CN111721287B - Intelligent container positioning method - Google Patents
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- CN111721287B CN111721287B CN202010520849.7A CN202010520849A CN111721287B CN 111721287 B CN111721287 B CN 111721287B CN 202010520849 A CN202010520849 A CN 202010520849A CN 111721287 B CN111721287 B CN 111721287B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/23—Updating
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
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Abstract
The invention discloses an intelligent container positioning method, which detects the position movement of an intelligent container through an IMU inertia measurement module, the intelligent container presets an initial position, if the intelligent container is moved, the IMU inertia measurement module detects the current position parameter of the intelligent container, a scheduling management background obtains the current new position of the intelligent container according to the current position parameter and judges whether the current new position of the intelligent container is the same as the initial position, if not, the current new position of the intelligent container is uploaded to the scheduling management background, the scheduling management background sends the current new position of the intelligent container to a robot and dispatches the robot to the current new position of the intelligent container, thereby avoiding the situation that the robot can not find the container when the intelligent container is not parked at a specified position once the container is moved, the self-positioning of the intelligent container is realized, and the anti-interference performance and the environmental adaptability of the intelligent container are improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an intelligent container positioning method.
Background
The existing robot receives the distribution task, gets the container from the designated position, transports the container to the target position, separates the robot from the container after reaching the target position, and then automatically takes the empty container away to return to the parking position. The above method has the following disadvantages: 1. when goods are delivered, the robot receives a task and goes to a designated container stop point to take goods, if the container is artificially moved and is not stopped at a designated position, the robot cannot find the container and cannot deliver the goods; 2. when the container is recycled, the container is separated after the container is conveyed to the specified target point by the robot, the empty container is automatically taken away and returned to the stop point, if the empty container is artificially moved to cause the empty container not to stop at the specified position, the robot cannot find the container, so the anti-interference performance is poor, and the environment adaptability is poor.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an intelligent container positioning method which avoids the situation that once a container is moved, a robot does not stop at a specified position and cannot find the container, realizes self-positioning of the intelligent container and improves the anti-interference performance and the environmental adaptability of the intelligent container positioning method.
The invention is realized by the following technical scheme: an intelligent container positioning method comprises the following steps:
s1, presetting an initial position by the intelligent container, and sending the initial position and the distribution task to a scheduling management background through communication equipment;
s2: after scheduling management, acquiring an initial position and a distribution task, and issuing the distribution task to the robot through communication equipment;
s3: the IMU inertia measurement module detects the motion condition of the intelligent container;
s4: if the intelligent container does not move relative to the initial position, the dispatching management background dispatches the robot to move to the initial position of the intelligent container;
s5: if the intelligent container moves relative to the initial position, the IMU inertial measurement module detects the current position parameter of the intelligent container;
s6, the intelligent container sends the current position parameter to a scheduling management background, the robot obtains map information through laser scanning processing, and the map information is stored to the scheduling management background through communication equipment;
s7: the dispatching management background receives the current position parameter and the map information of the intelligent container, converts the current position parameter of the intelligent container to the map according to the mapping relation to obtain the current new position of the intelligent container, and issues the current new position of the intelligent container to the robot;
s8: the robot goes to the current new position of the intelligent container.
Further: the step S5 further includes the following steps:
a1: the scheduling management background judges whether the current new position and the initial position of the intelligent container are the same according to the position parameters measured by the IMU inertial measurement module;
a2, if the current new position and the initial position of the intelligent container are the same, the step is shifted to S4, and if the current new position and the initial position of the intelligent container are not the same, the step is shifted to S6.
Further: the step S5 of detecting the current position parameter of the intelligent container by the IMU inertial measurement module further comprises the following steps:
b1, detecting the angular velocity of the intelligent container by an IMU inertial measurement module;
b2: carrying out integral calculation on the angular speed for one time, and outputting angle data;
b3: whether the motion of the intelligent container stops or not is judged, if not, the step B1 and the step B2 are repeated, and if yes, a final angle value is calculated;
b4: and the scheduling management background judges whether the final angle value is the same as the parking angle compared with the initial position or not according to the final angle value, if so, the scheduling management background does not process the final angle value, and if not, the angle of the intelligent container is updated.
Further, the method comprises the following steps: the step S5 of detecting the current position parameter of the intelligent container by the IMU inertial measurement module further comprises the following steps:
c1, detecting the acceleration of the intelligent container by an IMU inertia measurement module;
c2: performing secondary integral calculation on the acceleration, and outputting displacement data;
c3: whether the motion of the intelligent container stops or not is judged, if not, the step C1 and the step C2 are repeated, and if yes, a final displacement value is calculated;
and C4, the scheduling management background judges whether the intelligent container displaces relative to the initial position according to the final displacement value, if not, the intelligent container is not processed, and if so, the displacement coordinate of the intelligent container is updated.
Further: and when the robot in the step S4 and the step S8 goes to the initial position or the current new position of the intelligent container and pulls the intelligent container, the IMU inertia measurement module stops working, and after the robot sends the intelligent container to the specified position and separates the intelligent container, the IMU inertia measurement module is started again to work.
The invention has the advantages of
1. Compared with the prior art, the intelligent container presets an initial position, the IMU inertia measurement module detects the position movement of the intelligent container, if the intelligent container is moved, the IMU inertia measurement module detects the current position parameter of the intelligent container, the scheduling management background obtains the current new position of the intelligent container according to the current position parameter and judges whether the current new position of the intelligent container is the same as the initial position, if not, the current new position of the intelligent container is uploaded to the scheduling management background, the scheduling management background sends the current new position of the intelligent container to the robot and dispatches the robot to the new position of the intelligent container, the situation that the robot cannot find the container when the container is moved to stop at a specified position is avoided, the self-positioning of the intelligent container is realized, and the anti-interference performance and the environmental adaptability of the intelligent container are improved.
2. In the transportation process of the intelligent container, when the robot reaches the position where the intelligent container is located and pulls the intelligent container, the IMU inertia measurement module stops working, and after the robot sends the intelligent container to the specified position and is separated from the intelligent container, the IMU inertia measurement module is restarted to work, so that the IMU inertia measurement module is prevented from causing accumulated errors.
Drawings
FIG. 1 is a system architecture diagram of the present invention;
FIG. 2 is a schematic flow diagram of the present invention for receiving and recovering empty intelligent containers;
FIG. 3 is a schematic view of the process of detecting the change of the moving position of the intelligent container according to the present invention;
FIG. 4 is a schematic view of the process of measuring the angular velocity of an intelligent container according to the present invention;
FIG. 5 is a schematic view of the process of measuring the acceleration of the intelligent container according to the present invention.
Detailed Description
The present invention will be further described with reference to the following examples.
Referring to fig. 1, fig. 1 is a system architecture diagram of the intelligent container positioning method of the present invention, which includes a server, a scheduling management background, a communication device, an intelligent container, and a robot, wherein,
a server: and the physical medium for running of the scheduling management background realizes the system running and the database running of the scheduling management background.
The dispatching management background can realize unified management of the robot and the intelligent container.
The communication device: the wireless communication networking capability (such as WiFi, Ethernet, 4G communication, 433MHz communication and the like) is provided.
The robot comprises: the intelligent container dispatching system has an autonomous navigation and positioning function, receives a dispatching task from a dispatching management background, transports the intelligent container to a specified position for article dispatching, and transports the empty intelligent container back to a stopping point.
The intelligent container: the robot has the functions of storing and positioning articles and completes distribution tasks in cooperation with the robot. And presetting an initial position, and detecting the position movement of the IMU through an IMU inertia measurement module.
Referring to fig. 2, the specific working steps of the intelligent container for delivering and recovering the air are as follows:
101. ordering: placing orders in an intelligent container, putting goods into the intelligent container, sending a delivery task to a scheduling management background by the intelligent container through a communication device, presetting an initial position by the intelligent container, and sending the initial position to the scheduling management background through the communication device;
102. the dispatching robot: the dispatching management background receives the distribution task and the initial position of the intelligent container, sends the distribution task to the robot, and dispatches the robot to the initial position of the intelligent container;
103, the IMU inertia measurement module detects whether the intelligent container moves relative to the initial position, if the intelligent container does not move relative to the initial position, the scheduling management background dispatches the robot to the initial position where the intelligent container is located and pulls the intelligent container or takes goods, and if the intelligent container moves relative to the initial position, the IMU inertia measurement module detects the current position parameter of the intelligent container and synchronously sends the current position parameter to the scheduling management background;
the position parameters comprise displacement, a displacement direction and a parking angle;
104. the robot receives the current position parameter of the intelligent container, the robot obtains map information through laser scanning processing and uploads the map information to the scheduling management background, the scheduling management background converts the current position parameter of the intelligent container into a map according to a mapping relation to obtain the current new position of the intelligent container, then the scheduling management background issues the current new position of the intelligent container to the robot, and the robot receives the current new position of the intelligent container and goes to the current new position of the intelligent container to pull or pick the intelligent container.
The intelligent container presets an initial position, the position movement of the intelligent container is detected through the IMU inertia measurement module, if the intelligent container is moved, the IMU inertia measurement module detects the current position parameter of the intelligent container, the scheduling management background obtains the current new position of the intelligent container according to the current position parameter and judges whether the current new position of the intelligent container is the same as the initial position, if the current new position of the intelligent container is different from the initial position, the current new position of the intelligent container is uploaded to the scheduling management background, and the scheduling management background sends the current new position of the intelligent container to the robot and dispatches the robot to the new position of the intelligent container, so that the condition that the robot cannot find the container when the container is not parked at the appointed position once the container is moved is avoided, the self-positioning of the intelligent container is realized, and the anti-interference performance and the environmental adaptability of the intelligent container are improved.
Referring to fig. 3, the specific working principle of the IMU inertia measurement module for detecting the motion position change of the intelligent container is as follows:
201: the intelligent container presets an initial position, and uploads the initial position to a scheduling management background through communication equipment;
202: the IMU inertia measurement module detects the motion condition of the intelligent container;
203: if the intelligent container does not move relative to the initial position, turning to step 202, and if the intelligent container moves relative to the initial position, measuring the current position parameter of the intelligent container by the IMU inertial measurement module;
204: the scheduling management background receives the current position parameter of the intelligent container and the map information obtained by the robot through laser scanning processing, converts the current position parameter of the intelligent container to a map according to a mapping relation to obtain a current new position of the intelligent container, judges whether the current new position and the initial position of the intelligent container are the same or not, if yes, the step 202 is carried out, and if not, the current new position is updated and reported to the scheduling management background.
Referring to fig. 4, the specific working principle of the IMU inertia measurement module for measuring the angular velocity of the intelligent container is as follows:
301: the intelligent container moves:
302: the IMU inertia measurement module detects the angular velocity of the intelligent container;
303: carrying out integral calculation on the angular speed for one time;
304: outputting angle data of the intelligent container;
305: whether the motion of the intelligent container is stopped or not is judged, if not, the step 302 is carried out, and if yes, the final angle value is calculated;
306: and the scheduling management background judges whether the final angle value is the same as the parking angle compared with the initial position or not according to the final angle value, if so, the scheduling management background does not process the final angle value, and if not, the angle of the intelligent container is updated.
Referring to fig. 5, the specific working principle of the IMU inertia measurement module measuring the acceleration of the intelligent container is as follows:
401: the intelligent container moves:
402: the IMU inertia measurement module detects the acceleration of the intelligent container;
403: performing quadratic integral calculation on the acceleration;
404: outputting displacement data of the intelligent container;
405: whether the motion of the intelligent container stops or not is judged, if not, the step 402 is carried out, and if yes, a final displacement value is calculated;
406: and the scheduling management background judges whether the intelligent container generates displacement relative to the initial position of the intelligent container according to the final displacement value, if not, the intelligent container is not processed, and if so, the intelligent container performs coordinate mapping according to the conversion factor and the correction parameter of the X, Y, Z axis, and updates the coordinates of the intelligent container.
And (3) when the robot in the step (S4) and the step (S8) goes to the initial position or the new position of the intelligent container and pulls the intelligent container, the IMU inertia measurement module stops working, and after the robot sends the intelligent container to the specified position and separates the intelligent container, the IMU inertia measurement module is started to work again.
In the intelligent container transportation process, when the robot arrived the position at intelligent container place and pull intelligent container, IMU inertia measurement module stop work, wait that the robot will intelligent container deliver to the assigned position and with the intelligent container after the separation, IMU inertia measurement module is opened work again, avoid IMU inertia measurement module to cause the accumulative error.
The above detailed description is specific to possible embodiments of the present invention, and the embodiments are not intended to limit the scope of the present invention, and all equivalent implementations or modifications that do not depart from the scope of the present invention are intended to be included within the scope of the present invention.
Claims (5)
1. An intelligent container positioning method is characterized by comprising the following steps:
s1, presetting an initial position by the intelligent container, and sending the initial position and the distribution task to a scheduling management background through communication equipment;
s2: the dispatching management background acquires an initial position and a distribution task and issues the distribution task to the robot through the communication equipment;
s3: the IMU inertia measurement module detects the motion condition of the intelligent container;
s4: if the intelligent container does not move relative to the initial position, the dispatching management background dispatches the robot to move to the initial position of the intelligent container;
s5: if the intelligent container moves relative to the initial position, the IMU inertial measurement module detects the current position parameter of the intelligent container;
s6, the intelligent container sends the current position parameter to a scheduling management background, the robot obtains map information through laser scanning processing, and the map information is stored to the scheduling management background through communication equipment;
s7: the scheduling management background receives the current position parameters and the map information of the intelligent container, converts the current position parameters of the intelligent container to the map according to the mapping relation to obtain the current new position of the intelligent container, and issues the current new position of the intelligent container to the robot;
s8: the robot goes to the current new position of the intelligent container.
2. The intelligent container positioning method of claim 1, wherein: the step S5 further includes the following steps:
a1: the scheduling management background judges whether the current new position and the initial position of the intelligent container are the same according to the position parameters measured by the IMU inertial measurement module;
a2, if the current new position and the initial position of the intelligent container are the same, the step is shifted to S4, and if the current new position and the initial position of the intelligent container are not the same, the step is shifted to S6.
3. The intelligent container positioning method of claim 2, wherein: the step S5 of detecting the current position parameter of the intelligent container by the IMU inertia measurement module further comprises the following steps:
b1, detecting the angular velocity of the intelligent container by an IMU inertial measurement module;
b2: carrying out integral calculation on the angular speed for one time, and outputting angle data;
b3: whether the motion of the intelligent container stops or not is judged, if not, the step B1 and the step B2 are repeated, and if yes, a final angle value is calculated;
b4: and the scheduling management background judges whether the final angle value is the same as the parking angle compared with the initial position or not according to the final angle value, if so, the scheduling management background does not process the final angle value, and if not, the angle of the intelligent container is updated.
4. The intelligent container positioning method of claim 3, wherein: the step S5 of detecting the current position parameter of the intelligent container by the IMU inertial measurement module further comprises the following steps:
c1, detecting the acceleration of the intelligent container by an IMU inertia measurement module;
c2: performing secondary integral calculation on the acceleration, and outputting displacement data;
c3: whether the motion of the intelligent container stops or not is judged, if not, the step C1 and the step C2 are repeated, and if yes, a final displacement value is calculated;
and C4, the scheduling management background judges whether the intelligent container displaces relative to the initial position according to the final displacement value, if not, the intelligent container is not processed, and if so, the displacement coordinate of the intelligent container is updated.
5. The intelligent container positioning method of claim 3, wherein: and when the robot in the step S4 and the step S8 goes to the initial position or the current new position of the intelligent container and pulls the intelligent container, the IMU inertia measurement module stops working, and after the robot sends the intelligent container to the specified position and separates the intelligent container, the IMU inertia measurement module is started again to work.
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| CN105730950A (en) * | 2014-12-10 | 2016-07-06 | 阿里巴巴集团控股有限公司 | Intelligent container and delivery system based on intelligent container |
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