the transport vehicle relative to the truck, and the method specifically includes:
carrying out interference background filtering on the three-dimensional contour data of the vehicle body;
extracting an interested area of a transport vehicle image acquired by a first near-infrared camera, and extracting three-dimensional point cloud data corresponding to 16-line laser radar scanning in the interested area;
and carrying out data fusion processing on the three-dimensional point cloud data and the three-dimensional outline data of the vehicle body.
According to a mode of the first aspect of the present invention, the second near-infrared camera, the near-infrared light source, and the laser ranging sensor are disposed at the end of the crane in an integral module, and the module for controlling the manipulator to load and unload the hoisting module includes:
controlling the manipulator to take a hoisting module on the transport vehicle;
controlling the manipulator to place the hoisting module on the transport vehicle on a truck;
controlling the manipulator to take a hoisting module on the truck;
and controlling the manipulator to place the hoisting module on the truck on the transport vehicle.
According to an implementation manner of the first aspect of the present invention, the controlling the manipulator to pick up the hoisting module on the transport vehicle specifically performs:
calculating the coordinates of the positioning photographing position of the hoisting module on the transport vehicle according to the current azimuth and distance information, and controlling the crane to move to the position corresponding to the coordinates of the positioning photographing position of the hoisting module;
controlling the second near-infrared camera to take a picture to obtain an image, and obtaining the actual position of the hoisting module on the transport vehicle through image processing calculation;
and controlling the crane to move to the actual position, receiving the relative distance information of each point on the hoisting module on the transport vehicle measured by the laser ranging sensor, calculating the inclination angle of the hoisting module on the transport vehicle according to the plane relative position of each point, and positioning and butt joint of the manipulator and the hoisting module on the transport vehicle according to the inclination angle.
According to an implementation manner of the first aspect of the present invention, the controlling the manipulator to pick up the hoisting module on the transport vehicle further specifically performs: and after the positioning butt joint, controlling the display to display prompt information for prompting the completion of automatic positioning of the hoisting module.
According to one possible implementation manner of the first aspect of the invention, the first near-infrared camera and the second near-infrared camera both employ near-infrared cameras with a spectrum band of 850 nm.
The invention provides an automatic butt-joint loading method of a transport vehicle and a truck, wherein the transport vehicle and the truck are both provided with hoisting modules, the truck is also provided with a crane, the tail end of the crane is provided with a second near-infrared camera, a near-infrared light source, a laser ranging sensor, a hoisting module target and a vehicle target,
the method comprises the following steps:
the control subsystem receives current direction and distance information sent by the processor, wherein the processor receives vehicle body three-dimensional contour data of a transport vehicle acquired by a 16-line laser radar and transport vehicle image data acquired by a first near-infrared camera; the processor performs data fusion processing on the three-dimensional outline data of the vehicle body and the image data of the transport vehicle to obtain real-time direction and distance information of the transport vehicle relative to the truck; the processor determines guide data according to the real-time azimuth and distance information, combines the guide data with the monitoring real-time image collected by the monitoring camera, and sends the guide data to the display for displaying; when the current real-time azimuth and distance information is consistent with the real-time azimuth and distance information obtained last time, the processor sends the current azimuth and distance information to the control subsystem;
the control subsystem calculates the coordinates of the positioning photographing position of the hoisting module on the transport vehicle according to the current azimuth and distance information, and controls the crane to move to the position corresponding to the coordinates of the positioning photographing position of the hoisting module;
the control subsystem controls a second near-infrared camera to shoot the hoisting module, the hoisting module target and the vehicle target to obtain shot images, and the actual position of the hoisting module on the transport vehicle is obtained through image processing calculation;
the control subsystem controls the crane to move to the actual position, receives the relative distance information of each point on the hoisting module on the transport vehicle measured by the laser ranging sensor, calculates the inclination angle of the hoisting module on the transport vehicle according to the plane relative position of each point, and controls the manipulator and the hoisting module on the transport vehicle to carry out positioning butt joint according to the inclination angle.
According to an implementation manner of the second aspect of the present invention, the data fusion processing of the three-dimensional contour data of the vehicle body and the image data of the transportation vehicle by the processor specifically includes:
the processor carries out interference background filtering on the three-dimensional contour data of the vehicle body;
the processor extracts an interested area of a transport vehicle image acquired by a first near-infrared camera, and extracts three-dimensional point cloud data corresponding to 16-line laser radar scanning in the interested area;
and the processor performs data fusion processing on the three-dimensional point cloud data and the three-dimensional outline data of the vehicle body.
According to an enabling manner of the second aspect of the invention, the method further comprises the steps of:
the control subsystem controls a crane with a hoisting module to move above the truck;
the control subsystem shoots a vehicle target image of the truck through the second near-infrared camera, and calculates the plane positioning position of the hoisting module by utilizing the mutual relation of the targets;
the control subsystem controls the crane to move above the plane positioning position of the hoisting module;
and the control subsystem controls the manipulator of the crane to place the hoisting module on the plane positioning position of the hoisting module.
A third aspect of the invention provides a computer storage medium having stored thereon a computer program which, when executed by a processor, performs the method of automated docking loading of a transporter and a truck as described above.
The invention has the beneficial effects that: the invention is a butt-joint loading system of a transport vehicle and a truck, which consists of a parking guide detection subsystem, a hoisting module positioning detection subsystem and a control subsystem for controlling a manipulator of the crane, and can realize auxiliary parking guide, hoisting module positioning detection and automatic operation control of the truck. The system and the method for butt-joint filling of the transport vehicle and the truck have the advantages of all-weather work, quick positioning, high-precision detection and automatic butt joint.
Drawings
The invention is further illustrated by means of the attached drawings, but the embodiments in the drawings do not constitute any limitation to the invention, and for a person skilled in the art, other drawings can be obtained on the basis of the following drawings without inventive effort.
FIG. 1 is a schematic diagram of a structural connection of an automated docking loading system for a transport vehicle and truck in accordance with an exemplary embodiment of the present invention;
FIG. 2 is a schematic illustration of an installation location of a parking guidance detection subsystem in accordance with an exemplary embodiment of the present invention;
FIG. 3 is a schematic illustration of the detection range of the parking guidance detection subsystem in accordance with an exemplary embodiment of the present invention;
FIG. 4 is a schematic view of the installation location of the hoist module positioning detection subsystem in accordance with an exemplary embodiment of the present invention;
fig. 5 is a schematic flow chart of an automatic docking and loading method for a transport vehicle and a truck according to an exemplary embodiment of the present invention.
Reference numerals:
the system comprises a parking guide detection subsystem 1, a hoisting module positioning detection subsystem 2 and a control subsystem 3.
Detailed Description
The invention is further described with reference to the following examples.
Referring to fig. 1 to 4, in a first aspect of the present invention, an embodiment provides an automatic docking and loading system for a transport vehicle and a truck, where the transport vehicle and the truck are both provided with hoisting modules, and the truck is further provided with a crane. The crane comprises a crane, a transport vehicle, two hoisting modules, a truck tail, a truck lifting device, a crane and a lifting device, wherein the two hoisting modules are symmetrically arranged on two sides of the tail of the transport vehicle according to the hoisting radius of the crane.
The system comprises a parking guide detection subsystem 1, a hoisting module positioning detection subsystem 2 and a control subsystem 3 for controlling a manipulator of the crane, wherein the parking guide detection subsystem 1 comprises a monitoring camera, a processor, a display, a 16-line laser radar for collecting three-dimensional outline data of a vehicle body of a transport vehicle and a first near-infrared camera for acquiring images of the transport vehicle, and the 16-line laser radar, the first near-infrared camera, the monitoring camera and the display are all connected with the processor;
the processor performs data fusion processing on the three-dimensional outline data of the vehicle body and the images of the transport vehicle acquired by the first near-infrared camera to obtain real-time azimuth and distance information of the transport vehicle relative to the truck, determines guide data according to the real-time azimuth and distance information, combines the guide data with the monitoring real-time images acquired by the monitoring camera, and sends the guide data and the monitoring real-time images to the display for displaying, so that the transport vehicle is guided to stop in a specified range of the truck;
the processor also acquires the current position and distance information of the transport vehicle relative to the truck according to the current three-dimensional contour data of the vehicle body and the current image of the transport vehicle when the transport vehicle stops in the specified range of the truck, and sends the current position and distance information to the control subsystem 3;
the hoisting module positioning detection subsystem 2 comprises a second near-infrared camera, a near-infrared light source, a laser ranging sensor, a hoisting module target and a vehicle target, and the second near-infrared camera and the laser ranging sensor are connected with the control subsystem 3;
the second near-infrared camera is used for shooting the hoisting module, the hoisting module target and the vehicle target to obtain a shot image;
and the control subsystem 3 calculates and analyzes the shot image to obtain real-time position information of the hoisting module, and controls the manipulator to load and unload the hoisting module according to the current azimuth and distance information, the sensing information of the laser ranging sensor and the real-time position information.
In this embodiment, because transport vechicle rear portion is unsmooth, and the volume is bigger again, transport vechicle outside characteristic information probably will change with time. In order to ensure that the automatic docking and loading system continuously and stably operates, is not interfered by an external environment and reduces the hardware cost, the parking guidance detection subsystem 1 in the embodiment adopts a 16-line laser radar, a first near-infrared camera and a monitoring camera to be combined, so that the requirements of all weather and possible vehicle body change work can be met.
In this embodiment, all there is the hoist and mount module on transport vechicle and the van, and wherein the hoist and mount module of transport vechicle does not have the goods, and the hoist and mount module of van has the goods, because the hoist and mount module has certain difference in height, will lead to the height that the near-infrared camera was shot inequality to need shoot the discernment to hoist and mount module, vehicle mark target, hoist and mount module mark target on transport vechicle and the van, calculate the position parameter who obtains the hoist and mount module in the manipulator coordinate system through image recognition algorithm.
In an implementation manner, the data fusion processing is performed on the three-dimensional contour data of the vehicle body and the image of the transport vehicle acquired by the first near-infrared camera to obtain real-time azimuth and distance information of the transport vehicle relative to the truck, and the method specifically includes:
carrying out interference background filtering on the three-dimensional contour data of the vehicle body;
extracting an interested area of a transport vehicle image acquired by a first near-infrared camera, and extracting three-dimensional point cloud data corresponding to 16-line laser radar scanning in the interested area;
and carrying out data fusion processing on the three-dimensional point cloud data and the three-dimensional outline data of the vehicle body.
The method comprises the following steps of utilizing a three-dimensional data profile of a vehicle body obtained by a 16-line laser radar and an image of a transport vehicle collected by a near-infrared camera to perform data fusion, firstly calibrating the near-infrared camera, then calibrating the 16-line laser radar and the near-infrared camera in a combined manner to obtain calibration parameters and a mutual position relation of the two, and then utilizing the two to collect data fusion.
In one implementation manner, as shown in fig. 4, the second near-infrared camera, the near-infrared light source, and the laser ranging sensor are disposed at the end of the crane in an integral module, and the controlling of the manipulator loading and unloading hoisting module includes:
controlling the manipulator to take a hoisting module on the transport vehicle;
controlling the manipulator to place the hoisting module on the transport vehicle on a truck;
controlling the manipulator to take a hoisting module on the truck;
and controlling the manipulator to place the hoisting module on the truck on the transport vehicle.
Wherein, control the manipulator gets the hoist and mount module on the transport vechicle, specifically carries out:
calculating the coordinates of the positioning photographing position of the hoisting module on the transport vehicle according to the current azimuth and distance information, and controlling the crane to move to the position corresponding to the coordinates of the positioning photographing position of the hoisting module;
controlling the second near-infrared camera to take a picture to obtain an image, and obtaining the actual position of the hoisting module on the transport vehicle through image processing calculation;
and controlling the crane to move to the actual position, receiving the relative distance information of each point on the hoisting module on the transport vehicle measured by the laser ranging sensor, calculating the inclination angle of the hoisting module on the transport vehicle according to the plane relative position of each point, and positioning and butt joint of the manipulator and the hoisting module on the transport vehicle according to the inclination angle.
Further, control the manipulator gets the hoist and mount module on the transport vechicle, still specifically carry out: and after the positioning butt joint, controlling the display to display prompt information for prompting the completion of automatic positioning of the hoisting module.
The operation of placing the hoisting module on the truck is as follows: firstly, the hoisting position for placing the hoisting module is obtained, the position of the truck hoisting module is fixed, which hoisting module is taken away, and which hoisting module is left is known, so that the hoisting position of the hoisting module is obtained from the control subsystem 3. And taking the hoisting module away in the process of taking the hoisting module on the transport vehicle, obtaining the positioning position of the hoisting module, and then informing the control subsystem 3 to execute crane action control to move the crane with the hoisting module to the position above the truck. And shooting an image of the vehicle target by a near-infrared camera below the crane, calculating the plane positioning position of the hoisting module by utilizing the mutual relation between the targets, and repeatedly moving the crane position and shooting and calculating by the camera if the calculation precision is not met. And after the precision meets the requirement, the automatic positioning of the hoisting module is finished by outputting on a display control interface, and whether the alignment is accurate or not needs to be manually confirmed. And after the accurate alignment is confirmed, carrying out automatic hoisting module placing action.
The hoisting module of the truck has articles which need to be carried out. The operation of positioning the hoisting module on the truck is similar to the operation of taking the hoisting module on the transport vehicle, and the difference is that the position data of the hoisting module is obtained differently. Firstly, acquiring position data of a hoisting module of a truck, calculating a positioning and photographing position coordinate of the hoisting module according to the data, informing a control subsystem 3 to control a crane to move to a corresponding photographing position, photographing by a near-infrared camera to acquire an image, calculating the accurate position of the hoisting module through image processing, informing the control subsystem 3 to control the crane to move to the corresponding position again, wherein the position is also the working position of a laser ranging sensor, measuring the relative distance information of each point on the hoisting module by the laser ranging sensor, calculating the inclination angle of the hoisting module according to the plane relative position of each point, informing the control subsystem 3 to control the crane to move to the corresponding position again, finishing the whole automatic butt joint process at the moment, outputting the hoisting module on a display control interface, automatically positioning the hoisting module, and needing to manually confirm whether the alignment is accurate. And after the accurate alignment is confirmed, carrying out automatic hoisting module placing action.
The operation of controlling the manipulator to place the hoisting module on the truck on the transport vehicle is similar to the operation of placing the hoisting module on the truck, and the difference is that the data source of the hoisting position of the hoisting module is different, and due to the limitation of the placement position of the hoisting module on the transport vehicle, the avoidance position compensation operation is required. The method comprises the steps of firstly obtaining the material taking and hoisting position of a hoisting module, taking away the hoisting module in the process of taking the hoisting module on a transport vehicle, and obtaining the inclination angle position of the material taking and hoisting. The inclination angle position is used for guiding and adjusting the posture of the camera, so that the camera and the shot surface are kept horizontal, and the position precision obtained by processing the camera image is ensured. Because the placement position of the hoisting module on the transport vehicle is limited, the target is arranged below the hoisting module, and when the action of alignment in physical installation is completed, the hoisting module can shield the target. Therefore, in order to avoid the problem during actual processing, a software-assisted offset positioning mode is adopted, the alignment is firstly carried out to a set offset position, and finally, the alignment during the placement of the hoisting module is completed by compensating the offset value.
In one implementation, the first near-infrared camera and the second near-infrared camera both employ near-infrared cameras in the 850nm spectrum. The near-infrared light source adopts 850nm near-infrared band light supplement.
Since the visible light camera needs to be irradiated by a visible light source at night, the light source irradiation is disordered due to the irradiation of a plurality of transport vehicle light sources. The infrared camera carries out recognition according to infrared imaging at night, the imaging precision of the transport vehicle is not high, the image contour is not clear, and accurate positioning cannot be carried out. The imaging quality precision of the low-light-level imaging camera is not high, and the low-light-level imaging camera cannot work in a completely black scene and can not be accurately positioned. The embodiment adopts the near-infrared camera with the spectrum band of 850nm, not only can the image be clearly formed under visible light, but also the image can be clearly formed by supplementing light through the near-infrared band of 850nm of a near-infrared light source at night, and the image can be shot in the daytime and at night by adopting the configuration.
The 16 laser radar adopts a TOF full waveform scheme and can scan and detect the 360-degree surrounding environment. When the model of the 16 laser radar is selected, according to the vehicle parking positioning measurement precision, the technical indexes to be considered comprise: scanning angle, scanning radius, measurement accuracy, angle resolution, measurement frequency and communication mode.
The 16-line laser radar, the first near-infrared camera and the monitoring camera are arranged on the tail side of the wagon carrier, the installation orientation is horizontal head-up view orientation, rear view images can be shot, and the position of the parking guidance detection subsystem 1 is as shown in fig. 2. 16 line laser radar, near-infrared camera, surveillance camera head all need can shoot the full transport vechicle, all weather can all work in the field of vision.
Furthermore, all parts of the parking guidance detection subsystem 1 can be combined and assembled into an assembly, and a protective shell is installed outside the assembly, so that the interference of the environment temperature, sewage and impurities in the driving process of the truck is reduced, and the environmental adaptability of the parking guidance detection subsystem 1 is improved. In order to ensure that the 16-line laser radar and the near-infrared camera can work normally in a low-temperature environment, a local heating module can be arranged in the parking guidance detection subsystem 1, and the environment temperature inside the parking guidance detection subsystem 1 is increased.
In a mode that can realize, the surveillance camera head adopts the full-color surveillance camera machine of day night to can 24 hours all-weather color monitoring make a video recording, still present the color image even under the dim light environment, and under the not enough or no light condition of illumination condition, can automatic light filling operation, realize real-time shooting color monitoring dynamic image. The model selection of the day and night full-color monitoring camera can be carried out according to color classification, definition, effective distance, lens size and focal length.
The hoisting module target is a target arranged on the hoisting module, and the vehicle target is a target arranged on a transport vehicle or a truck. In one implementation mode, the target is a circular pattern, black and red are circulated at intervals of 90 degrees, the diameter is 2cm, sufficient recognition rate and recognition accuracy are guaranteed, and the target is fixedly installed on a hoisting module, a truck and a transport vehicle in a printing mode. In order to ensure the positioning precision, two targets are arranged on one side of each hoisting module. The target positions on the truck and the transport vehicle are arranged on the same side as the target points on the hoisting module by taking the mounting hole of the hoisting module as a reference.
As shown in fig. 5, the second embodiment of the present invention provides an automatic docking and loading method for a transport vehicle and a truck, which is based on the above-mentioned automatic docking and loading system for a transport vehicle and a truck.
Wherein the transport vehicle and the truck are both provided with hoisting modules, the truck is also provided with a crane, the tail end of the crane is provided with a second near-infrared camera, a near-infrared light source, a laser ranging sensor, a hoisting module target and a vehicle target,
the method comprises the following steps:
the S1 control subsystem receives current direction and distance information sent by the processor, wherein the processor receives vehicle body three-dimensional contour data of a transport vehicle collected by the 16-line laser radar and transport vehicle image data acquired by the first near-infrared camera; the processor performs data fusion processing on the three-dimensional outline data of the vehicle body and the image data of the transport vehicle to obtain real-time direction and distance information of the transport vehicle relative to the truck; the processor determines guide data according to the real-time azimuth and distance information, combines the guide data with the monitoring real-time image collected by the monitoring camera, and sends the guide data to the display for displaying; when the current real-time azimuth and distance information is consistent with the real-time azimuth and distance information obtained last time, the processor sends the current azimuth and distance information to the control subsystem;
s2, the control subsystem calculates the coordinates of the positioning photographing position of the hoisting module on the transport vehicle according to the current azimuth and distance information, and controls the crane to move to the position corresponding to the coordinates of the positioning photographing position of the hoisting module;
s3, the control subsystem controls a second near-infrared camera to shoot the hoisting module, the hoisting module target and the vehicle target, a shot image is obtained, and the actual position of the hoisting module on the transport vehicle is obtained through image processing calculation;
s4, the control subsystem controls the crane to move to the actual position, receives the relative distance information of each point on the hoisting module on the transport vehicle measured by the laser ranging sensor, calculates the inclination angle of the hoisting module on the transport vehicle according to the plane relative position of each point, and controls the manipulator and the hoisting module on the transport vehicle to carry out positioning butt joint according to the inclination angle.
In an implementation manner, the data fusion processing of the three-dimensional contour data of the vehicle body and the image data of the transport vehicle by the processor specifically includes:
the processor carries out interference background filtering on the three-dimensional contour data of the vehicle body;
the processor extracts an interested area of a transport vehicle image acquired by a first near-infrared camera, and extracts three-dimensional point cloud data corresponding to 16-line laser radar scanning in the interested area;
and the processor performs data fusion processing on the three-dimensional point cloud data and the three-dimensional outline data of the vehicle body.
Further, the method further comprises the steps of:
the control subsystem controls a crane with a hoisting module to move above the truck;
the control subsystem shoots a vehicle target image of the truck through the second near-infrared camera, and calculates the plane positioning position of the hoisting module by utilizing the mutual relation of the targets;
the control subsystem controls the crane to move above the plane positioning position of the hoisting module;
and the control subsystem controls the manipulator of the crane to place the hoisting module on the plane positioning position of the hoisting module.
A third aspect of the invention provides a computer storage medium having stored thereon a computer program which, when executed by a processor, performs the method of automated docking loading of a transporter and a truck as described above.
The invention is a butt-joint loading system of a transport vehicle and a truck, which consists of a parking guide detection subsystem, a hoisting module positioning detection subsystem and a control subsystem for controlling a manipulator of the crane, and can realize auxiliary parking guide, hoisting module positioning detection and automatic operation control of the truck. The system and the method for butt-joint filling of the transport vehicle and the truck have the advantages of all-weather work, quick positioning, high-precision detection and automatic butt joint.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the protection scope of the present invention, although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (10)
1. An automatic butt-joint loading system for a transport vehicle and a truck is characterized by comprising a parking guide detection subsystem, a hoisting module positioning detection subsystem and a control subsystem for controlling a manipulator of the crane, wherein the parking guide detection subsystem comprises a monitoring camera, a processor, a display, a 16-line laser radar for acquiring three-dimensional contour data of a vehicle body of the transport vehicle and a first near-infrared camera for acquiring images of the transport vehicle, and the 16-line laser radar, the first near-infrared camera, the monitoring camera and the display are all connected with the processor;
the processor performs data fusion processing on the three-dimensional outline data of the vehicle body and the images of the transport vehicle acquired by the first near-infrared camera to obtain real-time azimuth and distance information of the transport vehicle relative to the truck, determines guide data according to the real-time azimuth and distance information, combines the guide data with the monitoring real-time images acquired by the monitoring camera, and sends the guide data and the monitoring real-time images to the display for displaying, so that the transport vehicle is guided to stop in a specified range of the truck;
the processor is also used for acquiring the current position and distance information of the transport vehicle relative to the truck according to the current three-dimensional contour data of the vehicle body and the current image of the transport vehicle when the transport vehicle stops in the specified range of the truck, and sending the current position and distance information to the control subsystem;
the hoisting module positioning detection subsystem comprises a second near-infrared camera, a near-infrared light source, a laser ranging sensor, a hoisting module target and a vehicle target, and the second near-infrared camera and the laser ranging sensor are connected with the control subsystem;
the second near-infrared camera is used for shooting the hoisting module, the hoisting module target and the vehicle target to obtain a shot image;
and the control subsystem calculates and analyzes the shot image to obtain real-time position information of the hoisting module, and controls the manipulator to load and unload the hoisting module according to the current azimuth and distance information, the sensing information of the laser ranging sensor and the real-time position information.
2. The system of claim 1, wherein the data fusion processing is performed on the three-dimensional contour data of the vehicle body and the image of the transport vehicle acquired by the first near-infrared camera to obtain real-time azimuth and distance information of the transport vehicle relative to the truck, and the system specifically comprises:
carrying out interference background filtering on the three-dimensional contour data of the vehicle body;
extracting an interested area of a transport vehicle image acquired by a first near-infrared camera, and extracting three-dimensional point cloud data corresponding to 16-line laser radar scanning in the interested area;
and carrying out data fusion processing on the three-dimensional point cloud data and the three-dimensional outline data of the vehicle body.
3. The system as claimed in claim 1, wherein the second near-infrared camera, the near-infrared light source, and the laser ranging sensor are disposed at the end of the crane in an integral module, and the module for controlling the manipulator to load and unload the hoist module comprises:
controlling the manipulator to take a hoisting module on the transport vehicle;
controlling the manipulator to place the hoisting module on the transport vehicle on a truck;
controlling the manipulator to take a hoisting module on the truck;
and controlling the manipulator to place the hoisting module on the truck on the transport vehicle.
4. The automatic docking and loading system for a transport vehicle and a truck as claimed in claim 3, wherein said control said robot takes a lifting module on the transport vehicle, and specifically performs:
calculating the coordinates of the positioning photographing position of the hoisting module on the transport vehicle according to the current azimuth and distance information, and controlling the crane to move to the position corresponding to the coordinates of the positioning photographing position of the hoisting module;
controlling the second near-infrared camera to take a picture to obtain an image, and obtaining the actual position of the hoisting module on the transport vehicle through image processing calculation;
and controlling the crane to move to the actual position, receiving the relative distance information of each point on the hoisting module on the transport vehicle measured by the laser ranging sensor, calculating the inclination angle of the hoisting module on the transport vehicle according to the plane relative position of each point, and positioning and butt joint of the manipulator and the hoisting module on the transport vehicle according to the inclination angle.
5. The automatic docking and loading system for a carrier vehicle and a truck as claimed in claim 4, wherein said controlling said robot to pick up a hoist module on the carrier vehicle further performs: and after the positioning butt joint, controlling the display to display prompt information for prompting the completion of automatic positioning of the hoisting module.
6. The system of claim 1, wherein the first and second near-infrared cameras are near-infrared cameras having a spectral range of 850 nm.
7. An automatic butt-joint loading method for a transport vehicle and a truck, wherein the transport vehicle and the truck are both provided with hoisting modules, and the truck is also provided with a crane, and is characterized in that the tail end of the crane is provided with a second near-infrared camera, a near-infrared light source, a laser ranging sensor, a hoisting module target and a vehicle target,
the method comprises the following steps:
the control subsystem receives current direction and distance information sent by the processor, wherein the processor receives vehicle body three-dimensional contour data of a transport vehicle acquired by a 16-line laser radar and transport vehicle image data acquired by a first near-infrared camera; the processor performs data fusion processing on the three-dimensional outline data of the vehicle body and the image data of the transport vehicle to obtain real-time direction and distance information of the transport vehicle relative to the truck; the processor determines guide data according to the real-time azimuth and distance information, combines the guide data with the monitoring real-time image collected by the monitoring camera, and sends the guide data to the display for displaying; when the current real-time azimuth and distance information is consistent with the real-time azimuth and distance information obtained last time, the processor sends the current azimuth and distance information to the control subsystem;
the control subsystem calculates the coordinates of the positioning photographing position of the hoisting module on the transport vehicle according to the current azimuth and distance information, and controls the crane to move to the position corresponding to the coordinates of the positioning photographing position of the hoisting module;
the control subsystem controls a second near-infrared camera to shoot the hoisting module, the hoisting module target and the vehicle target to obtain shot images, and the actual position of the hoisting module on the transport vehicle is obtained through image processing calculation;
the control subsystem controls the crane to move to the actual position, receives the relative distance information of each point on the hoisting module on the transport vehicle measured by the laser ranging sensor, calculates the inclination angle of the hoisting module on the transport vehicle according to the plane relative position of each point, and controls the manipulator and the hoisting module on the transport vehicle to carry out positioning butt joint according to the inclination angle.
8. The method as claimed in claim 7, wherein the data fusion processing of the three-dimensional contour data of the vehicle body and the image data of the transport vehicle by the processor comprises:
the processor carries out interference background filtering on the three-dimensional contour data of the vehicle body;
the processor extracts an interested area of a transport vehicle image acquired by a first near-infrared camera, and extracts three-dimensional point cloud data corresponding to 16-line laser radar scanning in the interested area;
and the processor performs data fusion processing on the three-dimensional point cloud data and the three-dimensional outline data of the vehicle body.
9. The method of claim 7, further comprising the steps of:
the control subsystem controls a crane with a hoisting module to move above the truck;
the control subsystem shoots a vehicle target image of the truck through the second near-infrared camera, and calculates the plane positioning position of the hoisting module by utilizing the mutual relation of the targets;
the control subsystem controls the crane to move above the plane positioning position of the hoisting module;
and the control subsystem controls the manipulator of the crane to place the hoisting module on the plane positioning position of the hoisting module.
10. A computer storage medium on which a computer program is stored, which computer program, when being executed by a processor, is adapted to carry out the method for automatic docking loading of a transport vehicle with a truck according to any one of claims 7-9.
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| CN202010280933.6A CN111301259A (en) | 2020-04-10 | 2020-04-10 | Automatic butt-joint filling system and method for transport vehicle and truck and computer storage medium |
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| CN202010280933.6A CN111301259A (en) | 2020-04-10 | 2020-04-10 | Automatic butt-joint filling system and method for transport vehicle and truck and computer storage medium |
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| CN111806327A (en) * | 2020-08-19 | 2020-10-23 | 八时物流科技(成都)有限公司 | Vehicle-mounted balance hoisting equipment and vehicle-mounted intelligent exchange box system |
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| CN112363130A (en) * | 2020-11-30 | 2021-02-12 | 东风汽车有限公司 | Vehicle-mounted sensor calibration method, storage medium and system |
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