CN113280855B - Intelligent sensing system and method for multi-source sensing pallet fork - Google Patents
Intelligent sensing system and method for multi-source sensing pallet fork Download PDFInfo
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- CN113280855B CN113280855B CN202110494095.7A CN202110494095A CN113280855B CN 113280855 B CN113280855 B CN 113280855B CN 202110494095 A CN202110494095 A CN 202110494095A CN 113280855 B CN113280855 B CN 113280855B
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Abstract
A multisource sensing fork intelligent sensing system comprises a sensing fork and a display processing device; the perception pallet fork is used for bearing a target object to be forked, and a vision sensor, a proximity sensor, a pressure sensor, touch sensing skin and an information acquisition board are installed on the perception pallet fork. According to the fork sensing system, the force sensor, the proximity sensor, the cooperation mark or the obvious texture characteristic appearance are fused on the fork body, and the sensing information of vision, force sense and proximity sense is transmitted to the display equipment or the computer, so that an operator or the computer of a forklift and a carrying robot can effectively acquire information such as contact force, a proximity state or the fork appearance characteristic, and further can assist the operator or the computer to operate, the sensing capability and the recognition robustness of the fork to an operation environment are effectively enhanced, and the safety and the automation level of operation of the carrying equipment such as the forklift and the carrying robot are greatly improved.
Description
Technical Field
The invention relates to an intelligent pallet fork sensing system, in particular to a multisource sensing pallet fork intelligent sensing system and a multisource sensing pallet fork intelligent sensing method.
Background
The existing conveying equipment such as a manual forklift, an automatic forklift and a conveying robot is generally only provided with a common steel pallet fork, does not have the sensing capability on information such as the pose, touch, weight and the like of an operation target object, and generally finishes conveying operation by manual operation equipment. In view of the high efficiency and safety of the operation of robots and forklifts, particularly the operation safety of forklifts or transfer robots under the operation requirements of people in loops, carrying precious loads, carrying dangerous loads and the like, the movement of the forklifts or the transfer robots needs to be fully considered, so that a technology capable of enabling the forks to sense operation targets and operation environments needs to be invented, and therefore richer information is provided for upper computer control systems or operators of transfer equipment, so that the operation efficiency is improved, and the operation safety is guaranteed.
Disclosure of Invention
In order to solve the problems, an intelligent sensing system and method for a multi-source sensing pallet fork are provided.
The object of the invention is achieved in the following way:
a multisource sensing fork intelligent sensing system comprises a sensing fork and a display processing device; the sensing pallet fork is used for bearing a target object to be forked, and a visual sensor, a proximity sensor, a pressure sensor, a touch sensing skin and an information acquisition board are mounted on the sensing pallet fork; the visual sensor is embedded in the front surface of the end part of the pallet fork and is used for imaging the environment in the field of view of the end part of the pallet fork; the proximity sensor is embedded around the end part of the pallet fork and used for detecting whether an object exists in the surrounding environment of the end part of the pallet fork; the tactile sensing skin covers the end surface of the pallet fork; the pressure sensor is embedded in the upper surface of the middle mechanism body of the pallet fork and used for detecting the weight of a target object to be forked; the information acquisition board is arranged in the tail of the pallet fork and is mainly used for acquiring information of a visual sensor, a proximity sensor, a touch sensing skin and a pressure sensor in real time, and the information acquisition board transmits the sensing information to the display processing equipment in a high-speed wireless or wired communication mode after arranging the sensing information.
The perception fork is also provided with a cooperation mark, and the cooperation mark provides required visual processing information for other visual equipment; the cooperation marks are respectively arranged on the upper surface of the end part of the fork, the left side surface and the right side surface of the middle part of the fork and the upper surface of the tail part of the fork.
The characteristic information of the cooperation mark contains identification points or identification lines with known arrangement.
The cooperative mark pattern types comprise two-dimensional codes, squared figures and circles.
The proximity sensors are respectively arranged on at least one front surface, at least one upper surface, at least one lower surface, at least one left side surface and at least one right side surface of the front surface of the end part of the fork.
A perception method of a multi-source sensing pallet fork intelligent perception system comprises the following steps: s1, updating the visual sensor, the proximity sensor and the tactile skin information of the pallet fork end in real time;
s2, resolving the relative six-dimensional pose of the end part of the pallet fork and the pallet fork hole to be forked according to the vision sensor at the end part of the pallet fork, calculating the space linear distance between the end part of the pallet fork and the pallet fork hole according to the three-dimensional position information provided by the six-dimensional pose information, and identifying the change trend of the space linear distance through filtering treatment;
s3, the display processing equipment further identifies the fork taking operation state after judging and processing according to the sensing information of the proximity sensor and the tactile sensing skin at the end of the fork, the sensing information of the pressure sensor in the middle of the fork and the six-dimensional pose data resolved in real time by the six-dimensional pose of the target object, which are acquired by the information acquisition board;
and S4, updating the forking operation state.
The step S3 specifically includes: if the touch sensing skin detects a contact signal, judging that the current forking operation state is a fork collision state;
if the touch sensing skin does not detect the contact signal and the pressure sensor detects the pressure signal, judging that the current forking operation state is a fork bearing state;
if the touch sensing skin does not detect a contact signal, the pressure sensor does not detect a pressure signal, at least 2 proximity sensors are triggered, 3 proximity sensors on the front side of the end part of the fork are not triggered, and the last forking operation state is the fork approaching fork hole state, the current forking operation state is judged to be the fork entering fork hole state;
if the touch sensing skin does not detect a contact signal, the pressure sensor does not detect a pressure signal, the proximity sensor is not triggered, the pose resolving state is abnormal, and the last forking operation state is the state that the pallet fork enters the pallet fork hole, the current forking operation state is judged to be a pallet fork bearing preparation state;
if the touch sensing skin does not detect a contact signal, the pressure sensor does not detect a pressure signal, the proximity sensor is not triggered, the pose resolving state is normal, and the linear distance between the end part of the pallet fork and the pallet fork hole space is gradually reduced, the current forking operation state is judged to be the state that the pallet fork is close to the pallet fork hole;
if the touch sensing skin does not detect the contact signal, the pressure sensor does not detect the pressure signal, the proximity sensor is not triggered, the pose resolving state is abnormal, and the last forking operation state is not the state that the fork enters the fork hole, the current forking operation state is determined to be the state that the fork is close to the fork hole.
The invention has the beneficial effects that: compared with the prior art, the fork sensing system has the advantages that the force sensor, the proximity sensor, the cooperation mark or the obvious texture characteristic appearance are fused on the fork body, and the sensing information of vision, force sense and proximity sense is transmitted to the display device or the computer, so that an operator or the computer of a forklift and a carrying robot can effectively acquire information such as contact force, a proximity state or the fork appearance characteristic, and further can assist the operator or the computer to work, the sensing capability and the recognition robustness of the fork to a working environment are effectively enhanced, and the safety and the automation level of the operation of the carrying devices such as the forklift and the carrying robot are greatly improved.
Drawings
Fig. 1 is a schematic diagram of the intelligent pallet fork sensing system of the present invention.
FIG. 2 is a schematic diagram of the fork sensing mechanism of the present invention.
Fig. 3 is a partial coordinate system elevation view of a pallet fork hole of a shipping pallet to be forked in an embodiment of the present invention.
Fig. 4 is a top view of a local coordinate system of a pallet fork hole of a transport pallet to be forked in an embodiment of the invention.
Fig. 5 is a flow chart of the pallet fork picking operation state recognition of the present invention.
Wherein 1-perception fork, 2-display processing equipment, 3-fork end, 4-fork middle, 5-fork tail, 6-cooperation mark, 7-pressure sensor, 8-vision sensor, 9-touch sensing skin, 10-proximity sensor, 11-transport tray, 12-left fork hole, and 13-right fork hole.
Detailed Description
The invention is described in further detail below with reference to the drawings and the detailed description.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless otherwise defined, all technical and scientific terms used herein have the same technical meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, and it should be further understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of the features, steps, operations, devices, components, and/or combinations thereof.
As shown in fig. 1, the multisource sensing pallet fork intelligent sensing system comprises a sensing pallet fork 1 and a display processing device 2; the sensing pallet fork is used for bearing a target object to be forked, and a visual sensor 8, a proximity sensor 10, a pressure sensor 7, a touch sensing skin 9 and an information acquisition board are mounted on the sensing pallet fork; the visual sensor is embedded in the front surface of the end part 3 of the pallet fork and is used for imaging the environment in the field of view of the end part of the pallet fork; the proximity sensor 10 is embedded around the end part 3 of the pallet fork and used for detecting whether an object exists in the surrounding environment of the end part of the pallet fork; the tactile sensing skin covers the end surface of the pallet fork; the pressure sensor 7 is embedded in the upper surface of the mechanism body in the middle part 4 of the pallet fork and is used for detecting the weight of a target object to be forked; the information acquisition board is arranged in the tail of the pallet fork and is mainly used for acquiring information of the visual sensor, the proximity sensor, the touch sensing skin and the pressure sensor in real time, and the information acquisition board is used for arranging the sensing information and then transmitting the information to the display processing equipment in a high-speed wireless or wired communication mode.
As shown in fig. 2, the sensing fork mainly comprises a fork end 3, a fork middle 4 and a fork tail 5, the fork end mainly comprises a fork end mechanism body, a visual sensor, a proximity sensor, a touch sensing skin, a cooperation mark and the like, and the sensor arranged at the fork end is used for sensing images of a target object and an environment in front of the fork, the proximity state of an object around the fork end, the contact force between the fork end and the surrounding object, and providing the cooperation mark and geometric feature information required by processing of other visual devices.
Visual sensor is embedded in fork tip front surface, and mainly used images the environment in the fork tip field of vision to the processing is solved in the visual perception of forking guide. According to the requirements of actual operation environment, an intelligent camera, an industrial camera, a structured light camera or other imaging equipment is selected for imaging the environment in a visual field, data such as images and point clouds output by the camera are transmitted to an information acquisition board positioned at the tail part of the pallet fork through a communication cable, and then the data are transmitted to upper-layer processing equipment through a high-speed communication bus by the information acquisition board.
The proximity sensor is embedded around the fork tip, totally needs 7, lays respectively 2 (a left side right), 2 (tandem), lower surface 1, 1 and the right flank of left surface of fork tip front surface, upper surface 1, but is not limited to this quantity and this layout mode. The proximity sensor is mainly used for making up a blind area of the visual sensor, and can still detect whether an object exists in the surrounding environment of the end part of the pallet fork under the condition that the visual sensor cannot observe or provide reliable data so as to avoid collision. Proximity sensors come in many different types, such as magnetic, hall effect, electro-optical, inductive, capacitive, ultrasonic, and the like.
The tactile sensing skin covers the end surface of the pallet fork, but does not shield the detection areas of the visual sensor and the proximity sensor. The touch sensing skin is mainly used for collision detection of the forklift, robot and other carrying equipment on the operation environment of the end part of the pallet fork, and the upper computer control system can immediately stop or take other measures according to the collision signals fed back by the upper computer control system, so that the safety of the operation process is guaranteed. The touch sensing skin has a flexible micro sensor array, and is of a common type such as a piezoresistive type, a capacitive type, a piezoelectric type and the like.
b) Middle part of the fork
The middle part of the fork mainly comprises a fork middle mechanism body, a pressure sensor, a cooperation mark and the like, the middle part of the fork bears a target object to be picked, and meanwhile, the load weight can be estimated in real time, and the cooperation mark and geometric characteristic information required by processing of other visual equipment can be provided.
The pressure sensors are embedded in the upper surface of the middle mechanism body of the pallet fork, and the number and the layout mode of the pressure sensors can be designed and adjusted according to actual requirements. The pressure sensor is mainly used for detecting the weight of a forked target object, an output signal of the pressure sensor is collected by the information acquisition card, load weight information is transmitted to the upper-layer display processing equipment for overload judgment, and meanwhile, a user can know the load weight so as to further ensure the operation safety. According to different force conversion mechanisms, weighing sensors are classified into piezoelectric type, piezomagnetic type, resistance strain type and the like.
The cooperation sign cloth 6 is arranged on the left side surface and the right side surface of the middle mechanism of the pallet fork and is mainly used for providing reliable visual characteristic information for other visual processing equipment so as to realize pose measurement of the pallet fork. Other visual processing equipment can solve the pose relation between the camera and the cooperative mark by identifying the cooperative mark, and the cooperative mark is fixedly connected with the pallet fork, so that the pallet fork can be positioned. The feature information of the cooperation mark contains known arranged geometric textures such as mark points, mark lines and the like, and common cooperation mark patterns are two-dimensional codes, Sudoku grids, circles and the like.
c) Pallet fork tail
The tail of the fork mainly comprises a fork tail mechanism body, an information acquisition board, a cooperation mark and the like, and can acquire information of all sensors of the fork and provide the cooperation mark and geometric characteristic information required by processing of other visual equipment.
The information acquisition board is arranged in the tail of the pallet fork and is mainly used for acquiring information of a visual sensor, a proximity sensor, a touch sensing skin and a pressure sensor in real time, and the information acquisition board is used for arranging the sensing information and then transmitting the information to display processing equipment or other superior equipment in a high-speed wireless or wired communication mode.
The cooperation mark 6 is arranged on the upper surface of the tail mechanism of the pallet fork and is mainly used for providing reliable visual characteristic information for other visual processing equipment so as to realize the pose measurement of the pallet fork. Other visual processing equipment can solve the pose relation between the camera and the cooperative mark by identifying the cooperative mark, and the cooperative mark is fixedly connected with the pallet fork, so that the pallet fork can be positioned. The feature information of the cooperation mark contains known arranged geometric textures such as mark points, mark lines and the like, and common cooperation mark patterns comprise two-dimensional codes, squared figures, circles and the like.
The display processing equipment can acquire information data of the sensing pallet fork in real time in a wired or wireless communication mode, performs pose calculation, sensing state detection, operation state identification and load estimation by analyzing the sensing data, and displays the pose information, the sensing state information, the operation state and the load information on a screen.
The display processing device can display the following information contents in real time:
a) displaying dynamic selection frames of fork holes or other measured targets in the front-end camera field of view of the fork in real time;
b) fork holes in the front end camera view field of the fork or other measured target material position posture information is displayed in real time;
c) displaying the current forking operation state information in real time, wherein the current forking operation state information comprises the state information of forking collision, forking approach, forking preparation and forking load;
d) displaying the approaching state perception information of the end part of the pallet fork and the surrounding environment in real time;
e) displaying contact state perception information of the end part of the pallet fork and the surrounding environment in real time;
f) and displaying weight sensing information of the current fork load in real time.
The display processing apparatus has the following arithmetic processing functions:
a) real-time resolving function for six-dimensional pose of measured target object
The display processing equipment is used for outputting relative three-dimensional position and three-dimensional attitude data between a local coordinate system (a fork hole or other defined detected target) of the detected target and the local coordinate system of the end part of the pallet fork finally after the real-time processing of functional modules such as image preprocessing, feature extraction and matching, three-dimensional reconstruction, pose resolving, pose output and the like is carried out according to information such as images, point clouds and the like output by a vision sensor at the end part of the pallet fork, which is acquired by an information acquisition board, so that an upper-layer control system is provided for carrying out operation processing, and six-dimensional relative pose data and target dynamic tracking selection frames are displayed at the same time. According to the right-hand rule, using the local coordinate system X of the fork hole 12 on the left side of the transport pallet 11 1 O 1 Y 1 (Z 1 ) And left fork local coordinate system X 2 O 2 Y 2 (Z 2 ) Definition as shown in fig. 3-4, the local coordinate system of the right fork hole 13 and the right fork of the transportation pallet is defined in the same way.
b) Function for sensing approaching state of pallet fork end part and surrounding environment
And the display processing equipment further identifies the approaching state of the end part of the pallet fork and the surrounding environment after filtering processing according to the proximity sensor data of the end part of the pallet fork acquired by the information acquisition board. And finally, providing the approaching state information of the end part of the pallet fork and the surrounding environment for an upper-layer control system to perform operation processing and display. The proximity of the identified fork ends to the surrounding environment is defined in table 1.
TABLE 1 fork end and ambient proximity state definition table
c) Fork tip touching state detects function
According to the touch sensing skin data of the end part of the pallet fork collected by the information collecting board in the display processing equipment, the touch state of the end part of the pallet fork and the surrounding environment is further judged after filtering processing. And finally, providing the recognized contact state information of the pallet fork end part and the surrounding environment for an upper-layer control system to perform operation processing and display. The identified fork end touch condition is defined in table 2.
Table 2 fork end and surrounding environment touch state definition table
d) Fork picking operation state recognition function
The display processing equipment further identifies the fork taking operation state after judging and processing according to the sensing information of the proximity sensor and the touch sensing skin at the end of the fork, which is acquired by the information acquisition board, and the six-dimensional pose data resolved in real time according to the six-dimensional pose of the target object. And finally, providing the forking operation state information to an upper-layer control system for operation processing and display. The definition of the identified fork forking operation state is shown in a table 3, and the functional processing flow of the operation state identification is shown in a table 5.
Table 3 fork-picking operation state definition table
c) Fork load weight estimation function
The display processing equipment sums the data of the 3 pressure sensors processed by the filtering and compensating algorithm according to the data of the 3 pressure sensors in the middle of the pallet fork acquired by the information acquisition board, and the pallet fork on the other side is processed in the same way. And further adding the respective estimation results of the forks at the two sides to estimate the whole load weight, and finally providing the estimated load weight information for an upper-layer control system to carry out operation processing and display.
The force sensor, the proximity sensor, the cooperation mark or the obvious texture characteristic appearance are fused on the pallet fork body, and sensing information of vision, force sense and proximity sense is transmitted to the display device or the computer, so that an operator or the computer of the forklift and the carrying robot can effectively acquire information such as contact force, a proximity state or the pallet fork appearance characteristic, and further can assist the operator or the computer to work.
The intelligent pallet fork sensing system is mainly used for carrying operation. In the process of forking operation, the vision sensor at the end part of the fork can acquire images of a target object and an environment in real time, the proximity sensor at the end part of the fork can sense the proximity state of an object around the end part of the fork in real time, the force sensor at the end part of the fork can sense the contact force between the end part of the fork and the object around the end part of the fork in real time, the pressure sensor at the upper surface of the middle part of the fork can sense the gravity of a load in real time, and the force and the contact sensing information can be transmitted to a display device in real time to display the operation state and can also be transmitted to a computer of a forklift or a transfer robot to perform automatic control, operation monitoring or other processing and the like; in particular, the cooperative markings and the geometric feature information on the surface of the fork enable other vision devices to obtain the required visual processing information.
The intelligent pallet fork sensing system utilizes sensing means such as vision, force sense and proximity sense, and meanwhile the pallet fork surface is provided with the cooperation mark and the geometric characteristic information, so that the sensing capability and the recognition robustness of the pallet fork to the operation environment are effectively enhanced, and the operation safety and the automation level of the carrying equipment such as a forklift, a carrying robot and the like are greatly improved.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made to the present application by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (5)
1. The utility model provides a multisource sensing fork intelligence perception system which characterized in that: the system comprises a sensing fork and a display processing device; the sensing pallet fork is used for bearing a target object to be picked, and a vision sensor, a proximity sensor, a pressure sensor, a touch sensing skin and an information acquisition board are mounted on the sensing pallet fork; the visual sensor is embedded in the front surface of the end part of the pallet fork and is used for imaging the environment in the field of view of the end part of the pallet fork; the proximity sensor is embedded around the end part of the pallet fork and used for detecting whether an object exists in the surrounding environment of the end part of the pallet fork; the tactile sensing skin covers the end surface of the pallet fork; the pressure sensor is embedded in the upper surface of the middle mechanism body of the pallet fork and used for detecting the weight of a target object to be forked; the information acquisition board is arranged in the tail part of the pallet fork and is mainly used for acquiring information of the visual sensor, the proximity sensor, the touch sensing skin and the pressure sensor in real time, and the information acquisition board is used for arranging the sensing information and then transmitting the information to the display processing equipment in a high-speed wireless or wired communication mode; the specific perception method comprises the following steps:
s1, updating the visual sensor, the proximity sensor and the tactile skin information of the pallet fork end in real time;
s2, resolving a relative six-dimensional pose of the end part of the pallet fork and a pallet fork hole to be forked according to the vision sensor at the end part of the pallet fork, calculating a space linear distance between the end part of the pallet fork and the pallet fork hole according to three-dimensional position information provided by the six-dimensional pose information, and identifying a space linear distance change trend after filtering;
s3, the display processing equipment further identifies the fork taking operation state after judging and processing according to the sensing information of the proximity sensor and the tactile sensing skin at the end of the fork, the sensing information of the pressure sensor in the middle of the fork and the six-dimensional pose data resolved in real time by the six-dimensional pose of the target object, which are acquired by the information acquisition board;
s4, updating the forking operation state;
the step S3 specifically includes: if the touch sensing skin detects a contact signal, judging that the current forking operation state is a fork collision state;
if the touch sensing skin does not detect the contact signal and the pressure sensor detects the pressure signal, judging that the current forking operation state is a fork bearing state;
if the touch sensing skin does not detect a contact signal, the pressure sensor does not detect a pressure signal, at least 2 proximity sensors are triggered, 3 proximity sensors on the front side of the end part of the fork are not triggered, and the last forking operation state is the fork approaching fork hole state, the current forking operation state is judged to be the fork entering fork hole state;
if the touch sensing skin does not detect a contact signal, the pressure sensor does not detect a pressure signal, the proximity sensor is not triggered, the pose resolving state is abnormal, and the last forking operation state is the state that the pallet fork enters the pallet fork hole, the current forking operation state is judged to be the pallet fork bearing preparation state;
if the touch sensing skin does not detect a contact signal, the pressure sensor does not detect a pressure signal, the proximity sensor is not triggered, the pose resolving state is normal, and the linear distance between the end part of the fork and the fork hole space is gradually reduced, the current forking operation state is judged to be the state that the fork is close to the fork hole;
if the touch sensing skin does not detect a contact signal, the pressure sensor does not detect a pressure signal, the proximity sensor is not triggered, the pose resolving state is abnormal, and the last forking operation state is not the state that the pallet fork enters the pallet fork hole, the current forking operation state is determined to be the state that the pallet fork hole is not identified.
2. The multi-source sensing pallet fork smart perception system of claim 1, wherein: a cooperation mark is also arranged on the perception fork and provides required visual processing information for other visual equipment; the cooperation marks are respectively arranged on the upper surface of the end part of the fork, the left side surface and the right side surface of the middle part of the fork and the upper surface of the tail part of the fork.
3. The multi-source sensing pallet fork intelligent perception system of claim 2, wherein: the characteristic information of the cooperation mark contains identification points or identification lines with known arrangement.
4. The multi-source sensing pallet fork smart perception system of claim 3, wherein: the cooperative mark pattern types comprise two-dimensional codes, squared figures and circles.
5. The multi-source sensing pallet fork intelligent perception system of claim 1, wherein: the proximity sensors are respectively arranged on at least one front surface, at least one upper surface, at least one lower surface, at least one left side surface and at least one right side surface of the front surface of the end part of the fork.
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