CN114560318A - Automatic cabin cleaning system of unmanned pushing and raking machine - Google Patents
Automatic cabin cleaning system of unmanned pushing and raking machine Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/60—Loading or unloading ships
- B65G67/606—Loading or unloading ships using devices specially adapted for bulk material
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
In the automatic cabin cleaning system of the unmanned pushing and raking machine, a mode switching module automatically selects and sends a data instruction to a motion planning module or an automatic target point generation module through a finite-state machine by acquiring control instruction information of a central control system of the unmanned pushing and raking machine in real time; under the area automatic mode instruction, the automatic target point generation module generates a target point set of the unmanned pushing and raking machine according to the material area information, and under the single target point mode instruction, the target point obtained by the mode switching module from the central control system is placed into the target point set; the motion planning module acquires a target point set, simultaneously takes out target points one by one from the target point set to generate a path from the unmanned rake to the current target point, and sends a control instruction to the unmanned rake execution system after executing a motion strategy; the safety guarantee module monitors the motion state of the motion module through acquiring the cabin distance and IMU information of the sensing and positioning system in real time, and generates a safety control command after executing an escape strategy under dangerous conditions.
Description
Technical Field
The invention belongs to the field of intelligent robots, and particularly relates to the field of automatic cabin cleaning operation of an unmanned pushing and raking machine.
Background
With the increasing demands and awareness of industry to work safety, production efficiency, and vehicle utilization, and the shortage of labor, the importance of vehicle automation is rapidly increasing. The pushing and raking machine is equipment (Jindan, Changchang, Jinshan) necessary for clearing bulk cargo of ships and improving the turnover rate of the ships (J. engineering machinery, 2013,44(11):9-12.), and due to the fact that the working environment is monotonous and the working time is long, workers are prone to fatigue and the environment in the cabin is dangerous, for example, when a grab ship unloader repeatedly grabs materials from the cabin, the workers are prone to accidents due to distraction.
Due to the structural design of the cargo ship, the area of the opening of the cabin is smaller than that of the whole cabin, so when the grab ship unloader is used for cleaning and transporting the cabin materials from the cabin through the opening of the cabin, firstly, the grab ship unloader can only grab out the coal in the middle opening area, and the materials which are not exposed in the opening area in the cabin are only difficult to grab out by the grab ship unloader. The current common practice is to rake the material left outside the hold opening area into the opening area by manually driving a pushing and raking machine, and then grab the material out by a grab ship unloader.
Although the manual remote control of the rake pushing machine frees the operator from dangerous environments, the operator still needs to continuously monitor the on-site video for manual remote control (yuzu, zhou gdu. remote control rake pushing operation video monitoring system [ J ]. proceedings of university of eastern science (nature science edition), 2004(03): 53-56.). This operation, like the manual operation in a cabin, is still tiring and tiring to handle for long periods of time and requires on-site monitoring of the unmonitored dead corners to ensure that the raker does not touch the cabin wall.
The main requirements involved in cabin cleaning of the unmanned pushing and harrowing machine include that the coverage must be provided for cleaning a material area, namely, the whole material area is required to be traversed, the material is harrowed to a cabin opening area, the unmanned pushing and harrowing machine is required to be capable of ensuring the safe operation of the pushing and harrowing machine like manual supervision, and the working efficiency is ensured in addition, so that the cabin cleaning work of the material is completed in the shortest time. Currently, there is no good application example for automatic cabin cleaning by using an unmanned rake, and therefore, it is very necessary to provide an automatic cabin cleaning system for an unmanned rake.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an automatic cabin cleaning system of an unmanned pushing and raking machine, so as to solve the problem of autonomy of the unmanned pushing and raking machine in cabin cleaning work, further effectively reduce the workload of manpower, realize automatic regional material raking and real-time autonomous detection of dangerous behaviors and guarantee the safety of autonomous work.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the utility model provides an automatic clear cabin system of unmanned machine of pushing and raking which characterized in that: the mode switching module obtains control instruction information of the central control system of the unmanned rake pushing machine in real time and automatically selects and sends a data instruction to the motion planning module or the target point automatic generation module through the finite state machine. Under the area automatic mode instruction, the automatic target point generation module generates a target point set of the unmanned pushing and raking machine according to the material area information, and under the single target point mode instruction, the target point obtained by the mode switching module from the central control system is placed into the target point set. And the motion planning module acquires the target point set, simultaneously takes out the target points one by one from the target point set to generate a path for the unmanned rake to reach the current target point, and sends a control instruction to the unmanned rake execution system after executing the motion strategy. The safety guarantee module is through obtaining perception positioning system's cabin distance and IMU information in real time, and the motion state of monitoring motion module simultaneously guarantees unmanned harrow machine's safety, and carries out under the dangerous condition and takes off danger strategy after generating safety control instruction or dangerous feedback and send to motion planning module or central control system in order to let unmanned harrow machine get back to the safe state, and the concrete constitution of each module is:
and the mode switching module is composed of a Finite State Machine (FSM), acquires a control mode of the unmanned rake through communication as a state, converts the control mode as a state transition condition of the FSM to complete switching between the modes, and sends switched mode information to the automatic generation target point generation module or the motion planning module. The system comprises a finite state machine, a single-target point rake mode and a regional automatic rake material mode, wherein the finite state machine is provided with the two states, namely, the single-target point rake mode refers to rake materials by automatically going to a specified target position and adjusting to the target angle after receiving a target position and a target angle specified by a central control system of the unmanned rake pushing machine through communication; the area automatic material raking mode is that after receiving an area automatic mode issued by the central control system, the unmanned rake pushing machine autonomously generates a target point for raking materials and automatically plans a path to the autonomously generated target point. Meanwhile, the finite state machine also needs to set two state transition conditions, namely a non-single-target point harrowing mode and a non-regional automatic harrowing mode, when the automatic cleaning cabin works normally, the unmanned pushing and harrowing machine is in one of the two modes, and when the mode changes, the finite state machine switches the modes between the two states through the state transition conditions. And the finite state machine is beneficial to the expansion of the mode, and simultaneously can transmit the data of the previous state to the next state, so that the unmanned rake can still know the operation condition of the unmanned rake in the previous state after the state is switched, and the coupling degree of codes is reduced by adopting the finite state machine.
And the automatic generation target point module is used for automatically generating a target point set for raking the object material according to the profile information of the material area by the automatic cabin cleaning system when the mode is switched to the area automatic mode, and sending the target point set to the motion planning module.
And the motion planning module is used for generating a path from the unmanned rake pushing machine to the current target point by acquiring the target point set in the automatic cabin cleaning system and simultaneously taking out the target points one by one from the target point set, and sending a control command to the execution system by executing a motion strategy so as to perform covering type cleaning on the materials in the area.
And the safety guarantee module is used for acquiring the cabin distance and IMU information of the unmanned harrow sensing and positioning system in real time, monitoring the motion state of the motion module to ensure the safety of the unmanned harrow, executing a danger escaping strategy to generate a safety control instruction or danger feedback to be sent to the motion planning module or the central control system under the dangerous condition to enable the unmanned harrow to return to the safety state, wherein the safety program is a necessary program when the unmanned harrow works to prevent the unmanned harrow from generating safety accidents.
Further, the module for automatically generating a target point specifically includes:
s1, acquiring the length and width of the current closed cabin and the contour information of the material area to be harrowed through communication, wherein the contour point set of the contour information is mapped to the coordinate system of the relative closed cabin; the coordinate system is obtained by the perception positioning system of the unmanned pushing and raking machine, the perception positioning system of the unmanned pushing and raking machine builds a map of the whole cabin, the relative position of each coordinate point in the cabin is obtained, and the automatic cabin cleaning system only needs to obtain information calculated by the perception positioning system; wherein the material area to be raked is specified by the central control system of the unmanned rake pushing machine, and the outline information of the material area is the boundary position of the material area determined by the perception and positioning system of the unmanned rake pushing machine; the automatic cabin cleaning system can carry out the next work after acquiring the information;
step S2, the pushing and harrowing machine has the requirement on completeness of cleaning of a material region in cabin cleaning operation, namely the pushing and harrowing machine does not clean a certain point but traverses a material region in a covering manner, and an unmanned pushing and harrowing machine has to rake out the material in the region according to a specific harrowing manner due to the structural design limitation of the unmanned pushing and harrowing machine, wherein the specificity is that a harrowing shovel is in front of a vehicle and can only float up and down, and a backward movement action is required if the material is to be harrowed; therefore, some operation constraints must be applied to the operation of the automatic cabin cleaning system of the unmanned pushing and harrowing machine; meanwhile, in order to traverse the whole area in a covering mode, materials on the raking path are cleaned as much as possible each time, non-repetitive cleaning is carried out according to the path, contour point coordinates close to one side of the cabin body are taken out at equal intervals according to a specified proportion of the transverse length of the raking shovel of the unmanned rake, and contour points corresponding to the contour are taken out at equal intervals according to the proportion length and serve as target points; generating a group of target point sets to be raked according to the information of the material areas to be raked;
step S3, judging whether a point reaching the specified distance of the closed bulkhead exists in the contour point set, namely an invalid point, and deleting the invalid point from the target point set; because the material is required to be cleaned close to the cabin wall, and because the generated target point is a target point which the unmanned pushing and harrowing machine must reach, the target point close to the cabin wall can be abandoned, which means that the material in the area taking the target point as the center is very little and no harrowing is needed;
the three steps are started at the initial moment of raking the material area each time and when the target points automatically generated each time are collected to be empty, and the target points cannot be generated in the process of raking the materials.
Further, the exercise planning module specifically includes:
step T1, extracting a target point closest to the current unmanned rake pushing machine from the target point set, wherein the distance is calculated by Euclidean distance; the target point closest to the unmanned pushing and raking machine is taken to reduce the time spent in the whole material raking process;
step T2, setting a current forward target point raking direction target angle according to the position of the material area to be raked relative to the center line of the closed cabin;
step T3, the unmanned harrow machine firstly turns to the harrowing direction, then moves forward to the appointed target point to harrow the material, and finally moves backward directly;
step T4, deleting the currently-heading target point from the target point set, and repeating the steps until the target point set is empty;
after the four steps are completed, the automatic cleaning of the material area is considered to be completed.
Further, the safety guarantee module specifically includes:
step P1, acquiring information of an inertia measurement unit in the unmanned rake sensing and positioning system in real time through communication, and solving attitude information of the unmanned rake to obtain a Pitch angle (Pitch) and a Roll angle (Roll) of the unmanned rake; the method comprises the steps that the distances from a solid body to six directions taking an unmanned rake as an original point in an unmanned rake sensing and positioning system are obtained in real time through communication, and after the information is obtained, the unmanned rake obtains the information of the current self state and the surrounding environment so as to judge whether to continue normal work according to whether the environment is favorable for the unmanned rake;
step P2, stopping the current advancing and raking actions when the pitch angle or the tilt angle of the unmanned raking machine exceeds a specified safety angle, and feeding back to a central control system of the unmanned raking machine for intervention treatment because the actions can not be executed under dangerous conditions even though the information of the unmanned raking machine is rich; when the distance in the six directions exceeds the specified safety distance, the unmanned pushing and raking machine is corrected to the direction in which the material is to be raked, then the unmanned pushing and raking machine retreats, and the unmanned pushing and raking machine is switched to the next target point under the regional automatic raking material mode, namely the current forward target point is abandoned to retreat under the regional automatic raking material mode.
Further, the predetermined ratio in step S2 is 60% of the width of the rake blade, the range of the area centered on the target point in step S3 is about the target point, and the total length is 60% of the width of the rake blade; the target angle of the raking direction in the step T2 is 90 degrees or-90 degrees, namely the raking direction directly retreats after picking materials; the direction of the material to be raked in the step P2 is 90 degrees or-90 degrees.
As described above, the unmanned automatic cabin cleaning system provided by the invention adopts multiple modes of raking materials, can automatically generate the raking target point of the unmanned rake pushing machine according to material information, and traverses the designated target area under the monitoring of the safety guarantee module to complete the work of raking the materials to the cabin opening. The safety of pier goods transportation and the autonomy of pushing and raking machine have been improved.
The invention has the advantages that: the mode switching module adopts a state and event driven finite state machine form, other modes can be expanded only by adding states and events, the automatic generation target point module automatically generates a target point set needing to rake the material through the profile information of the material area obtained by the unmanned rake system, and the target points are taken out from the target point set of the raked material one by one through the motion planning module according to the minimum time principle, so that the problem of material distribution of the unmanned rake system during automatic raking of the material is solved, the efficiency of automatic cabin cleaning is ensured, the safety module monitors in real time in the whole automatic cabin cleaning process, an effective adjustment strategy can be carried out under dangerous conditions, the unmanned rake system is prevented from colliding with the cabin wall or tipping, the whole automatic cabin cleaning system of the unmanned rake system can realize automatic cabin cleaning through the combination of all the modules, and the manual participation is reduced, meanwhile, the safety is guaranteed.
Drawings
FIG. 1 is a system block diagram of the automatic hold clearing system of the present invention.
Fig. 2 is a system block diagram of an unmanned rake on which the present invention is based.
Fig. 3 is a flow chart of the present invention.
FIG. 4 is an exemplary diagram of an automatically generated target point module of the present invention.
FIG. 5 is an exemplary diagram of the present invention implementing a safety and security module in a hazardous situation.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
An automatic tank cleaning system of an unmanned rake in the embodiment is shown in fig. 1, wherein the system of the unmanned rake supported by the system is shown in fig. 2. The automatic cabin cleaning system of the unmanned pushing and raking machine provided by the invention comprises the following modules:
the mode switching module is used for safely switching between different material raking modes;
the automatic target point generation module is used for automatically generating a target point for raking the object material;
a motion planning module for planning a path with the target point;
and the safety guarantee module is used for executing a safety strategy in a dangerous state of the unmanned rake pushing machine.
As shown in fig. 3 and table 1, after the automatic cabin cleaning system obtains the control mode of the unmanned rake pushing machine through the ROS subscriber, the automatic cabin cleaning system converts the control mode into a state transition condition of the finite state machine to complete switching between the modes, and sends the switched mode information to the automatic generation target point generation module or the motion planning module. In the embodiment, an ROS SMACH finite state machine is adopted, and the SMACH finite state machine is set, and comprises two states of the state machine, namely, a single-target point rake mode and a regional automatic rake material mode, wherein the single-target point rake mode refers to that after receiving a target position and a target angle specified by a central control system of an unmanned rake pushing machine through an ROS subscriber, the target position is automatically moved to the specified target position and the target angle is adjusted to the target position to rake the material; the regional automatic material raking mode is that after the ROS subscriber receives the regional automatic mode issued by the central control system, the unmanned rake pushing machine autonomously generates a target point for raking materials and automatically plans a path to the autonomously generated target point. Meanwhile, two state transition conditions of the state machine are set, namely a non-single-target point raking mode and a non-regional automatic raking mode, when the cabin is cleaned normally and automatically, the unmanned raking machine is in one of the two modes, and when the mode changes, the finite state machine carries out mode switching between the two states through the state transition conditions. And the mode of the finite state machine is beneficial to the expansion of the raking material mode, and simultaneously can transmit the data of the last state to the next state, so that the unmanned rake can still know the operation condition of the unmanned rake in the last state after the state is switched, and the coupling degree of codes is reduced by adopting the finite state machine.
Table 1: the invention relates to a state transition table of a mode switching module
The automatic generation target point module is shown in fig. 4, and the automatic cabin cleaning system automatically generates a target point set for raking the object material according to the contour information of the material area and sends the target point set to the motion planning module. The method comprises the following specific steps:
Step 2, the pushing and harrowing machine has a requirement on completeness of cleaning of a material region in cabin cleaning operation, namely the pushing and harrowing machine does not clean a certain point but traverses a material region in a covering manner, and the pushing and harrowing machine has to rake out the material in the region according to a specific raking mode due to structural design limitation of the pushing and harrowing machine, wherein the specificity is that a raking shovel is arranged in front of a vehicle, the raking shovel can only float up and down, and a backward action is required to be taken if the material is to be raked. Some operational constraints must be imposed on the operation of the automatic tank cleaning system of the unmanned drag harrow. Meanwhile, in order to traverse the whole area in a covering mode, materials on the raking path are cleaned as far as possible each time, non-repetitive cleaning is carried out according to the path, contour points corresponding to the transverse length of the raking shovel of the unmanned rake tractor are taken out at equal intervals from the contour point coordinates close to one side of the cabin body according to the specified proportion of the transverse length of the raking shovel of the unmanned rake tractor, the proportion actually taken out is 60% of the width of the raking shovel, and therefore a group of target points to be raked are generated according to the information of the material area to be raked. In this case, the paths under the adjacent target points may partially overlap, thereby reducing the amount of material under the original path during the previous rake and not reducing the efficiency.
And 3, judging whether a point reaching a specified distance of the closed bulkhead exists in the contour point set, namely an invalid point, and deleting the invalid point from the target point set. Because the material is required to be cleaned close to the cabin wall, and because the generated target point is the target point which the unmanned pushing and harrowing machine must reach, the target point close to the cabin wall can be abandoned, which means that the area with the total length of about 60% of the width of the harrowing shovel and taking the target point as the center has little material and does not need to be harrowed.
The three steps are started at the initial moment of raking the material area each time and when the target points automatically generated each time are collected to be empty, and the target points cannot be generated in the process of raking the materials.
As shown in fig. 4, the motion planning module generates a path from the unmanned rake to the current target point by acquiring a set of target points in the automatic cabin cleaning system and simultaneously taking out the target points one by one from the set of target points, and sends a control instruction to the execution system by executing a motion strategy to perform covering cleaning on the material in the area, where a circle in fig. 4 represents a set of target points generated according to the profile of the material area, and the specific details are as follows:
And 2, setting the target angle of the current forward target point raking direction to be 90 degrees or-90 degrees according to the position of the material area to be raked relative to the central line of the closed cabin. The steps are taken according to the experience of workers working for years in the process of raking the materials, namely, the materials are raked and then directly retreat. The 90 degrees or-90 degrees in this embodiment refer to the direction of the material area to be raked, and may be any angle in practice.
And 3, turning the unmanned pushing and raking machine to the raking direction, then advancing to a specified target point to rake the material, and finally directly retreating.
And 4, deleting the currently-heading target point from the target point set, and repeating the steps until the target point set is empty.
After the four steps are completed, the automatic cleaning of the material area is considered to be completed.
The safety guarantee module is shown in fig. 5, and is used for acquiring the cabin distance and the IMU information of the unmanned rake sensing and positioning system in real time, monitoring the motion state of the motion module to ensure the safety of the unmanned rake, and executing a risk-escaping strategy to generate a safety control instruction or danger feedback to be sent to the motion planning module or the central control system under a dangerous condition to enable the unmanned rake to return to the safety state. The method comprises the following specific steps:
Step 2, stopping the current advancing and raking actions when the pitch angle or the tilt angle of the unmanned raking machine exceeds a specified safety angle, and feeding back the dangerous situation to a central control system shown in fig. 1 for intervention treatment, wherein the actions of the unmanned raking machine can not be executed under the dangerous situation although the unmanned raking machine has abundant information; when the distance between the six directions exceeds the specified safety distance, the unmanned pushing and harrowing machine is corrected to the direction in which the material is to be harrowed, namely 90 degrees or-90 degrees, and it is noted that the 90 degrees or-90 degrees are only the angles used in the embodiment, and any angles can be actually used. And then the unmanned pushing and raking machine retreats, and the regional automatic raking and fetching mode is switched to the next target point, namely the current target point is abandoned to retreat under the regional automatic raking and fetching mode.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The principles and embodiments of the present invention have been explained herein using specific embodiments, which are merely used to help understand the method and its core ideas of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the description is not to be construed as limiting the invention.
Claims (5)
1. Automatic clear cabin system of unmanned pushing and raking machine which characterized in that: the mode switching module acquires control instruction information of the central control system of the unmanned rake pushing machine in real time and automatically selects and sends a data instruction to the motion planning module or the target point automatic generation module through the finite state machine; under the area automatic mode instruction, the automatic target point generation module generates a target point set of the unmanned pushing and raking machine according to the material area information, and under the single target point mode instruction, the target point obtained by the mode switching module from the central control system is placed into the target point set; the motion planning module acquires a target point set, simultaneously takes out target points one by one from the target point set to generate a path from the unmanned rake pushing machine to the current target point, and sends a control command to the unmanned rake pushing machine execution system after executing a motion strategy; the safety guarantee module is through obtaining perception positioning system's cabin distance and IMU information in real time, and the motion state of monitoring motion module simultaneously guarantees unmanned harrow machine's safety, and carries out under the dangerous condition and takes off danger strategy after generating safety control instruction or dangerous feedback and send to motion planning module or central control system in order to let unmanned harrow machine get back to the safe state, and the concrete constitution of each module is:
the mode switching module is composed of a Finite State Machine (FSM), acquires a control mode of the unmanned rake pushing machine as a state through communication, converts the control mode into a state transition condition of the FSM to complete switching between the modes, and sends switched mode information to the automatic generation target point generation module or the motion planning module; the finite state machine is provided with two states, namely a single target point raking mode and an area automatic raking mode, wherein the single target point raking mode refers to the mode that after receiving a target position and a target angle specified by a central control system of the unmanned rake pushing machine through communication, the unmanned rake pushing machine automatically goes to the specified target position and adjusts the target position to the target angle to rake materials; the area automatic material raking mode is that after receiving an area automatic mode issued by a central control system, an unmanned rake pushing machine autonomously generates a target point for raking materials and automatically plans a path to go to the autonomously generated target point; meanwhile, the finite state machine is also provided with two state transition conditions which are a non-single-target point rake mode and a non-regional automatic rake mode respectively, when the cabin is cleaned normally and automatically, the unmanned rake pushing machine is in one of the two modes, and when the mode changes, the finite state machine switches the modes between the two states through the state transition conditions; moreover, the finite state machine is beneficial to the expansion of the mode, and simultaneously can transmit the data of the previous state to the next state, so that the unmanned rake can still know the operation condition of the unmanned rake in the previous state after the state is switched, and the coupling degree of codes is reduced by adopting the finite state machine;
the automatic generation target point module is used for automatically generating a target point set for raking the object material according to the profile information of the material area by the automatic cabin cleaning system when the mode is switched to the area automatic mode, and sending the target point set to the motion planning module; the method comprises the following specific steps:
the motion planning module is used for generating a path from the unmanned rake pushing machine to a current target point by acquiring a target point set in the automatic cabin cleaning system and simultaneously taking out the target points one by one from the target point set, and sending a control instruction to the execution system by executing a motion strategy so as to perform covering type cleaning on the materials in the area;
the safety guarantee module is used for acquiring the cabin distance and IMU information of the unmanned harrow sensing and positioning system in real time, monitoring the motion state of the motion module to ensure the safety of the unmanned harrow, executing a danger escaping strategy under the dangerous condition to generate a safety control instruction or sending danger feedback to the motion planning module or the central control system to enable the unmanned harrow to return to the safety state, wherein the safety program is a program necessary for the unmanned harrow to work so as to prevent the unmanned harrow from generating safety accidents.
2. The automatic tank cleaning system of the unmanned drag harrow of claim 1, wherein: the automatic target point generation module automatically generates a target point set of the material to be raked through the profile information of the material area obtained by the unmanned rake pushing system, and specifically comprises the following steps:
s1, acquiring the length and width of the current closed cabin and the contour information of the material area to be harrowed through communication, wherein the contour point set of the contour information is mapped to the coordinate system of the relative closed cabin; the coordinate system is obtained by the perception positioning system of the unmanned pushing and raking machine, the perception positioning system of the unmanned pushing and raking machine builds a map of the whole cabin, the relative position of each coordinate point in the cabin is obtained, and the automatic cabin cleaning system only needs to obtain information calculated by the perception positioning system; wherein the material area to be raked is specified by the central control system of the unmanned rake pushing machine, and the outline information of the material area is the boundary position of the material area determined by the perception and positioning system of the unmanned rake pushing machine; the automatic cabin cleaning system can carry out the next work after acquiring the information;
step S2, the pushing and harrowing machine has the requirement on completeness of cleaning of a material region in cabin cleaning operation, namely the pushing and harrowing machine does not clean a certain point but traverses a material region in a covering manner, and an unmanned pushing and harrowing machine has to rake out the material in the region according to a specific harrowing manner due to the structural design limitation of the unmanned pushing and harrowing machine, wherein the specificity is that a harrowing shovel is in front of a vehicle and can only float up and down, and a backward movement action is required if the material is to be harrowed; therefore, some operation constraints must be applied to the operation of the automatic cabin cleaning system of the unmanned pushing and harrowing machine; meanwhile, in order to traverse the whole area in a covering mode, materials on the raking path are cleaned as much as possible each time, non-repetitive cleaning is carried out according to the path, contour point coordinates close to one side of the cabin body are taken out at equal intervals according to a specified proportion of the transverse length of the raking shovel of the unmanned rake, and contour points corresponding to the contour are taken out at equal intervals according to the proportion length and serve as target points; thereby generating a group of target points to be raked according to the information of the material area to be raked;
step S3, judging whether a point reaching the specified distance of the closed bulkhead exists in the contour point set, namely an invalid point, and deleting the invalid point from the target point set; because the material is required to be cleaned close to the cabin wall, and because the generated target point is a target point which the unmanned pushing and harrowing machine must reach, the target point close to the cabin wall can be abandoned, which means that the material in the area taking the target point as the center is very little and no harrowing is needed;
the three steps are started at the initial moment of raking the material area each time and when the target point automatically generated each time is collected to be empty, the target point is not generated in the process of raking the material, and the problem of material raking distribution of the unmanned rake pushing machine during automatic raking of the material can be solved by executing the three steps of the module.
3. The automatic tank cleaning system of the unmanned drag harrow of claim 1, wherein: the motion planning module specifically comprises:
step T1, extracting a target point closest to the current unmanned rake pushing machine from the target point set, wherein the distance is calculated by Euclidean distance; the target point closest to the unmanned pushing and raking machine is taken to reduce the time spent in the whole material raking process;
step T2, setting a current forward target point raking direction target angle according to the position of the material area to be raked relative to the center line of the closed cabin;
step T3, the unmanned pushing and raking machine firstly turns to the raking direction, then moves forward to the designated target point to rake the material, and finally moves backward directly;
step T4, deleting the currently-heading target point from the target point set, and repeating the steps until the target point set is empty;
after the four steps are completed, the automatic covering type cleaning of the material area is considered to be completed.
4. The automatic tank cleaning system of the unmanned drag harrow of claim 1, wherein: the safety guarantee module specifically comprises:
step P1, acquiring information of an inertia measurement unit in the unmanned rake sensing and positioning system in real time through communication, and solving attitude information of the unmanned rake to obtain a Pitch angle (Pitch) and a Roll angle (Roll) of the unmanned rake; the method comprises the steps that the distances from a solid body to six directions taking an unmanned rake as an original point in an unmanned rake sensing and positioning system are obtained in real time through communication, and after the information is obtained, the unmanned rake obtains the information of the current self state and the surrounding environment so as to judge whether to continue normal work according to whether the environment is favorable for the unmanned rake;
step P2, stopping the current advancing and raking actions when the pitch angle or the tilt angle of the unmanned raking machine exceeds a specified safety angle, and feeding back to a central control system of the unmanned raking machine for intervention treatment because the actions can not be executed under dangerous conditions even though the information of the unmanned raking machine is rich; when the distance in the six directions exceeds a specified safety distance, the unmanned pushing and raking machine is corrected to the direction in which the material is to be raked, then retreating is carried out, and the direction is switched to the next target point under the regional automatic raking material mode, namely the current forward target point is abandoned to retreat under the regional automatic raking material mode, and the retreat is carried out, because the target point angles under the regional automatic raking material mode of the cabin cleaning system face to the material, the action is only forward and backward, danger can occur when the material moves towards the target point, and no danger exists after the material moves backwards, the safety strategy is feasible;
by executing the two steps in the whole automatic cabin cleaning process, the unmanned pushing and harrowing machine can carry out an effective adjustment strategy under dangerous conditions, and the unmanned pushing and harrowing machine is prevented from colliding to the cabin wall or tipping.
5. The automatic tank cleaning system of the unmanned drag harrow of claim 1, wherein: the specified proportion in the step S2 is 60% of the width of the harrow plate, the area range centered on the target point in the step S3 is about the target point, and the total length is 60% of the width of the harrow plate; the target angle of the raking direction in the step T2 is 90 degrees or-90 degrees, namely the raking direction directly retreats after picking materials; the direction of the material to be raked in the step P2 is 90 degrees or-90 degrees.
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