CN114560318B - Automatic cabin cleaning system of unmanned push rake machine - Google Patents
Automatic cabin cleaning system of unmanned push rake machine Download PDFInfo
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- 238000004140 cleaning Methods 0.000 title claims abstract description 65
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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]
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Abstract
The automatic cabin cleaning system of the unmanned push harrow machine comprises a mode switching module, a motion planning module and a target point automatic generation module, wherein the mode switching module acquires control instruction information of a central control system of the unmanned push harrow machine in real time and automatically selects to send a data instruction to the motion planning module or automatically generates a target point through a finite state machine; under the area automatic mode instruction, the automatic generation target point module generates a target point set of the unmanned rake according to the material area information, and under the single target point mode instruction, the mode switching module puts the target point acquired by the central control system into the target point set; the motion planning module acquires the target point set, simultaneously takes out 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 an unmanned rake execution system after executing a motion strategy; the safety guarantee module acquires cabin distance and IMU information of the perception positioning system in real time, monitors the motion state of the motion module, and generates a safety control instruction 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 push rake machine.
Background
With the continuous improvement of demands and awareness of industry for operation safety, production efficiency and vehicle utilization rate, and the problem of labor shortage, the importance of vehicle automation is rapidly increasing. The push harrow is equipment (jindan, ji Youchang, jinshan, design research [ J ]. Engineering machinery, 2013,44 (11): 9-12.) necessary for cleaning bulk cargo of a ship and improving the turnover rate of the ship, and because working environment is monotonous and working time is long, workers are easy to tired, and environmental hazards in the ship cabin, such as accidents are possibly caused by distraction of the workers when the grab ship unloader repeatedly grabs materials from the ship cabin.
Because of the structural design of the cargo ship, the area of the cabin opening is smaller than that of the whole cabin, and therefore, when the grab bucket ship unloader is used for clearing cabin materials from the cabin opening, the problem that coal in the middle opening area can only be grabbed out is firstly faced, and materials in the cabin which are not exposed to the opening area are difficult to grab by the grab bucket ship unloader only. The current common practice is to rake the material left outside the cabin opening area into the opening area by using a manual driving rake pushing machine, and then grab the material by using a grab ship unloader.
Manual remote control of the push harrow machine, while freeing the operator from hazardous environments, requires constant monitoring of live video for manual remote control (Li Yushan, ande. Remote control push harrow machine operation video monitoring system [ J ]. University of Shandong university (Nature science edition), 2004 (03): 53-56.). The operation mode is the same as the manual driving operation in the cabin, the operation is still tired in long-time operation, and no monitoring dead angle is required to be monitored on site so as to ensure that the push harrow machine does not touch the cabin wall.
The main requirements related to the cleaning of the cabin of the unmanned rake include that the cleaning of the material area must have coverage, namely, the material is required to traverse the whole material area and be raked to the cabin opening area, and the unmanned rake can be required to ensure the safe operation of the rake like manual supervision, and in addition, the working efficiency is ensured, so that the material cabin cleaning work can be completed in a short time. Currently, no good application example exists for automatically cleaning the cabin by using the unmanned push rake machine, so that an automatic cabin cleaning system for the unmanned push rake machine is very necessary.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides an automatic cabin cleaning system of an unmanned push rake machine, so as to solve the problem of autonomy of the unmanned push rake machine in cabin cleaning work, further effectively reduce manual workload, realize automatic regional raking of materials and automatically detect dangerous behaviors in real time to ensure the safety of autonomous work.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
an automatic cabin cleaning system of unmanned push rake machine which characterized in that: the mode switching module acquires control instruction information of the unmanned rake center control system in real time and automatically selects to send a data instruction to the motion planning module or automatically generates a target point module through a finite state machine. Under the regional automatic mode instruction, the automatic generation target point module generates a target point set of the unmanned rake according to the material region information, and under the single target point mode instruction, the mode switching module puts the target point acquired by the central control system into the target point set. 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 a motion strategy. The safety guarantee module acquires cabin distance and IMU information of the perception positioning system in real time, monitors the motion state of the motion module to ensure the safety of the unmanned rake, generates a safety control instruction or dangerous feedback after executing an escape strategy under dangerous conditions, and sends the safety control instruction or dangerous feedback to the motion planning module or the central control system so as to enable the unmanned rake to return to the safety state, wherein the specific constitution of each module is as follows:
and the mode switching module is composed of a Finite State Machine (FSM), acquires a control mode of the unmanned rake machine as a state through communication, switches the control mode as a state transition condition of the finite state machine to finish the switching among modes, and sends the switched mode information to an automatic generation target point module or a motion planning module. The system comprises a finite state machine, a single-target point raking mode and an area automatic raking mode, wherein the two states are respectively a single-target point raking mode and an area automatic raking mode, and the single-target point raking mode is used for raking materials after receiving a target position and a target angle appointed by a central control system of the unmanned rake machine through communication, automatically going to the appointed target position and adjusting the target position to the target angle; the automatic regional material raking mode refers to that after the automatic regional mode issued by the central control system is received, 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 are set for the finite state machine, namely, a non-single target point raking mode and a non-regional automatic raking mode, when normal automatic cabin cleaning works, the unmanned push rake machine is in one of the two modes, and when the modes change, the finite state machine performs mode switching between the two states through the state transition conditions. In addition, the finite state machine is beneficial to the expansion of the mode, and meanwhile, the data of the last state can be transmitted to the next state, so that the unmanned rake pushing machine can still know the running condition of the unmanned rake pushing machine of the last 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 materials according to the contour 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 for the unmanned push rake machine to reach 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 instruction to the execution system by executing a motion strategy so as to carry out coverage cleaning on materials in the area.
The safety guarantee module is used for acquiring cabin distance and IMU information of the unmanned rake machine perception positioning system in real time, monitoring the motion state of the motion module to ensure the safety of the unmanned rake machine, executing an escape strategy under dangerous conditions to generate a safety control instruction or dangerous feedback and sending the safety control instruction or dangerous feedback to the motion planning module or the central control system so as to enable the unmanned rake machine to return to the safety state, wherein the safety program is a program necessary for the unmanned rake machine during working so as to prevent the unmanned rake machine from safety accidents.
Further, the automatic generation target point module specifically includes:
s1, acquiring the length and the width of a current closed cabin and contour information of a material area to be raked through communication, wherein a contour point set of the contour information is mapped to a coordinate system of a relative closed cabin; the coordinate system is obtained by a perception positioning system of the unmanned push harrow machine, the perception positioning system of the unmanned push harrow 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 the information calculated by the perception positioning system; the material area to be raked is specified by the unmanned rake center control system, and the material area contour information is the boundary position of the material area determined by the unmanned rake perception positioning system; after the automatic cabin cleaning system acquires the information, the next work can be carried out;
s2, the requirement on the cleaning completeness of a material area is met in the cabin cleaning operation of the rake, namely, the rake is not used for cleaning a certain point, but is used for performing covered traversal on a material area, and the unmanned rake must rake out the material in the area according to a specific raking mode due to the structural design limit of the unmanned rake, wherein the specificity is that the rake is in front of the automobile and can only float up and down, and if the material is to be raked out, a backward action must be adopted; therefore, some constraints in the operation must be applied to the operation of the automatic cabin cleaning system of the unmanned push harrow machine; meanwhile, in order to cover the whole area, cleaning the materials on the raking path as much as possible each time, cleaning the materials according to the path in a non-repeated mode, starting from the coordinates of the contour points close to one side of the cabin according to the specified proportion of the transverse length of the rake shovel of the unmanned rake, and taking the contour points corresponding to the taken contour at equal intervals of the proportion length as target points; generating a group of target point sets to be raked according to the material area information to be raked;
s3, judging whether points reaching a specified distance of the closed bulkhead exist in the contour point set or not, namely invalid points, and deleting the invalid points from the target point set; because the material is required to be cleaned and is close to the cabin wall, and because the generated target point is a target point which the unmanned push rake must reach, the target point close to the cabin wall can be discarded, which means that the area taking the target point as the center has little material and no re-rake is needed;
the three steps are started at the initial moment of raking the material area each time and when the set of automatically generated target points each time is empty, and the generation of the target points can not be carried out in the process of raking the materials.
Further, the motion planning module specifically includes:
step T1, taking out a target point closest to the current unmanned push rake machine from a target point set, wherein the distance is calculated by a Euclidean distance; the closest target point to the unmanned rake pushing machine is taken to reduce the time spent in the whole material raking process;
step T2, setting a target point raking direction target angle which is currently sent to according to the position of a material area to be raked relative to the central line of the closed cabin;
step T3, the unmanned rake pushing machine turns to a rake pulling direction firstly, then advances to a designated target point to rake materials, and finally retreats directly;
step T4, deleting the target point which is currently going to 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 security module specifically includes:
step P1, acquiring inertial measurement unit information in a perception and positioning system of the unmanned rake machine in real time through communication, and calculating attitude information of the unmanned rake machine to obtain a Pitch angle (Pitch) and a Roll angle (Roll) of the unmanned rake machine; the method comprises the steps that the distances from six directions, which are currently used as an origin, of an unmanned rake to solids in a 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 or not;
step P2, stopping the current advancing and pushing actions after the pitch angle or the tilting angle of the unmanned rake exceeds a specified safety angle, wherein although the information of the unmanned rake is rich, the information is still insufficient for predicting the occurrence of actions to be executed again under dangerous conditions, so that the information is fed back to a central control system of the unmanned rake for intervention treatment; when the distance between the six directions exceeds the specified safety distance, the unmanned rake is corrected to the direction in which the materials are to be raked, then the unmanned rake is retracted, and the automatic rake is switched to the next target point in the area automatic rake mode, namely the current target point is abandoned for retraction in the area automatic rake mode, and the target point angle in the area automatic rake mode of the cabin cleaning system is towards the materials, so that the danger can only occur when the unmanned rake advances towards the target point and the retraction is not dangerous, and the safety strategy is feasible.
Further, 60% of the width of the harrow blade is taken according to the specified proportion in the step S2, the area range centered on the target point in the step S3 is left and right centering on the target point, and the total length is 60% of the width of the harrow blade; the target angle of the harrowing direction in the step T2 is 90 degrees or-90 degrees, namely, the harrowing direction directly retreats after the material is harrowed; the direction in which the material is to be raked in step P2 is 90 degrees or-90 degrees.
As described above, the unmanned automatic cabin cleaning system provided by the invention adopts various material raking modes, can automatically generate a material raking target point of an unmanned push rake according to material information, traverses an appointed target area under the monitoring of the safety guarantee module, and completes the work of raking materials to the opening of a cabin. The safety of dock cargo transfer and the autonomy of the push harrow machine are improved.
The invention has the advantages that: the mode switching module adopts a finite state machine form driven by states and events, other modes can be expanded only by adding the states and the events, the automatic generation target point module automatically generates target point sets required to rake materials through material area profile information obtained by the unmanned rake system, and the target points are taken out from the rake material target point sets one by one through the motion planning module according to a minimum time principle, so that the problem of material distribution of the unmanned rake during automatic raking of the materials is solved, the automatic cabin cleaning efficiency 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 is prevented from being collided to the cabin wall or tipping over, the automatic cabin cleaning system of the whole unmanned rake can realize automatic cabin cleaning through combination of the modules, and the manual participation is reduced, and meanwhile, the safety is ensured.
Drawings
Fig. 1 is a system block diagram of an automatic clearance system of the present invention.
Fig. 2 is a system block diagram of an unmanned rake-pushing machine on which the present invention is supported.
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 executing a security module in a dangerous situation.
Detailed Description
The following description of the technical solutions in the embodiments of the present application will be made clearly and completely with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
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 herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
An automatic cabin cleaning system of an unmanned rake is shown in fig. 1, wherein the supported unmanned rake system is shown in fig. 2. The automatic cabin cleaning system of the unmanned push rake machine provided by the invention comprises the following modules:
the mode switching module is used for safely switching among different raking material modes;
an automatic generation target point module for automatically generating a target point of the raked material;
a motion planning module for planning a path using the target point;
and the safety guarantee module is used for executing the safety strategy under the dangerous state of the unmanned push harrow machine.
The mode switching module is shown in fig. 3 and table 1, after the automatic cabin cleaning system obtains the control mode of the unmanned rake through the ROS subscriber, the control mode is converted into the state transition condition of the finite state machine to complete the switching between modes, and the information of the switched mode is sent to the automatic generation target point module or the motion planning module. According to the embodiment, an ROS SMACH finite state machine is adopted, and by setting the SMACH state machine, the two states of the state machine are a single target point raking mode and an area automatic raking mode, wherein the single target point raking mode is that after a target position and a target angle appointed by a central control system of an unmanned rake-pushing machine are received through an ROS subscription device, the single target point raking mode automatically goes to the appointed target position and is adjusted to the target angle for raking materials; the regional automatic raking material mode refers to 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 the material and automatically plans a path to go to the autonomously generated target point. Meanwhile, two state transition conditions of the state machine are respectively a non-single target point raking mode and a non-regional automatic raking mode, when normal automatic cabin cleaning works, the unmanned rake pushing machine is in one of the two modes, and when the modes change, the finite state machine performs mode switching between the two states through the state transition conditions. In addition, the mode of the finite state machine is beneficial to the expansion of the material raking mode, and meanwhile, the data of the last state can be transmitted to the next state, so that the unmanned rake machine can still know the running condition of the unmanned rake machine of the last state after the state is switched, and the coupling degree of codes is reduced by adopting the mode of the finite state machine.
Table 1: state transition table of mode switching module of the present invention
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 materials according to the contour information of the material areas and sends the target point set to the motion planning module. The method comprises the following steps:
step 1, acquiring the length and width of a current closed cabin and contour information of a material area to be raked through an ROS (reactive oxygen species) subscriber, wherein a contour point set of the contour information is mapped to a coordinate system of a relative closed cabin, wherein the contour point set refers to a certain cabin in a ship, a central control system designates the material area to be raked in the cabin, the contour information of the material area is the boundary position of the material area determined by a perception positioning module, the coordinate system is obtained by a perception positioning system of the unmanned rake, namely the perception positioning system builds a map of the whole cabin, and the relative position of each coordinate point in the cabin is obtained, and an automatic cabin cleaning system only needs to obtain information calculated by the perception positioning system. It is easy to understand that the present invention focuses on how the unmanned push rake automatically clears the cabin, and does not limit how the above information is obtained and calculated. After the automatic cabin cleaning system acquires the information, the next work can be performed.
Step 2, the requirement on the cleaning completeness of a material area is met in the cabin cleaning operation of the rake, namely the rake is used for not cleaning a certain point, but performing covered traversal on a material area, and the rake must rake out the material in the area according to a specific raking mode due to the structural design limit of the rake, wherein the specificity is that the rake is in front of the vehicle and can only float up and down, and if the material is to be raked out, a backward action must be adopted. Some constraints in the operation must be imposed on the operation of the automatic cabin cleaning system of the unmanned push-type harrow machine. Meanwhile, in order to cover the whole area, the materials on the raking path are cleaned up every time as much as possible, the path is cleaned up according to the non-repeated mode, the coordinates of the contour points close to one side of the cabin body are set according to the set proportion of the transverse length of the rake shovel of the unmanned rake shovel, the corresponding contour points on the taken-out contours with the length equal to the set proportion are taken as target points, the actual taking proportion is 60% of the width of the rake shovel, and therefore a set of target points to be raked are generated according to the information of the material area to be raked. Under the condition, paths under adjacent target points can be partially overlapped, so that materials under the original paths in the last raking process are reduced, and larger efficiency is not reduced.
And 3, judging whether points reaching the specified distance of the closed bulkhead exist in the contour point set or not, namely invalid points, and deleting the invalid points from the target point set. Because the cleaning material is required to be close to the cabin wall, and the generated target point is the target point which the unmanned rake pushing machine must reach, the target point close to the cabin wall can be abandoned, which means that the total length about the target point is about 60% of the width of the harrow shovel, and the material is little, and the harrow is not needed.
The three steps are started at the initial moment of each material raking area and when the set of automatically generated target points is empty, and the generation of the target points can not be carried out in the material raking process.
The motion planning module is shown in fig. 4, and generates a path for the unmanned rake to reach the current target point by acquiring a target point set in the automatic cabin cleaning system and simultaneously taking out target points one by one from the target point set, and sends a control instruction to an execution system by executing a motion strategy to perform coverage cleaning on materials in a region, wherein circles in fig. 4 represent the target point set generated according to the contour of the material region, and the method specifically comprises the following steps:
and step 1, taking out a target point closest to the current unmanned push rake machine from a target point set, wherein the distance is calculated by a Euclidean distance. The closest target point to the unmanned rake is taken to reduce the time spent in the whole material raking process.
And 2, setting the target point raking direction target angle 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 step adopted in the material raking process is obtained according to the experience of workers working for years, namely, the material raking process is directly followed. In this embodiment, 90 degrees or-90 degrees refer to the direction of the material area to be raked, and may be practically any angle.
And 3, the unmanned rake pushing machine is firstly turned to a rake pulling direction, then is advanced to a designated target point for rake pulling of materials, and finally is directly retracted.
And step 4, deleting the target point which is currently going to 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, obtains cabin distance and IMU information of the unmanned rake machine perception positioning system in real time, monitors the motion state of the motion module to ensure safety of the unmanned rake machine, executes an escape strategy under dangerous conditions to generate a safety control instruction or dangerous feedback, and sends the safety control instruction or dangerous feedback to the motion planning module or the central control system to enable the unmanned rake machine to return to a safe state. The method comprises the following steps:
step 1, acquiring information of an inertial measurement unit in a perception positioning system shown in fig. 1 in real time, and calculating attitude information of an unmanned push rake machine to obtain a Pitch angle (Pitch) and a Roll angle (Roll) of the unmanned push rake machine; the distances from the cabin wall in the six directions with the unmanned rake as the origin in the perception and positioning system shown in fig. 1 are obtained in real time, wherein the embodiment of how to obtain the information is not limited strictly. After the information is acquired, the unmanned rake pushing machine acquires 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 pushing machine.
Step 2, stopping the current advancing and pushing actions after the pitch angle or the tilting angle of the unmanned rake exceeds a specified safety angle, wherein the unmanned rake is insufficient to predict the occurrence of actions under dangerous situations although the information of the unmanned rake is rich, so that the dangerous situations are fed back to a central control system shown in fig. 1 for intervention treatment; when the distance between the six directions exceeds the specified safety distance, the unmanned rake pushing machine is corrected to the direction in which the material is to be raked, namely 90 degrees or-90 degrees, and the 90 degrees or-90 degrees are only angles used in the embodiment, and any angle can be practically used. Then the unmanned push rake machine backs, and switches to the next target point in the automatic material raking mode of the area, namely the target point which is currently going to is abandoned for backing in the automatic material raking mode of the area, and because the angle of the target point in the automatic material raking mode of the area of the cabin cleaning system is toward the material, the action is only forward and backing, so that danger can only occur when the material moves toward the target point, and the backing is not dangerous, thus the safety strategy is feasible.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description is not to be construed as limiting the invention.
Claims (5)
1. Automatic cabin cleaning system of unmanned push rake machine, its characterized in that: the mode switching module acquires control instruction information of the unmanned rake center control system in real time and automatically selects to send a data instruction to the motion planning module or automatically generates a target point module through a finite state machine; under the area automatic mode instruction, the automatic generation target point module generates a target point set of the unmanned rake according to the material area information, and under the single target point mode instruction, the mode switching module puts the target point acquired by the central control system into the target point set; the motion planning module acquires the target point set, simultaneously takes out 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 an unmanned rake execution system after executing a motion strategy; the safety guarantee module acquires cabin distance and IMU information of the perception positioning system in real time, monitors the motion state of the motion module to ensure the safety of the unmanned rake, generates a safety control instruction or dangerous feedback after executing an escape strategy under dangerous conditions, and sends the safety control instruction or dangerous feedback to the motion planning module or the central control system so as to enable the unmanned rake to return to the safety state, wherein the specific constitution of each module is as follows:
the system comprises a mode switching module, a motion planning module and a motion planning module, wherein the mode switching module is composed of a Finite State Machine (FSM), the control mode of the unmanned rake machine is obtained through communication to serve as a state, the control mode is converted to serve as a state transition condition of the finite state machine to finish the switching between modes, and the information of the switched mode is sent to the automatic generation target point module or the motion planning module; the system comprises a finite state machine, a single-target point raking mode and an area automatic raking mode, wherein the two states are respectively a single-target point raking mode and an area automatic raking mode, and the single-target point raking mode is used for raking materials after receiving a target position and a target angle appointed by a central control system of the unmanned rake machine through communication, automatically going to the appointed target position and adjusting the target position to the target angle; the automatic regional material raking mode refers to that after the automatic regional mode issued by the central control system is received, the 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, namely a non-single target point raking mode and a non-regional automatic raking mode, when normal automatic cabin cleaning works, the unmanned push rake machine is in one of the non-single target point raking mode and the non-regional automatic raking mode, and when the modes change, the finite state machine performs mode switching between the two states through the state transition conditions; the finite state machine is beneficial to the expansion of the mode, and meanwhile, the data of the last state can be transmitted to the next state, so that the unmanned rake machine can still know the running condition of the unmanned rake machine of the last 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 materials according to the contour information of the material areas 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 steps:
the motion planning module is used for generating a path of the unmanned push rake machine reaching the 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 clean materials in the area in a covering manner;
the safety guarantee module is used for acquiring cabin distance and IMU information of the unmanned rake machine perception positioning system in real time, monitoring the motion state of the motion module to ensure the safety of the unmanned rake machine, executing an escape strategy under dangerous conditions to generate a safety control instruction or dangerous feedback and sending the safety control instruction or dangerous feedback to the motion planning module or the central control system so as to enable the unmanned rake machine to return to the safety state, wherein the safety program is a program necessary for the unmanned rake machine during operation, and therefore safety accidents of the unmanned rake machine are prevented.
2. The automated cleaning system of an unmanned rake according to claim 1, wherein: the automatic generation target point module automatically generates a target point set needing to rake materials according to the contour information of the material area obtained by the unmanned rake pushing system, and specifically comprises the following steps:
s1, acquiring the length and the width of a current closed cabin and contour information of a material area to be raked through communication, wherein a contour point set of the contour information is mapped to a coordinate system of a relative closed cabin; the coordinate system is obtained by a perception positioning system of the unmanned push harrow machine, the perception positioning system of the unmanned push harrow 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 the information calculated by the perception positioning system; the material area to be raked is specified by the unmanned rake center control system, and the material area contour information is the boundary position of the material area determined by the unmanned rake perception positioning system; after the automatic cabin cleaning system acquires the information, the next work can be carried out;
s2, the requirement on the cleaning completeness of a material area is met in the cabin cleaning operation of the rake, namely, the rake is not used for cleaning a certain point, but is used for performing covered traversal on a material area, and the unmanned rake must rake out the material in the area according to a specific raking mode due to the structural design limit of the unmanned rake, wherein the specificity is that the rake is in front of the vehicle and can only float up and down, and if the material is to be raked out, a backward action must be adopted; therefore, some constraints in the operation must be applied to the operation of the automatic cabin cleaning system of the unmanned push harrow machine; meanwhile, in order to cover the whole area, cleaning up materials on a raking path as much as possible each time, cleaning up according to the path in a non-repeated mode, taking contour points corresponding to the taken contour at intervals in equal intervals with the length of the proportion as target points according to the specified proportion of the transverse length of the rake shovel of the unmanned rake from the contour point coordinates close to one side of the cabin; generating a group of target points to be raked according to the material area information to be raked;
s3, judging whether points reaching a specified distance of the closed bulkhead exist in the contour point set or not, namely invalid points, and deleting the invalid points from the target point set;
the three steps are started at the initial moment of raking the material area each time and when the set of automatically generated target points each time is empty, and the generation of the target points can not be carried out in the process of raking the materials.
3. The automated cleaning system of an unmanned rake pusher of claim 2, wherein: the motion planning module specifically comprises:
step T1, taking out a target point closest to the current unmanned push rake machine from a target point set, wherein the distance is calculated by a Euclidean distance; the closest target point to the unmanned rake pushing machine is taken to reduce the time spent in the whole material raking process;
step T2, setting a target point raking direction target angle which is currently sent to according to the position of a material area to be raked relative to the central line of the closed cabin;
step T3, the unmanned rake pushing machine turns to a rake pulling direction firstly, then advances to a designated target point to rake materials, and finally retreats directly;
step T4, deleting the target point which is currently going to 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 coverage type is considered to be completed.
4. An automatic compartment cleaning system for an unmanned rake according to claim 3, wherein: the safety guarantee module specifically comprises:
step P1, acquiring inertial measurement unit information in a perception and positioning system of the unmanned rake machine in real time through communication, and calculating attitude information of the unmanned rake machine to obtain a pitch angle and a tilting angle of the unmanned rake machine; the method comprises the steps that the distances from six directions, which are currently used as an origin, of an unmanned rake to solids in a 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 or not;
step P2, stopping the current advancing and pushing actions after the pitch angle or the tilting angle of the unmanned rake exceeds a specified safety angle, wherein although the information of the unmanned rake is rich, the information is still insufficient for predicting the occurrence of actions to be executed again under dangerous conditions, so that the information is fed back to a central control system of the unmanned rake for intervention treatment; correcting the unmanned rake pushing machine to the direction in which the material is to be raked when the distance in the six directions exceeds a specified safety distance, then backing, and switching to the next target point in the automatic material raking mode of the area, namely giving up the current target point in the automatic material raking mode of the area to backing;
by executing the two steps in the whole automatic cabin cleaning process, the unmanned rake pushing machine can effectively adjust the strategy under dangerous conditions, and the unmanned rake pushing machine is prevented from being collided to the cabin wall or from tipping.
5. The automated cleaning system of an unmanned rake pusher as set forth in claim 4 wherein: step S2, the specific proportion is used for taking 60% of the width of the harrow shovel, step S3, the area range taking the target point as the center is left and right taking the target point as the center, and the total length is 60% of the width of the harrow shovel; the target angle of the harrowing direction in the step T2 is 90 degrees or-90 degrees, namely, the harrowing direction directly retreats after the material is harrowed; the direction in which the material is to be raked in step P2 is 90 degrees or-90 degrees.
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