CN116736325A - System and method for detecting vehicle body pose of full-automatic loading - Google Patents
System and method for detecting vehicle body pose of full-automatic loading Download PDFInfo
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
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Abstract
The invention relates to a vehicle body pose detection system and method for full-automatic loading. The system comprises two one-dimensional laser ranging sensors, a two-dimensional laser radar, a lifting platform, a conveyor belt arranged on the lifting platform and an upper computer. The two-dimensional laser radar is arranged on the surface of the lifting platform; the two one-dimensional laser ranging sensors are arranged at the tail end of the conveyor belt, and the laser emitted by the two one-dimensional laser ranging sensors are positioned in the same vertical plane and opposite in direction. The two-dimensional laser radar and the two one-dimensional laser ranging sensors transmit collected data to the upper computer. The invention combines the two-dimensional laser radar and the one-dimensional laser ranging sensor to realize the automatic measurement and positioning of the size of the wagon box, and has the characteristics of simple principle, small influence by environmental interference and the like. After the vehicle to be loaded is parked, the vehicle is scanned, the length, width, height and deflection angles of the carriage and the absolute positions of each point are calculated, and basic data is provided for the loading code package.
Description
Technical Field
The invention relates to the technical field of pose detection, in particular to a vehicle body pose detection system and method for full-automatic loading.
Background
At present, domestic material loading is mainly finished by manpower, so that the loading speed is low, the labor intensity of workers is high, and the labor cost is high. In order to solve the above problems and improve the loading efficiency, development of a full-automatic loading system to replace manual loading is urgently needed.
Before full-automatic loading is carried out, the state of a truck carriage is required to be judged, no obstacle in the carriage is guaranteed to influence loading and stacking, the carriage size is determined, loading equipment is adjusted according to the inclination angle of the carriage, and loading is accurate. The vehicle body pose detection is one of the core parts of the full-automatic loading system, and the detection precision directly influences the overall loading effect. The existing carriage measurement methods generally have two methods, one is to acquire carriage data by utilizing a plurality of distance measuring sensors, and the method is simple but can not judge articles placed in the carriage; the other is to acquire information through a three-dimensional laser radar or a depth camera so as to determine the position of the carriage.
Disclosure of Invention
The invention aims to provide a vehicle body pose detection system and method for full-automatic loading, which can solve the defects in the prior art, realize high-precision pose detection and improve the positioning accuracy of loading control and the overall loading effect.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
in a first aspect of the invention, a vehicle body pose detection system for fully automatic loading is disclosed.
The system comprises:
the one-dimensional laser ranging sensor is used for measuring the height of the truck carriage;
the two-dimensional laser radar is used for measuring the length and the width of the boxcar and the deflection angle relative to a set position.
Further, the number of the one-dimensional laser ranging sensors is two, namely a first laser ranging sensor and a second laser ranging sensor.
Further, the system also includes a conveyor belt;
the first laser ranging sensor and the second laser ranging sensor are respectively positioned on two opposite movement surfaces of the conveyor belt;
the conveyor belt drives the first laser ranging sensor and the second laser ranging sensor to linearly move along the length direction of the truck carriage under the drive of the main control system.
Further, the system also comprises a lifting platform, and the conveyor belt and the two-dimensional laser radar are both arranged on the lifting platform. The two-dimensional laser radar is arranged on the surface of the lifting platform and is positioned at the right middle position of the front end of the lifting platform; the one-dimensional laser ranging sensors are arranged at the tail end of the conveyor belt, and laser emitted by the two one-dimensional laser ranging sensors are located in the same vertical plane and opposite in direction.
Further, the system also comprises an upper computer, and the one-dimensional laser ranging sensor and the two-dimensional laser radar are connected with the upper computer through serial communication. The two-dimensional laser radar and the one-dimensional laser ranging sensor are connected with the upper computer and transmit the acquired data to the upper computer.
In a second aspect of the present invention, a detection method of the above detection system is disclosed for achieving truck bed measurement and positioning.
The method comprises the following steps:
s1, obtaining point cloud data of a carriage XOY plane by utilizing a two-dimensional laser radar, and sending the data to an upper computer;
s2, preprocessing the point cloud data;
s3, judging whether articles exist in the vehicle according to the preprocessed point cloud data; if no article exists in the carriage, executing step S4; if the articles exist in the carriage, returning to the step S1;
s4, determining the length, width, deflection angle and parking position of the carriage according to the preprocessed point cloud data;
s5, determining the height of the carriage by using data acquired by the one-dimensional laser ranging sensor.
Further, the preprocessing of the point cloud data includes:
s21, determining a carriage boundary point according to the point cloud data;
s22, carrying out coordinate transformation on the point cloud data;
s23, smoothing filter processing is carried out on the point cloud data by adopting an average value filter method.
Further, judging whether articles exist in the vehicle according to the preprocessed point cloud data; if no article exists in the carriage, executing step S4; if the articles exist in the carriage, returning to the step S1, wherein the method comprises the following steps:
s31, connecting the first point and the last point of a data point set in the preprocessed point cloud data with a line;
s32, obtaining the distance from all the points to the straight line obtained in the step S31, finding out the point where the maximum value of the distance is located, and marking the maximum value of the distance as D max ；
S33, D max Is compared with threshold D, if D max <D, indicating that all data points in the data point set belong to the same straight line, and finishing data processing;
s34, if D max >If the data point is not equal to D, the data point is determined as a corner point, the data point is taken as a dividing point, the data is divided into two data point sets, and the two data point sets are respectively divided into two data pointsPerforming calculation according to the steps S31 to S33;
and S35, after all the data are processed, obtaining a data point set of all the corner points, if the number of the corner points in the data point set of the corner points is larger than a set threshold value, judging that articles exist in the vehicle, returning to the step S1, and if the number of the corner points in the data point set of the corner points is not larger than the set threshold value, judging that articles exist in the vehicle, and executing the step S4.
Further, the determining the length, width, deflection angle and parking position of the carriage according to the preprocessed point cloud data includes:
s41, dividing the acquired carriage boundary rectangular coordinate point set into a plurality of groups by taking corner points as boundaries, and respectively performing least square linear fitting to obtain a plurality of fitting straight lines;
s42, calculating a car deflection angle, namely a car inclination angle, according to the fitted straight line;
s43, obtaining the length and the width of the carriage according to the carriage boundary points and the intersection points of the fitting straight lines.
Further, the determining the height of the carriage by using the data collected by the one-dimensional laser ranging sensor comprises:
s51, if the vehicle to be tested is a closed carriage, driving the conveyor belt to move into the carriage, starting two one-dimensional laser ranging sensors to measure, obtaining the distance between the two one-dimensional laser ranging sensors and a bottom plate of the carriage, and determining the height of the closed carriage according to the readings of the two one-dimensional laser ranging sensors and the distance between the two sensors;
s52, if the vehicle to be tested is an open type carriage, firstly, lifting the lifting platform to a specified height, then driving the conveyor belt to move into the carriage, starting the first laser ranging sensor to measure to obtain the distance between the first laser ranging sensor and the carriage bottom plate, continuously moving the conveyor belt to the carriage head position, and starting the first laser sensor to measure to obtain the distance between the first laser ranging sensor and the carriage roof; and determining the height of the convertible carriage according to the distance between the first laser ranging sensor and the vehicle bottom plate and the distance between the first laser ranging sensor and the vehicle roof.
Compared with the prior art, the invention has the advantages that:
(1) The invention combines a two-dimensional laser radar and two one-dimensional laser ranging sensors to realize the automatic measurement and positioning of the size of the wagon box, and has the characteristics of simple principle, small influence by environmental interference and the like. After the vehicle to be loaded is parked, the detection system scans the vehicle, calculates the length, width, height and deflection angle of the carriage and the absolute positions of each point, and provides basic data for the loading code packet.
(2) For trucks with barriers in the carriage, the invention can give out judgment to prevent accidents in the subsequent automatic loading process.
(3) The invention covers various vehicle types, and can measure the height of a carriage no matter a van or a high-rise van.
Drawings
FIG. 1 is a schematic diagram of a fully automatic loading vehicle body pose detection system;
FIG. 2 is a flow chart of a detection method of the full-automatic loading vehicle body pose detection system;
FIG. 3 is a coordinate plan view of a linear equation implementing the declination calculation in the present invention;
FIG. 4 is a schematic diagram of a closed car body height measurement parameter;
fig. 5 is a schematic diagram of the convertible car height measurement parameters.
Wherein:
1. the system comprises a first laser ranging sensor, a second laser ranging sensor, a two-dimensional laser radar, a lifting platform, a conveyor belt and an upper computer, wherein the first laser ranging sensor, the second laser ranging sensor, the two-dimensional laser radar and the lifting platform are arranged in sequence, and the conveyor belt, the upper computer and the upper computer are arranged in sequence.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
the vehicle body pose detection system of the full-automatic loading as shown in fig. 1 comprises two one-dimensional laser ranging sensors (a first laser ranging sensor 1 and a second laser ranging sensor 2), a two-dimensional laser radar 3, a lifting platform 4, a conveyor belt 5 arranged on the lifting platform and an upper computer 6. The two-dimensional laser radar 3 is arranged on the surface of the lifting platform 4 and is positioned at the middle position of the front end of the lifting platform 4; the two one-dimensional laser ranging sensors 1 and 2 are arranged at the tail end of the conveyor belt 5, and the laser emitted by the first laser ranging sensor 1 and the laser emitted by the second laser ranging sensor 2 are positioned in the same vertical plane and are opposite in direction. The two-dimensional laser radar 3, the first laser ranging sensor 1 and the second laser ranging sensor 2 are connected with the upper computer 6, and the acquired data are transmitted to the upper computer 6.
Fig. 2 is a flow chart of a detection method of a vehicle body pose detection system of full-automatic loading in the invention, the detection method comprises:
s1, obtaining point cloud data of a carriage XOY plane by using a two-dimensional laser radar, and sending the data to an upper computer.
The tailgate for a car suitable for use in the present invention should be in an open position so that the conveyor can be accessed from the rear of the car during loading for loading and stacking. After the vehicle to be tested moves to the appointed area, the lifting platform needs to be lifted to a preset height due to different heights of carriage bottom plates of different trucks, so that the two-dimensional laser radar can acquire the point cloud data in the carriage. The obtained point cloud data is data of one circle of radar scanning, and specifically is a polar coordinate data point set { (theta) 1 ，d 1 )，(θ 2 ，d 2 )，…，(θ n ，d n )，…，(θ m ，d m ) Wherein θ represents an angle value of the measurement point with respect to the radar itself toward the angle, d represents a distance between the measurement point and the radar, θ n An angle value d representing an nth data point acquired by the radar n A distance value representing the nth data point acquired by the radar, and m represents the total number of data points acquired by the radar in one week.
S2, preprocessing the point cloud data.
The preprocessing of the point cloud data comprises the following steps:
s21, judging the boundary of the carriage, acquiring two boundary points of the carriage, intercepting all data between the two points, and performing the next calculation.
Since the car is tailgateless, the acquired data value increases suddenly when the laser scans the car boundary. From this condition, it can be judged thatThe position is the boundary of the carriage. Two boundary points a (θ) of the vehicle cabin are acquired a ，d a )，B(θ b ，d b ) All data between two points are intercepted to obtain a new polar coordinate point set { (theta) a ，d a )，(θ a+1 ，d a+1 )，…，(θ n ，d n )，…，(θ b ，d b ) And performing the next calculation.
S22, carrying out coordinate transformation on the data.
The two-dimensional laser radar return data are rotation angle and distance data, and the rotation angle and the distance data are required to be converted into rectangular coordinate data for facilitating subsequent calculation. The two-dimensional laser radar return data is rotation angle θ and distance data d, and coordinates of the point in a rectangular coordinate system are (d·cos θ, d·sin θ). Thus, a new set of rectangular coordinates points { (x) a ，y a )，(x a+1 ，y a+1 )，…，(x n ，y n )，…，(x b ，y b ) Of which (x) n ，y n ) Corresponds to (d) n ·cosθ n ，d n ·sinθ n )。
S23, smoothing filter processing.
The two-dimensional laser radar is influenced by factors such as external environment, instrument self error, measurement error and the like, so that various errors exist in the measurement process of the two-dimensional laser radar. If the denoising smoothing processing is not performed on the data, the noise points directly affect the extraction precision of the feature points, and the result of the denoising smoothing processing is caused by larger errors of the measurement result, so that the denoising smoothing processing is required to be performed on the point cloud data. And processing the data by adopting a mean value filtering method, and replacing the data point value of each point in the data point set by the mean value of the data points in a certain adjacent range, thereby eliminating the data noise point with larger fluctuation. After the treatment, a new rectangular coordinate point set { (x' a ，y’ a )，(x’ a+1 ，y’ a+1 )，…，(x’ n ，y’ n )，…，(x’ b ，y’ b )}。
S3, judging whether articles exist in the vehicle according to the preprocessed point cloud data; if no article exists in the carriage, executing step S4; if the articles exist in the carriage, the step S1 is returned.
In the process of observing the carriage, corners are obtained aiming at the top points of the carriage and the placement positions of articles, and are called corner points. If no articles are placed in the carriage, the angular point detection results are 4; if the final corner detection result is greater than 4, the condition that articles exist in the vehicle is indicated, and the articles cannot be placed. The method comprises the following specific steps:
s31, connecting the first point and the last point of a data point set in the preprocessed point cloud data with a line.
S32, obtaining the distance from all the points to the straight line obtained in the step S31, finding out the point where the maximum value of the distance is located, and marking the maximum value of the distance as D max 。
S33, D max Is compared with threshold D, if D max <And D, indicating that all data points in the data point set belong to the same straight line, and finishing data processing.
S34, if D max >If D, the data point is determined as a corner point, the data is divided into two data point sets by using the corner point as a dividing point, and the two data point sets are calculated according to steps S31 to S33.
And S35, after all the data are processed, obtaining a data point set of all the corner points, if the number of the corner points in the data point set of the corner points is larger than a set threshold value, judging that articles exist in the vehicle, returning to the step S1, and if the number of the corner points in the data point set of the corner points is not larger than the set threshold value, judging that articles exist in the vehicle, and executing the step S4. In this embodiment, if the number of corner detection results is 4, step S4 is executed; if the final corner detection result is greater than 4, indicating that the articles are in the vehicle and the articles cannot be placed, returning to the step S1, and waiting for the workers to remove the articles and then re-detect the articles.
And S4, determining the length, width, deflection angle and parking position of the carriage according to the preprocessed point cloud data.
Determining the length, width, deflection angle and parking position of the carriage according to the preprocessed point cloud data comprises the following steps:
s41, dividing the acquired rectangular coordinate point set of the carriage boundary by using the corner point as a boundary, and countingThe three fitting lines { L1, L2, L3}, which are obtained by dividing the three fitting lines into three groups, and performing least square linear fitting. Wherein L is 1 And L 3 Parallel, is the straight line where the carriage is long; l (L) 2 And L is equal to 1 、L 3 Perpendicular, is the straight line where the carriage width is located.
S42, calculating the car deflection angle, namely the inclination angle of the car, according to the fitted straight line. The deflection angle is defined as alpha and is defined as a rotation angle between the length edge of the carriage and the Y axis. Two conditions exist for the included angle alpha between the carriage length edge and the Y axis: one is the positive displacement of the car to the X-axis and one is the negative displacement to the X-axis. Both offset cases are shown in fig. 2.
Knowing the slope a of the straight line where the long side of the car is located, when the angle θ=arctan (a) between the long side of the car and the positive direction of the X axis, the rotation angle α=90 ° - θ. As can be seen from fig. 3, when the calculated angle α is greater than 0 °, the carriage is offset toward the positive X-axis by an angle α; when the calculated angle of alpha is smaller than 0 DEG, the carriage is offset towards the negative direction of the X axis, and the offset angle is-alpha.
S43, obtaining the length and the width of the carriage according to the boundary points and the intersection points of the fitting straight lines.
The cabin boundary point a (x a ，y a )，B(x b ，y b ). Obtaining L according to the three straight lines calculated in the step S41 1 And L 2 Is the intersection point C (x) c ，y c )，L 3 And L 2 Intersection point D (x) d ，y d ). The length and width of the car were determined from four points A, B, C, D.
The carriage width calculation process is as follows:
distance W between A and B AB The method comprises the following steps:
distance W between C and D CD The method comprises the following steps:
therefore, the vehicle cabin width W is:
similarly, the car length L is:
and S5, the one-dimensional laser ranging sensor sends the measured data to the upper computer, and the upper computer determines the height of the carriage according to the data acquired by the one-dimensional laser ranging sensor.
S51, after the vehicle to be detected moves to the appointed area, if the vehicle to be detected is a closed carriage, driving the conveyor belt to move forward for 2 meters to reach the interior of the carriage, starting two one-dimensional laser ranging sensors to measure, and obtaining the distance H between the first laser ranging sensor and the vehicle bottom plate as shown in FIG. 4 1 Distance H from second laser ranging sensor to roof panel 2 The method comprises the steps of carrying out a first treatment on the surface of the According to the readings of the two one-dimensional laser ranging sensors and the distance d between the two sensors, the height of the closed carriage can be calculated, namely the height H of the carriage is H=H 1 +H 2 +d。
S52, after the vehicle to be tested moves to the appointed area, if the vehicle to be tested is an open wagon, firstly, the lifting platform is lifted to the appointed height, then the conveyor belt is driven to move forwards for 2 meters to reach the interior of the wagon, as shown in fig. 5 (a), the first laser ranging sensor is started to measure, and the distance H between the first laser ranging sensor and the wagon bottom plate is obtained 1 . Continuing to move to the head position, as shown in fig. 5 (b), starting the first laser sensor to measure to obtain the distance H between the first laser ranging sensor and the roof 2 The method comprises the steps of carrying out a first treatment on the surface of the From the two readings of the first laser ranging sensor, the height of the convertible car can be calculated, i.e. the car height H is h=h 1 -H 2 。
The above examples are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solutions of the present invention should fall within the scope of protection defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (10)
1. A full-automatic loading vehicle body pose detection system is characterized in that the system comprises:
the one-dimensional laser ranging sensor is used for measuring the height of the truck carriage;
the two-dimensional laser radar is used for measuring the length and the width of the boxcar and the deflection angle relative to a set position.
2. The system of claim 1, wherein the system further comprises a controller configured to control the controller,
the number of the one-dimensional laser ranging sensors is two, namely a first laser ranging sensor and a second laser ranging sensor.
3. The system of claim 2, wherein the system further comprises a controller configured to control the controller,
the system further includes a conveyor belt;
the first laser ranging sensor and the second laser ranging sensor are respectively positioned on two opposite movement surfaces of the conveyor belt;
the conveyor belt drives the first laser ranging sensor and the second laser ranging sensor to linearly move along the length direction of the truck carriage under the drive of the main control system.
4. The system of claim 3, wherein the system further comprises a controller configured to control the controller,
the system further comprises a lifting platform, and the conveyor belt and the two-dimensional laser radar are both arranged on the lifting platform.
5. The system of claim 3, wherein the system further comprises a controller configured to control the controller,
the system also comprises an upper computer, wherein the one-dimensional laser ranging sensor and the two-dimensional laser radar are connected with the upper computer through serial communication.
6. The detection method of the vehicle body position and orientation detection system for full-automatic loading according to any one of claims 1 to 5, characterized in that the method comprises:
s1, obtaining point cloud data of a carriage on an XOY plane by using a two-dimensional laser radar;
s2, preprocessing the point cloud data;
s3, judging whether articles exist in the vehicle according to the preprocessed point cloud data; if no article exists in the carriage, executing step S4; if the articles exist in the carriage, returning to the step S1;
s4, determining the length, width, deflection angle and parking position of the carriage according to the preprocessed point cloud data;
s5, determining the height of the carriage by using data acquired by the one-dimensional laser ranging sensor.
7. The method of claim 6, wherein the step of providing the first layer comprises,
the preprocessing of the point cloud data comprises the following steps:
s21, determining a carriage boundary point according to the point cloud data;
s22, carrying out coordinate transformation on the point cloud data;
s23, smoothing filter processing is carried out on the point cloud data by adopting an average value filter method.
8. The method of claim 7, wherein the step of determining the position of the probe is performed,
judging whether articles exist in the vehicle according to the preprocessed point cloud data; if no article exists in the carriage, executing step S4; if the articles exist in the carriage, returning to the step S1, wherein the method comprises the following steps:
s31, connecting the first point and the last point of a data point set in the preprocessed point cloud data with a line;
s32, obtaining the distance from all the points to the straight line obtained in the step S31, finding out the point where the maximum value of the distance is located, and marking the maximum value of the distance as D max ；
S33, D max Is compared with threshold D, if D max <D, indicating that all data points in the data point set belong to the same straight line, and finishing data processing;
s34, if D max >If the data point is not the D data point, judging the data point as a corner point, taking the point as a division point, dividing the data into two sections of data point sets, and respectively calculating the two sections according to the steps S31-S33;
and S35, after all the data are processed, obtaining a data point set of all the corner points, if the number of the corner points in the data point set of the corner points is larger than a set threshold value, judging that articles exist in the vehicle, returning to the step S1, and if the number of the corner points in the data point set of the corner points is not larger than the set threshold value, judging that articles exist in the vehicle, and executing the step S4.
9. The method of claim 8, wherein the step of determining the position of the first electrode is performed,
determining the length, width, deflection angle and parking position of the carriage according to the preprocessed point cloud data comprises the following steps:
s41, dividing the acquired carriage boundary rectangular coordinate point set into a plurality of groups by taking corner points as boundaries, and respectively performing least square linear fitting to obtain a plurality of fitting straight lines;
s42, calculating a car deflection angle, namely a car inclination angle, according to the fitted straight line;
s43, obtaining the length and the width of the carriage according to the carriage boundary points and the intersection points of the fitting straight lines.
10. The method of claim 9, wherein the step of determining the position of the substrate comprises,
the method for determining the height of the carriage by utilizing the data acquired by the one-dimensional laser ranging sensor comprises the following steps:
s51, if the vehicle to be tested is a closed carriage, driving the conveyor belt to move into the carriage, starting two one-dimensional laser ranging sensors to measure, obtaining the distances between the two one-dimensional laser ranging sensors and a vehicle bottom plate and a vehicle top plate, and determining the height of the closed carriage according to the readings of the two one-dimensional laser ranging sensors and the distance between the two sensors;
s52, if the vehicle to be tested is an open type carriage, firstly, lifting the lifting platform to a specified height, then driving the conveyor belt to move into the carriage, starting the first laser ranging sensor to measure to obtain the distance between the first laser ranging sensor and the carriage bottom plate, continuously moving the conveyor belt to the carriage head position, and starting the first laser sensor to measure to obtain the distance between the first laser ranging sensor and the carriage roof; and determining the height of the convertible carriage according to the distance between the first laser ranging sensor and the vehicle bottom plate and the distance between the first laser ranging sensor and the vehicle roof.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310724976.2A CN116736325A (en) | 2023-06-19 | 2023-06-19 | System and method for detecting vehicle body pose of full-automatic loading |
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| CN202310724976.2A CN116736325A (en) | 2023-06-19 | 2023-06-19 | System and method for detecting vehicle body pose of full-automatic loading |
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