CN115826576A - Intelligent control system and method for self-loading and unloading forklift robot - Google Patents
Intelligent control system and method for self-loading and unloading forklift robot Download PDFInfo
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- CN115826576A CN115826576A CN202211530954.4A CN202211530954A CN115826576A CN 115826576 A CN115826576 A CN 115826576A CN 202211530954 A CN202211530954 A CN 202211530954A CN 115826576 A CN115826576 A CN 115826576A
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Abstract
The invention provides an intelligent control system and method of a self-loading and unloading forklift robot, which are characterized in that according to detection information, the loading number of carrying vehicles is calculated by combining the specifications of materials to be loaded/unloaded, the loading and unloading scheme of the materials to be loaded/unloaded is determined, a loading and unloading task is formed, the loading and unloading task is sent to a robot control system, a plurality of self-loading and unloading forklift robots are scheduled to move to an appointed position for material forking and move to a preset position with corresponding tracks for material placement, and the loading and unloading task is completed; the invention utilizes the robot and the scanning system to jointly identify the appearance information of the materials such as size, placing position, orientation and the like, and automatically adjusts the forking position and the forking mode; and meanwhile, environmental information in the operation process is sensed and identified, and the whole carrying, loading and unloading process is smoothly carried out.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to an intelligent control system and method for a self-loading and unloading forklift robot.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
Electric power material storage is different from other traditional logistics storage, has large-scale materials such as transformer, block terminal in the material, and the transport degree of difficulty is great, and the security requires highly, and there is great potential safety hazard in manual loading and unloading.
This problem has been solved from the appearance of loading and unloading robot, and the instruction can be accomplished to operating personnel from the loading and unloading robot, and other automation equipment accomplish goods and materials automatic loading and unloading transport and the warehouse entry work in the deuterogamying storehouse, does not need staff contact equipment and upper and lower frame goods in the whole course of the work, greatly reduced the cost of labor.
However, when the existing self-loading and unloading robot determines the forking position, the whole appearance of large materials such as a transformer and a distribution box is difficult to obtain only by an imaging device arranged on the structure of the robot, the robot cannot be accurately positioned, and carrying accidents are easy to happen to cause damage to the robot or the materials.
Disclosure of Invention
The invention provides an intelligent control system and a method for a self-loading and unloading forklift robot to solve the problems, wherein the robot and a scanning system are used for identifying appearance information such as the size, the placing position, the orientation and the like of materials together, and the forking position and the forking mode are automatically adjusted; and meanwhile, environmental information in the operation process is sensed and identified, and the whole carrying, loading and unloading process is smoothly carried out.
According to some embodiments, the invention adopts the following technical scheme:
the utility model provides a from loading and unloading fork truck robot intelligence control system, includes robot control system, scanning system and control center, wherein:
the robot control system is used for receiving detection information of a detection assembly on at least one self-loading and unloading forklift robot, determining the position and the motion state of the self-loading and unloading forklift robot according to the detection information, and controlling the motion track and the motion state of the self-loading and unloading forklift robot according to an instruction of a control center;
the scanning system comprises a plurality of image acquisition modules arranged above a preset parking area of a carrier vehicle, and the acquisition range of each image acquisition module can completely cover materials;
the control center receives the detection information uploaded by the robot control system, coordinates and detection information of each image acquisition module in the scanning system, calculates the loading number of the carrying vehicles by combining the specifications of materials to be loaded/unloaded, determines the loading and unloading scheme of the materials to be loaded/unloaded, forms a loading and unloading task, sends the loading and unloading task to the robot control system, dispatches a plurality of self-loading and unloading forklift robots to move to specified positions for material forking and moves to preset positions with corresponding tracks for material placement, and completes the loading and unloading task.
As an alternative embodiment, the detection assembly comprises a laser scanning module and a depth camera which are arranged on the self-loading and unloading forklift robot, wherein the laser scanning module is used for scanning an obstacle in front of the self-loading and unloading forklift robot in the motion direction to realize laser navigation, and the depth camera is used for acquiring three-dimensional point cloud information in the visual field range of the self-loading and unloading forklift robot, determining the center coordinate, the angle and the height of materials in front of the robot, and adjusting the poses of the self-loading and unloading forklift robot and fork teeth to realize accurate forking.
As an alternative embodiment, the detection assembly further comprises a height detection module and an encoder, wherein the height detection module is used for detecting the height information of the goods to be loaded/unloaded, and the encoder is used for determining the position and the motion state of the self-loading and unloading forklift robot.
As an alternative embodiment, a four-stage protection mechanism is arranged on the self-loading and unloading forklift robot, the first-stage protection mechanism is a laser obstacle avoidance sensor, the second-stage protection mechanism is a proximity switch arranged in front of a fork arm, the third-stage protection mechanism is an emergency stop switch communicated with a robot control system, and the fourth-stage protection mechanism is a flexible anti-collision strip arranged in front of the robot.
As an alternative implementation, the control center stores a storage area map, determines a plurality of self-loading and unloading forklift robots which are closest to the area where the goods and materials are located and meet the loading quantity according to the positioning information of the carrying vehicles, the positioning information of the respective loading and unloading forklift robots and the information of the areas to be loaded/unloaded, and executes loading and unloading tasks according to an optimal path.
As an alternative embodiment, the scanning system includes a platform, the platform is fixed above a preset loading and unloading area, the platform is parallel to the ground of the loading and unloading area, and the lower end of the platform is provided with a plurality of cameras for scanning the carrier vehicles or the carrier vehicles and the materials parked in the loading and unloading area to obtain the three-dimensional information of the vehicles, the relevant sizes of the materials and the position of the central coordinate point.
As an alternative embodiment, the system further comprises a communication system, wherein the communication system is used for communication between the control center and the robot control system and the scanning system, and the communication system comprises a plurality of switches and communication modules distributed in the warehousing area.
By way of further limitation, the warehousing area includes a loading area, a detection area, a storage area, and a staging area.
As an alternative embodiment, the control center is configured to perform edge extraction on the image acquired by the scanning system, distinguish the material from the carrying vehicle, match the material with a pre-stored material template, determine the material type, and extract and identify the center coordinates and the angle of the material by using a deep learning method.
As an alternative embodiment, the control center is configured to acquire an image acquired from a depth camera of the loading and unloading forklift robot, perform a priori segmentation, feature point extraction, point cloud clustering and shape recognition in sequence, extract the central coordinates, angles and height of the forking holes on the material, and transmit the relative coordinates and height to the robot control system.
An intelligent control method for a self-loading and unloading forklift robot comprises the following steps:
the method comprises the steps that images of carrying vehicles in a loading and unloading area are detected by a scanning system, a control center carries out edge extraction, the loading size of the carrying vehicles is determined, the number of materials to be loaded and a loading and unloading scheme are determined by combining the specifications of the materials to be loaded, a loading and unloading task is formed, the loading and unloading task is sent to a robot control system, a plurality of self-loading and unloading forklift robots are scheduled to move to a storage area to carry out material forking and move to the loading and unloading area along an optimal track, the materials are placed according to the loading and unloading scheme, and the loading and unloading task is completed.
An intelligent control method for a self-loading and unloading forklift robot comprises an unloading process:
detecting the images of the carrying vehicles and the materials on the carrying vehicles in the loading and unloading area by using a scanning system, carrying out edge extraction by using a control center, distinguishing the materials from the carrying vehicles, matching the materials with a prestored material template, determining the types and specifications of the materials, calculating the positions and postures of the materials, and scheduling a plurality of self-loading and unloading forklift robots to move to the loading and unloading area for material forking;
the self-loading and unloading forklift robot moves to the position near the materials of the corresponding loading and unloading area, the posture and the position of the self-loading and unloading forklift robot are adjusted according to the detection result of the detection assembly, and the materials are forked;
and controlling the self-loading and self-unloading forklift robot to move to a storage area according to the optimal track to place materials.
Compared with the prior art, the invention has the beneficial effects that:
the invention innovatively provides an intelligent control system of a self-loading and unloading forklift robot, a scanning system and a robot control system are researched and developed, appearance information such as the size, the placing position and the orientation of goods and materials is identified through the scanning system, the forking position and the forking mode are automatically adjusted, the robot control system controls the motion track and the state of the self-loading and unloading forklift robot, environmental information in the operation process is sensed and identified, and the automatic, safe and efficient operation of loading, unloading and carrying large-scale goods and materials in electric power storage is realized.
The invention innovatively provides an intelligent control method for a self-loading and unloading forklift robot, which is characterized in that according to different requirements for loading and unloading goods, a corresponding loading and unloading scheme is determined by combining images of a carrying vehicle and specifications of goods and materials to be loaded/unloaded, a task is formed, the corresponding self-loading and unloading forklift robot is scheduled to execute the task, and automation and optimization of goods and materials loading and unloading are realized.
The scanning system confirms the coordinate position of the carriage of the vehicle, the camera feeds coordinate information back to the system, the system calculates the number of vehicles which can be loaded according to the specification size of materials to be loaded, the carriage is planned into a corresponding storage position, the storage position information is fed back to the control center, and the control center distributes forklift transportation, so that automatic loading is realized, and the working efficiency is improved.
The innovative self-loading and unloading forklift robot is provided with the quadruple protection mechanism, senses and identifies environmental information in the operation process, assists in realizing the automatic obstacle avoidance function, and can effectively ensure the safety of self and materials in the loading, unloading and transporting processes. Meanwhile, a camera is also arranged on the self-loading and unloading forklift robot, so that the robot can identify appearance information such as the size, the placing position, the orientation and the like of operation materials, the forking position and mode are automatically adjusted, and the forking accuracy is guaranteed.
The control center stores a map, can perform full-map real-time positioning on the map, and interacts with the robot control system in real time; the robot can autonomously plan an optimal path according to the current coordinates of the robot and the coordinates of the materials to be operated informed by the system, reaches a target place along the autonomously planned path, and simultaneously fully senses dynamic obstacles in the environment by utilizing an automatic obstacle avoidance technology to actively avoid.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
FIG. 1 is a system level diagram of the present embodiment;
FIG. 2 is a schematic view of the loading/unloading zone of the present embodiment;
FIG. 3 is a schematic view of a scanning system according to the present embodiment;
FIG. 4 is a schematic diagram of the system architecture of the present embodiment;
FIG. 5 is a schematic diagram of a robot structure according to the present embodiment;
fig. 6 is a schematic diagram of the operation of the scanning system of the present embodiment.
The specific implementation mode is as follows:
the invention is further described with reference to the following figures and examples.
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. 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 invention 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 invention. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
An intelligent control system for a self-loading and unloading forklift robot is shown in figures 1 and 4 and comprises a robot control system, a scanning system and a control center, wherein:
the robot control system is used for receiving detection information of a detection assembly on at least one self-loading and unloading forklift robot, determining the position and the motion state of the self-loading and unloading forklift robot according to the detection information, and controlling the motion track and the motion state of the self-loading and unloading forklift robot according to an instruction of a control center;
the scanning system comprises a plurality of image acquisition modules arranged above a preset parking area of a carrier vehicle, and the acquisition range of each image acquisition module can completely cover materials;
the control center receives the detection information uploaded by the robot control system, coordinates and detection information of each image acquisition module in the scanning system, calculates the loading number of the carrying vehicles by combining the specifications of materials to be loaded/unloaded, determines the loading and unloading scheme of the materials to be loaded/unloaded, forms a loading and unloading task, sends the loading and unloading task to the robot control system, dispatches a plurality of self-loading and unloading forklift robots to move to specified positions for material forking and moves to preset positions with corresponding tracks for material placement, and completes the loading and unloading task.
The system can be used for a first process of warehousing materials: unloading service and the last procedure of material delivery: and (5) loading service.
The scanning system scans and analyzes the warehousing vehicle through a 3D laser scanning imaging technology, obtained data are sent to the robot, the robot senses the surrounding working environment through a self vision sensing mode, the self position and the target position are determined, a path is planned, obstacles in driving are avoided automatically, automatic loading and unloading are completed at the destination automatically, in the process, full-automatic loading and unloading and carrying functions of tray/equipment materials are achieved, and operation is completed with high precision and high efficiency through accurate positioning navigation and vision recognition.
The scanning system can scan the 3D contour of the material, accurately position the three-dimensional space coordinate of the material through image segmentation and send the coordinate to the robot; the robot can be realized by utilizing a camera or an intelligent identification module, so that the robot can identify appearance information such as the size, the placing position, the orientation and the like of operation materials and automatically adjust the forking position and the forking mode; and meanwhile, environmental information in the operation process is sensed and identified, and the automatic obstacle avoidance function is realized in an auxiliary manner. The scanning system vision processor processes the images obtained by the scanner by using a deep learning algorithm YOLO v3, and synchronously performs training learning, as shown in FIG. 6. The scanning system establishes a data model of the target through an intelligent algorithm, finally obtains physical characteristics of the target material, such as length, width, height, center coordinates and the like, and sends the data to the loading, unloading and carrying equipment through a storage internal local area network.
As shown in fig. 3, the scanning system is provided with a platform, the platform is fixedly installed right above a loading and unloading area, the height of the platform is 6-7m away from the ground, the platform and the ground are kept parallel, the parallelism of the platform and the ground is not more than 1cm, when a truck loading goods and materials stops in the loading and unloading area, the scanning system automatically scans goods and materials vehicles below the platform so as to obtain the height of a cargo compartment of the vehicle and the relevant dimensions of the goods and materials, such as length, width, height and central coordinate points, the scanning system sends a series of goods and materials information obtained through scanning to the central control system through a compartment wireless local area network, the central control system generates a plurality of tasks and other information to be sent to the forklift robot, the robot carries out accurate positioning and goods and materials taking on the forklift according to the coordinate information of each task instruction after obtaining the tasks and places the goods and materials to the appointed position to carry out subsequent storage operation.
The self-loading forklift robot main body adopts a counterweight stacking structure, so that the requirement of a customer for forking and taking goods is met, and the goods comprise a transformer, a comprehensive distribution box and the like.
The robot comprises a vehicle body, a vehicle-mounted controller, a walking and steering driving assembly and a lifting assembly, and is provided with a plurality of detection mechanisms, a positioning scanner, a safety protection device, a sensor and a power supply, as shown in figure 5.
The control center stores a warehouse map, can perform full map real-time positioning on the map, and interacts with the system in real time; the robot can autonomously plan an optimal path according to the current coordinates of the robot and the coordinates of the materials to be operated informed by the system, reaches a target place along the autonomously planned path, and simultaneously fully senses dynamic obstacles in the environment by utilizing an automatic obstacle avoidance technology to actively avoid.
The warehouse mainly comprises the following areas:
an unloading area: there may be a plurality of vehicles, and the robot performs the loading/unloading work when the vehicle reaches a predetermined area, as shown in fig. 2.
Conveying line inlet and outlet: the warehouse-in and warehouse-out stations of the conveying line area are the same station.
Storage area: for bulk storage of goods, it may be a multi-tier rack.
Robot entry and exit cache bit: for temporary storage of unloaded/ex-warehouse goods.
A robot passage: the width of the channel is at least ensured to be 4.9-6 m, and the operation efficiency is improved.
Charging area (rest point): the robot is from the position of charging, and when the dolly low-power, return this region and charge, dolly rest point uses on-the-spot actual planning as the standard. The rest point of the robot can be randomly determined, and a proper position is selected as the rest point on the premise that the operation of other equipment is not hindered.
Detection zone: the detection area of goods and materials has a plurality of regions, and the storehouse position is piled to the robot, and is mutual with the automatically-controlled door through control center. The robot sends position information to the control center before arriving at the door and requests to enter, the control center controls the door to be opened, when the door is completely opened, the door opening state is fed back to the control center, the control center interacts with the robot after receiving the information that the door is opened, the robot is allowed to enter a detection area, and then the robot enters the detection area. Meanwhile, the robot carries out laser scanning, and can be self-locked and cannot enter when the door is not opened.
The robot is provided with four-stage protection. First-stage protection, barrier sensor is kept away to laser safety: the robot can detect the obstacles in the running direction of the robot, is provided with an alarm to prompt the removal of the obstacles, and automatically starts when the obstacles are removed. The safety laser is divided into three areas, which are respectively: an emergency stop zone, a buffer zone and a safety zone.
When the barrier is in the scram area, the trolley stops; when the barrier is in the buffer area, the trolley can decelerate; when the obstacle is in the safe zone, the trolley will decelerate. The three areas are in inclusion relation, wherein the safety area is the maximum area and comprises a buffer area and an emergency stop area; the buffer then contains an emergency stop zone. The normal triggering mode is that when the vehicle runs forwards with an obstacle in front of the vehicle (the obstacle is outside the safety zone), firstly the obstacle enters the safety zone, the vehicle decelerates to a certain speed, then the obstacle enters the buffer zone, the vehicle decelerates further, and then the obstacle enters the emergency stop zone, and the vehicle stops.
The second protection is a material photoelectric detection and mechanical proximity switch in front of the fork arm.
The photoelectric installation positions are respectively installed right in front of the left fork arm and the right fork arm, and the number of the photoelectric installation positions is 2, namely diffuse reflection, normally closed type, adjustable intensity/detection distance; proximity switch mounting position and quantity: the right front parts of the left fork arm and the right fork arm are respectively provided with 2; and detecting whether obstacles exist in front of the fork arms, such as misalignment of personnel, materials, the fork arms and the pallet, and the like.
The third-level protection is a vehicle body emergency stop switch. And in an emergency, the emergency stop button is pressed, the main contactor of the robot is disconnected, and the power supply is cut off, so that the robot is immediately stopped. Triggering the scram means is the first protective measure taken by the staff when they find an emergency.
The fourth level protection is the anticollision institution of robot the place ahead setting, and anticollision institution has many buffering strips.
The following description will be made in detail by taking a transformer as a material.
In order to obtain the initial stop point for taking and unloading the goods from the loading and unloading forklift robot, the global coordinate of the transformer to be moved and unloaded on the freight car needs to be obtained in advance, and the plane coordinate of the transformer needs to be obtained by means of a sensor because the stop point of the freight car is not fixed and the position and the angle have certain variation allowance.
And 3 optical cameras are arranged above the parking area of the freight car, so that the position of the transformer can be fully covered. The optical center of the camera is at a certain height from the transformer. The position of each camera is calibrated to the coordinate system of the positioning system in a certain way.
When the freight car loading transformer drives into the designated area, the control center dispatching camera identifies the global center coordinate and the angle (x, y, theta) of each transformer, and sends back to the control center, and the control center informs the self-loading forklift robot to reach the corresponding position to fork the transformer.
The principle of recognizing the center coordinates and angles of the transformer by the camera is that the top of the transformer is obviously distinguished from the adjacent gaps (or other parts of a freight car) in terms of color, texture, shape and the like, so the global center coordinates and angles of the transformer are extracted and recognized by edge extraction, template matching and a deep learning method. Because the optical camera has no depth information, the heights of different truck boards of the freight car have some differences, so that the heights of the tops of the transformers from the camera have differences, and calculated coordinates also have differences.
A security camera can be selected, still can clearly image under a larger depth of field, and in order to improve the identification precision, the camera with the resolution meeting the requirement is selected.
Secondary positioning of the depth camera based on the front mounting of the forklift: because the allowance of the forking hole on the side surface of the transformer is small, the precision of one-time positioning is not guaranteed to meet the requirement, and because the high multiplication value of forking needs to be accurately known, the self-loading and unloading forklift robot walks to the position near the initial positioning, and the accurate position and the high multiplication (x, y, z, theta) of the corresponding forking hole of the transformer need to be obtained.
Therefore, a high-precision depth camera is installed at the front part of the forklift, the depth camera acquires three-dimensional (x, y, z) point clouds in the visual field range of the forklift, and when the forklift moves to the position near the rough location, the depth camera acquires the point clouds on the side surface of the transformer, which is near a fork hole.
Because the point cloud of the fork hole of the transformer has obvious characteristics, the central coordinates, the angle and the height of the fork hole of the transformer in front of the stop point are extracted through prior segmentation, characteristic point extraction, point cloud clustering, shape identification and the like, and the relative coordinates and the height are transmitted to a navigation and fork tooth motion control system, so that the states of a vehicle body and fork teeth are adjusted, and the transformer is accurately forked.
Warehousing process:
the carrying vehicle with materials stops in a designated area (loading and unloading area) and waits for the forklift to unload;
the scanning system scans coordinate information of the carriage and the materials, performs three-dimensional imaging, feeds the information back to the control center, identifies the position and the placement condition of the electric materials, and provides x, y and angle information corresponding to the laser map;
corresponding robot of dispatch is gone to near the goods and materials, and the robot passes through visual scanning, confirms the quantity and the fork position of goods and materials, and in the fork goods process, whether this fork goods action is unusual through on-vehicle camera radar inspection simultaneously, if appear unusually, stop the warning immediately. The robot determines an optimal route according to the position of a given storage area, guides the forklift to move to a specified position to stretch the forklift to take goods and materials, and completes a carrying task according to a preset route.
And (3) ex-warehouse process:
the carrier vehicle stops in a designated area (loading and unloading area) and waits for loading;
the scanning system confirms the coordinate position of the carriage of the carrying vehicle, the camera feeds back coordinate information to the system, the system calculates the number of the carrying vehicles which can be loaded according to the specification size of the transformer to be loaded, the carriage is planned into a corresponding storage position, and the storage position information is fed back to the control center;
and the control center distributes corresponding robots to carry out the transportation, so that the task of automatic loading is completed.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like which do not require creative efforts of those skilled in the art within the spirit and principle of the present invention shall be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a from loading and unloading fork truck robot intelligence control system which characterized by: including robot control system, scanning system and control center, wherein:
the robot control system is used for receiving detection information of a detection assembly on at least one self-loading and unloading forklift robot, determining the position and the motion state of the self-loading and unloading forklift robot according to the detection information, and controlling the motion track and the motion state of the self-loading and unloading forklift robot according to an instruction of a control center;
the scanning system comprises a plurality of image acquisition modules arranged above a preset parking area of a carrier vehicle, and the acquisition range of each image acquisition module can completely cover materials;
the control center receives the detection information uploaded by the robot control system, coordinates and detection information of each image acquisition module in the scanning system, calculates the loading number of the carrying vehicles by combining the specifications of materials to be loaded/unloaded, determines the loading and unloading scheme of the materials to be loaded/unloaded, forms a loading and unloading task, sends the loading and unloading task to the robot control system, dispatches a plurality of self-loading and unloading forklift robots to move to specified positions for material forking and moves to preset positions with corresponding tracks for material placement, and completes the loading and unloading task.
2. The intelligent control system of the self-loading and unloading forklift robot as claimed in claim 1, wherein: the detection assembly comprises a laser scanning module and a depth camera, wherein the laser scanning module and the depth camera are arranged on the self-loading and unloading forklift robot, the laser scanning module is used for scanning an obstacle in front of the motion direction of the self-loading and unloading forklift robot to realize laser navigation, the depth camera is used for acquiring three-dimensional point cloud information in the visual field range of the depth camera to determine the center coordinate, the angle and the height of a material in front of the robot to adjust the self-loading and unloading forklift robot and the pose of fork teeth to realize accurate forking.
3. The intelligent control system for the self-loading and unloading forklift robot as claimed in claim 2, wherein: the detection assembly further comprises a height detection module and an encoder, the height detection module is used for detecting height information of materials to be loaded/unloaded, and the encoder is used for determining the position and the motion state of the self-loading and unloading forklift robot.
4. The intelligent control system of the self-loading and unloading forklift robot as claimed in claim 1, wherein: be provided with level four protection machanism on the self-loading and unloading fork truck robot, barrier sensor is kept away for laser to first order protection machanism, and second level protection machanism is the proximity switch who sets up in the yoke the place ahead, and third level protection machanism is the scram switch with the communication of robot control system, and fourth level protection machanism is for setting up in the flexible anticollision strip in robot the place ahead.
5. The intelligent control system of the self-loading and unloading forklift robot as claimed in claim 1, wherein: the control center stores a storage area map, determines a plurality of self-loading and unloading forklift robots which are closest to the area where the goods and materials are located and meet the loading quantity according to the positioning information of the carrying vehicles, the positioning information of the respective loading and unloading forklift robots and the information of the area to be loaded/unloaded, and executes loading and unloading tasks according to an optimal path.
6. The intelligent control system of the self-loading and unloading forklift robot as claimed in claim 1, wherein: the scanning system comprises a platform, wherein the platform is fixed above a preset loading and unloading area and is parallel to the ground of the loading and unloading area, and a plurality of cameras are arranged at the lower end of the platform and used for scanning a carrying vehicle or a carrying vehicle parked in the loading and unloading area and materials so as to obtain the three-dimensional information of the vehicle, the relevant size of the materials and the position of a central coordinate point.
7. The intelligent control system for the robot of the self-loading and self-unloading forklift truck as claimed in claim 1, wherein: the robot control system is characterized by further comprising a communication system, wherein the communication system is used for communication between the control center and the robot control system and between the robot control system and the scanning system, and comprises a plurality of exchangers and communication modules distributed in the warehousing area.
8. The intelligent control system for the robot of the self-loading and self-unloading forklift truck as claimed in claim 1, wherein: the control center is configured to perform edge extraction on the image acquired by the scanning system, distinguish materials from the carrying vehicle, match the materials with a prestored material template, determine the types of the materials, and extract and identify the central coordinates and angles of the materials by using a deep learning method;
or the like, or, alternatively,
the control center is configured to acquire images acquired by a depth camera arranged on the loading and unloading forklift robot, perform prior segmentation, feature point extraction, point cloud clustering and shape recognition in sequence, extract the central coordinates, angles and height of forking holes on materials, and transmit the relative coordinates and height to the robot control system.
9. An intelligent control method for a self-loading and unloading forklift robot is characterized by comprising the following steps: the loading process comprises the following steps:
the method comprises the steps that images of carrying vehicles in a loading and unloading area are detected by a scanning system, a control center carries out edge extraction, the loading size of the carrying vehicles is determined, the number of materials to be loaded and a loading and unloading scheme are determined by combining the specifications of the materials to be loaded, a loading and unloading task is formed, the loading and unloading task is sent to a robot control system, a plurality of self-loading and unloading forklift robots are scheduled to move to a storage area to carry out material forking and move to the loading and unloading area along an optimal track, the materials are placed according to the loading and unloading scheme, and the loading and unloading task is completed.
10. An intelligent control method for a self-loading and self-unloading forklift robot is characterized by comprising the following steps: the unloading process comprises the following steps:
detecting the images of the carrying vehicles and the materials on the carrying vehicles in the loading and unloading area by using a scanning system, carrying out edge extraction by using a control center, distinguishing the materials from the carrying vehicles, matching the materials with a prestored material template, determining the types and specifications of the materials, calculating the positions and postures of the materials, and scheduling a plurality of self-loading and unloading forklift robots to move to the loading and unloading area for material forking;
the self-loading and unloading forklift robot moves to the position near the materials of the corresponding loading and unloading area, the posture and the position of the self-loading and unloading forklift robot are adjusted according to the detection result of the detection assembly, and the materials are forked;
and controlling the self-loading and self-unloading forklift robot to move to a storage area according to the optimal track to place materials.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116534606A (en) * | 2023-04-25 | 2023-08-04 | 中国铁建电气化局集团有限公司 | Transportation control platform, method, equipment and storage medium |
| CN116674920A (en) * | 2023-04-25 | 2023-09-01 | 中国铁建电气化局集团有限公司 | Intelligent transportation method, device, equipment and storage medium |
| CN117237616A (en) * | 2023-11-14 | 2023-12-15 | 大连九州创智科技有限公司 | Material dispatching scanning identification system and method for steel plate storage yard |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116534606A (en) * | 2023-04-25 | 2023-08-04 | 中国铁建电气化局集团有限公司 | Transportation control platform, method, equipment and storage medium |
| CN116674920A (en) * | 2023-04-25 | 2023-09-01 | 中国铁建电气化局集团有限公司 | Intelligent transportation method, device, equipment and storage medium |
| CN116534606B (en) * | 2023-04-25 | 2023-12-05 | 中国铁建电气化局集团有限公司 | Transportation control platform, method, equipment and storage medium |
| CN116674920B (en) * | 2023-04-25 | 2024-01-23 | 中国铁建电气化局集团有限公司 | Intelligent transportation method, device, equipment and storage medium |
| CN117237616A (en) * | 2023-11-14 | 2023-12-15 | 大连九州创智科技有限公司 | Material dispatching scanning identification system and method for steel plate storage yard |
| CN117237616B (en) * | 2023-11-14 | 2024-02-06 | 大连九州创智科技有限公司 | Material dispatching scanning identification system and method for steel plate storage yard |
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