CN117389272A - Multi-line laser radar-based equipment and method for orderly parking commodity vehicle - Google Patents
Multi-line laser radar-based equipment and method for orderly parking commodity vehicle Download PDFInfo
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- CN117389272A CN117389272A CN202311431713.9A CN202311431713A CN117389272A CN 117389272 A CN117389272 A CN 117389272A CN 202311431713 A CN202311431713 A CN 202311431713A CN 117389272 A CN117389272 A CN 117389272A
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000007599 discharging Methods 0.000 claims abstract description 15
- 238000012546 transfer Methods 0.000 claims description 171
- 230000007613 environmental effect Effects 0.000 claims description 27
- 238000001914 filtration Methods 0.000 claims description 11
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- SAZUGELZHZOXHB-UHFFFAOYSA-N acecarbromal Chemical compound CCC(Br)(CC)C(=O)NC(=O)NC(C)=O SAZUGELZHZOXHB-UHFFFAOYSA-N 0.000 claims description 8
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Abstract
A commodity car orderly parking device and method based on a multi-line laser radar belong to the technical field of robot motion driving and control. Planning a robot discharging position through a cloud scheduling system, uploading the actual discharging position to the cloud scheduling system by the robot, and assisting the cloud scheduling system in planning the next robot discharging position; the multi-line laser radar at the top of the robot is used for positioning and orienting the front parking commodity vehicle to realize alignment with the front parking commodity vehicle; the middle road section is rectified by using multi-line laser radars at the left and right sides in front of the robot, so that proper spacing between the robot and left and right parked commodity vehicles is kept; and detecting the distance between the robot and the commodity car parked in front by using multi-line laser radars at the left side and the right side of the front of the robot in a short distance, and determining the parking position of the robot. The invention is suitable for the fields of robot motion driving, logistics, storage and the like, improves the parking quantity of commodity vehicles in a close parking area, reduces the labor intensity and improves the working efficiency and the working precision.
Description
Technical Field
The invention relates to a method for orderly parking a commodity car in a dense parking area in the technical field of robot transfer, in particular to equipment and a method for orderly parking a commodity car based on a multi-line laser radar, and belongs to the technical field of robot motion driving and control.
Background
With the promotion of intelligent port construction and the development of robot technology, sensor technology and 5G communication technology, mobile robots are increasingly widely applied to ports. The throughput of the automobile wharf is huge, more commodity vehicles need to be stored in the automobile wharf, the utilization rate of the area of an automobile wharf yard is improved as much as possible by adopting a commodity vehicle close parking mode, and the commodity vehicle parking quantity is increased. At present, the intensive parking of commodity vehicles mainly adopts a manpower mode, so that a great deal of manpower resource waste is caused, and meanwhile, the working efficiency is low. The high cost and the size diversity of commodity vehicles require dense parking with high precision and greater flexibility, and no case of dense parking of commodity vehicles by using mobile robots exists at present.
Disclosure of Invention
Aiming at the problems of low commodity vehicle parking efficiency and high labor cost in a dense parking area of an automobile dock, the main purpose of the invention is to provide equipment and a method for orderly parking commodity vehicles based on a multi-line laser radar, wherein the multi-line laser radar loaded by a commodity vehicle transfer robot is used for collecting environment point cloud information; and the movement path of the commodity vehicle transfer robot is rectified through processing point cloud information, and the final parking position is determined. The parking quantity of commodity vehicles in the dense parking area is improved, the labor intensity is reduced, and the working efficiency and the working precision are improved.
The invention aims at realizing the following technical scheme:
a commodity car orderly parking device based on a multi-line laser radar comprises a cloud dispatching system, a commodity car transferring robot, a clamping system, an environment sensing system and a robot control system. The cloud scheduling system comprises map information of an automobile dock and is used for issuing a picking and placing command of the commodity car transfer robot and planning a global path; the commodity car transfer robot is a mobile robot for transferring commodity cars; the clamping system is loaded on the commodity car transferring robot and used for clamping the commodity car to be transferred; the environment sensing system comprises a three-dimensional servo turntable arranged in front of the top of the transfer robot, a multi-line laser radar arranged on the three-dimensional servo turntable and multi-line laser radars arranged on two sides of the front of the commodity car transfer robot. The three-dimensional servo turntable can realize free rotation of a plurality of angles, and the detection range of the multi-line laser radar is enlarged; the multi-line laser radar arranged on the three-dimensional servo turntable is used for remotely scanning the commodity vehicle; the multi-line laser radars arranged at the two sides of the front of the commodity car transferring robot can scan the commodity car loaded in the front, the left and right sides and the inside of the robot in a short distance; the robot control system is used for controlling the commodity car transfer robot to run, communicating with the cloud scheduling system and processing information acquired by the environment sensing system.
A method for orderly parking commodity vehicles based on multi-line laser radar is realized based on equipment for orderly parking commodity vehicles based on multi-line laser radar, and comprises the following steps:
step 1, a wharf operating system issues parking task information of a close parking area to a cloud dispatching system, wherein the task information comprises commodity vehicle sizes, vehicle taking area positions and parking area positions of the close parking area. And uploading the commodity vehicle transfer robot to vehicle end information of the cloud dispatching system, wherein the vehicle end information comprises the current position of the commodity vehicle transfer robot. If the close parking area is planned for the first time, the cloud scheduling system plans the current vehicle-placing position and the current vehicle-taking position of the commodity vehicle transfer robot according to the vehicle-placing task information of the close parking area; if the close parking area is not planned for the first time, the cloud scheduling system plans the current parking position and the current picking position according to the close parking area parking task information and the last parking position of the commodity vehicle transfer robot. The cloud scheduling system plans a global vehicle taking path and a global vehicle placing path of the commodity vehicle transferring robot by using vehicle end information, a vehicle placing position and a vehicle taking position, and issues the global vehicle taking path and the global vehicle placing path to the commodity vehicle transferring robot;
step 2, the commodity vehicle transfer robot receives a global vehicle taking path and a global vehicle placing path issued by the cloud scheduling system, and the commodity vehicle is loaded to be transferred by utilizing a clamping mechanism after reaching a vehicle taking position along the global vehicle taking path;
step 3, when the commodity car transferring robot moves along the global car-putting path and the end position of the global car-putting path is a first set distance, the robot control system plans a new execution path according to the environmental point cloud information acquired by the multi-line laser radar installed in front of the top of the commodity car transferring robot;
and 3.1, stopping the movement of the robot when the commodity car transfer robot reaches a position which is a first set distance away from the end position of the global car-putting path. The robot control system controls the three-dimensional servo turntable to do downward swinging movement according to the set angle value. In the process of swinging the three-dimensional servo turntable, the multi-line laser radar installed on the three-dimensional servo turntable acquires environmental point cloud information from top to bottom. After the three-dimensional servo turntable finishes swinging, the robot control system accumulates the environmental point cloud information acquired by the multi-line laser mines, carries out range filtering of a set range, and only retains the environmental point cloud information in front of the commodity vehicle transfer robot;
and 3.2, the commodity vehicle transfer robot acquired in the step 3.1 acquires front environment point cloud information from top to bottom, and if commodity vehicle information exists, a new execution path of the commodity vehicle transfer robot is planned by processing the environment point cloud information.
3.2.1, traversing all angles with 1 degree step in the set angle range. And acquiring a rectangular frame of the commodity vehicle point cloud in each angle direction, the area of the rectangular frame and the central position coordinate of the rectangular frame.
3.2.2, selecting a rectangular frame with the smallest area, taking the corresponding angle as a course angle of the commodity car in front of the commodity car transferring robot, and taking the central position of the rectangular frame with the smallest area as the position coordinate of the commodity car in front of the commodity car transferring robot.
And 3.2.3, the robot control system plans a straight path to be used as a discharging path of the last discharging road section according to the position coordinates of the commodity vehicle in front of the commodity vehicle transferring robot, and replaces the global discharging path issued by the cloud scheduling system to be used as a new execution path.
And 3.3, the environmental point cloud information in front of the transfer robot obtained in the step 3.1 is free of commodity car information, and the global car-putting path issued by cloud scheduling is used as a new execution path.
Step 4, the commodity car transferring robot moves along the new execution path obtained in the step 3, and two multi-line laser radars arranged on two sides of the front end of the commodity car transferring robot acquire the distance between the commodity car carried in the commodity car transferring robot and the left and right parked commodity car, so that the movement of the commodity car transferring robot is rectified;
4.1, two multi-line laser radars arranged at two sides of the front end of the commodity car transfer robot scan the surrounding environment to obtain environment point cloud data, the environment point cloud data acquired by the two multi-line laser radars are combined, and the point cloud data in the commodity car transfer robot, in the front, in the left and in the right are respectively obtained by utilizing range filtering of a set range to obtain environment information of the commodity car transfer robot in all directions;
4.2, merging the point clouds in the commodity vehicle transfer robot, on the left and right, which are obtained in the step 4.1, and obtaining the environmental point cloud information of the commodity vehicle transfer robot in the transverse direction;
4.3, the environmental point cloud information in the transverse direction of the commodity vehicle transfer robot obtained in the step 4.2 is processed to obtain the distance between the commodity vehicle carried in the cavity of the commodity vehicle transfer robot and the left and right parked commodity vehicles, the deviation correction amount is obtained according to the distance, and the deviation correction amount is added into the wheel corner of the commodity vehicle transfer robot, so that the distance between the commodity vehicle in the commodity vehicle transfer robot and the left or right parked commodity vehicle is kept at a set value;
and 4.3.1, compressing the combined point cloud in the transverse direction of the commodity vehicle transfer robot, and only reserving coordinate values of the combined point cloud in the transverse direction of the commodity vehicle transfer robot.
4.3.2, sorting the coordinate values from large to small, calculating whether the difference between each pair of adjacent coordinate values is larger than a set distance threshold value, if so, indicating the point cloud of the current coordinate value and the point cloud of the previous coordinate value, wherein the point cloud and the point cloud of the previous coordinate value do not belong to the same class in the transverse direction of the commodity vehicle transfer robot; otherwise, they belong to the same class.
And 4.3.3, removing classes with the number of the point clouds smaller than the set minimum number of the point clouds from all the classes.
4.3.4, one of the point clouds is representative of the commodity vehicle carried inside the commodity vehicle transfer robot. If other point cloud types exist, the left and right sides of the transfer robot representing the commodity vehicle have the commodity vehicle parked; if other point cloud types do not exist, no parked commodity vehicle exists on the left and right sides of the commodity vehicle transfer robot.
4.4, the environment point cloud information in the transverse direction of the commodity car transferring robot obtained in the step 4.2 does not contain commodity car information, and the commodity car transferring robot continues to move along the new execution path obtained in the step 3;
step 5, when the commodity vehicle transfer robot reaches a distance which is a second set value from the end position of the path, acquiring the distance between the commodity vehicle carried in the commodity vehicle transfer robot and the left and right parked commodity vehicles by using multi-line laser radars arranged at the two ends in front of the commodity vehicle transfer robot, so as to determine the parking position of the commodity vehicle transfer robot;
and 5.1, merging the point clouds in the commodity vehicle transfer robot and in front of the commodity vehicle transfer robot obtained in the step 4.1, and obtaining the environmental point cloud information of the commodity vehicle transfer robot in the longitudinal direction.
5.2, acquiring the distance between the commodity vehicle and the front parking commodity vehicle, which is carried by the commodity vehicle transfer robot, by processing the environmental point cloud information, so as to determine the parking position of the commodity vehicle transfer robot;
and 5.2.1, compressing the combined point cloud in the longitudinal direction of the commodity vehicle transfer robot, and only reserving coordinate values of the combined point cloud in the longitudinal direction of the commodity vehicle transfer robot.
5.2.2, sorting coordinate values from large to small, and calculating whether the difference between each pair of adjacent coordinate values is larger than a set distance threshold value, if so, the point cloud representing the current coordinate value and the point cloud representing the previous coordinate value do not belong to the same class in the transverse direction of the commodity vehicle transfer robot; otherwise, they belong to the same class.
And 5.2.3, removing classes with the number of the point clouds smaller than the set minimum number of the point clouds. One of the point cloud classes represents a commodity vehicle carried inside the commodity vehicle transfer robot. If other point cloud types exist, representing a commodity vehicle in front of the commodity vehicle transfer robot; if no other point cloud class exists, the fact that no parked commodity vehicle exists in front of the commodity vehicle transfer robot is represented;
5.2.4, calculating the current distance between the commodity vehicle in the commodity vehicle transfer robot and the commodity vehicle in front of the commodity vehicle, and making a difference with the distance between the commodity vehicle in front of and behind the required close parking area to obtain the distance that the commodity vehicle transfer robot needs to continuously advance, and controlling the commodity vehicle transfer robot to stop moving after controlling the distance that the commodity vehicle transfer robot needs to advance to move;
5.3, the environmental point cloud information in the longitudinal direction of the commodity car transferring robot obtained in the step 5.1 is free of commodity car information, and when the commodity car transferring robot reaches the end point of the global car-putting path, the commodity car transferring robot control system controls the commodity car transferring robot to stop moving;
and 6, controlling the clamping mechanism by the commodity vehicle transfer robot control system to finish the vehicle placing operation, acquiring the vehicle placing position coordinates of the commodity vehicle by using the positioning system, and uploading the vehicle placing position coordinates of the commodity vehicle to the cloud scheduling system to finish one-time vehicle placing operation. The parking quantity of commodity vehicles in the dense parking area is improved, the labor intensity is reduced, and the working efficiency and the working precision are improved.
The beneficial effects are that:
1. according to the equipment and the method for orderly parking of the commodity vehicle based on the multi-line laser radar, the cloud end is adopted to guide the vehicle end, the vehicle end feeds back to the cloud end, the vehicle placing position is planned by the cloud end, the cloud end feeds back to the vehicle placing position after the vehicle end reaches the vehicle placing position, the parking position of the next commodity vehicle is planned by the auxiliary cloud end, the commodity vehicle transfer robot is planned cooperatively through the cloud end and the vehicle end, and the orderly placing of the commodity vehicle transfer robot is ensured.
2. According to the equipment and the method for orderly parking of the commodity car based on the multi-line laser radar, disclosed by the invention, after the commodity car transfer robot reaches a close parking area, the car parking position is autonomously judged, the commodity car parked in the close parking area is further ensured by remotely positioning and orienting the commodity car parked in the front, correcting the deviation of the commodity car parked in the middle road section according to the left and right sides and controlling the parking in the close distance according to the distance between the commodity car parked in the front and the commodity car parked in the front, so that the commodity car transfer robot keeps a specified distance between the commodity car parked in the commodity car transfer robot and the surrounding commodity car and is aligned with the commodity car in the front.
3. According to the equipment and the method for orderly parking the commodity vehicle based on the multi-line laser radar, provided by the invention, the environment point cloud information scanned by the two multi-line laser radars arranged on the front two sides of the commodity vehicle transfer robot is combined, and range filtering is carried out, so that the environment information in the commodity vehicle transfer robot, in front of the commodity vehicle transfer robot and on the left and right sides of the commodity vehicle transfer robot are respectively obtained, the range division of the surrounding environment of the commodity vehicle transfer robot is realized, and therefore, the positions of parked commodity vehicles on the front two sides of the commodity vehicle transfer robot and on the left and right sides of the commodity vehicle transfer robot are classified, and the parking precision of the commodity vehicle is improved.
4. According to the equipment and the method for orderly parking commodity vehicles based on the multi-line laser radar, the acquired point cloud data are compressed in the appointed direction, the point cloud data are converted into one-dimensional data, coordinate values are acquired, whether the distance difference between adjacent coordinate values is larger than a set value is judged, and due to the fact that the commodity vehicle volume is relatively large, the class that the quantity of point clouds in all classes is smaller than the set value is further eliminated, point cloud analysis in the specific direction is achieved, calculation load is reduced, and parking efficiency is improved.
5. According to the equipment and the method for orderly parking the commodity car based on the multi-line laser radar, the distance between the commodity car in the commodity car transferring robot and the commodity car in front is required to be small in a close parking area, when the distance between the commodity car in the commodity car transferring robot and the commodity car in front is too close, the two multi-line laser radars arranged on the two sides in front of the commodity car transferring robot are not arranged at the position between the commodity car in the commodity car transferring robot and the commodity car in front, the multi-line laser radars cannot clearly scan the headstock of the commodity car in front of the commodity car transferring robot, the distance between the commodity car in the commodity car transferring robot and the commodity car in front is scanned by a long distance, and then the distance of the difference value between the current distance and the target distance of the movement of the commodity car transferring robot is controlled, so that the accurate distance between the commodity car in the commodity car transferring robot and the commodity car in front is kept.
Drawings
Fig. 1 is a schematic diagram of a dense parking area of an automobile for a device and a method for orderly parking a commodity car based on a multi-line laser radar according to the present embodiment;
fig. 2 is a schematic structural diagram of a device for orderly parking a commodity vehicle based on a multi-line laser radar according to the present embodiment;
FIG. 3 is a flow chart of an apparatus and method for orderly parking a commodity vehicle based on a multi-line lidar in accordance with the present invention;
FIG. 4 is a flowchart of a clustering algorithm in a device and a method for orderly parking a commodity car based on a multi-line laser radar according to the present embodiment;
wherein: 1-a three-dimensional servo turntable arranged at the front position of the top of a commodity car transfer robot, 2-a 32-line laser radar arranged on the three-dimensional servo turntable, and 3-32-line laser radars arranged on two sides of the front end of the commodity car transfer robot
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and examples. The technical problems and the beneficial effects solved by the technical proposal of the invention are also described, and the described embodiment is only used for facilitating the understanding of the invention and does not have any limiting effect.
According to the equipment and the method for orderly parking the commodity car based on the multi-line laser radar, disclosed by the embodiment, in the close parking area of the automobile dock, the purpose that the commodity car transfer robot orderly parks the car in the close parking area is achieved, the field utilization rate of the close parking area of the automobile dock is improved, the close parking area of the automobile dock is shown in a figure 1, and the distance between the front part, the rear part, the left part and the right part of the commodity car is required to be 30cm.
The embodiment discloses equipment that orderly parks of commodity car based on multi-line laser radar installs on a commodity car transfer robot, and commodity car transfer robot is long 6m, wide 3m, contains the cavity, and the cavity is long 6m, wide 2.1m for bear commodity car, commodity car transfer robot cavity is inside to have clamping mechanism, and after commodity car transfer robot docks commodity car, clamping mechanism is used for embracing and presss from both sides commodity car, can put down commodity car simultaneously, and commodity car transfer robot adopts four-wheel independent drive steering mechanism. The utility model provides a device that goods car was neatly parked based on multi-line laser radar contains the three-dimensional servo revolving stage of installing at goods car transfer robot top place ahead, installs 32 line laser radar on three-dimensional servo revolving stage and installs the 32 line laser radar on goods car transfer robot front end both sides, and the mounted position is as shown in figure 2.
The method for orderly parking the commodity vehicle based on the multi-line laser radar disclosed by the embodiment is realized based on equipment for orderly parking the commodity vehicle based on the multi-line laser radar, as shown in fig. 3, and specifically comprises the following steps:
step 1, a cloud scheduling system plans a commodity vehicle transfer robot discharging position, a global vehicle taking path and a global vehicle discharging path, and issues the commodity vehicle transfer robot discharging position, the global vehicle taking path and the global vehicle taking path to a commodity vehicle transfer robot;
1.1, a wharf operating system issues a vehicle-placing task instruction to a cloud dispatching system, wherein the vehicle-placing task instruction comprises vehicle-taking area position information, parking area position information of a close parking area and commodity vehicle specification and size.
1.2, if the current vehicle is put for the first time in the dense parking area, the cloud scheduling system directly plans the current vehicle-putting position of the commodity vehicle transfer robot according to the vehicle-putting task information; if the vehicle is not put in the dense parking area for the first time, the cloud dispatching system plans the current vehicle-putting position of the commodity vehicle transfer robot according to the vehicle-putting task information and the last vehicle-putting position of the commodity vehicle transfer robot.
1.3, uploading position information of the commodity vehicle transfer robot to a cloud scheduling system by the commodity vehicle transfer robot, planning a global vehicle taking path and a global vehicle placing path of the commodity vehicle transfer robot by the cloud scheduling system according to the position information of the commodity vehicle transfer robot and the map information of an automobile wharf, and issuing the global vehicle taking path and the global vehicle placing path to the commodity vehicle transfer robot by utilizing an MQTT communication mode.
Step 2, the commodity vehicle transfer robot receives a global vehicle taking path and a global vehicle placing path issued by the cloud scheduling system, and the commodity vehicle is loaded to be transferred by utilizing a clamping mechanism after reaching a vehicle taking position along the global vehicle taking path;
step 3, the commodity car transferring robot acquires the position of the current robot at any time by using a GPS positioning system, and when the position of the commodity car transferring robot reaches a position 7m away from the parking position end point, the commodity car transferring robot control system plans a new execution path by using environmental point cloud information acquired by a multi-line laser radar installed in front of the top of the commodity car transferring robot;
and 3.1, stopping the movement of the commodity car transferring robot when the commodity car transferring robot reaches a position 7m away from the parking position end point, and controlling a three-dimensional servo turntable arranged at the top of the front of the commodity car transferring robot to move downwards by 60 degrees.
And 3.2, in the process of lowering the head of the three-dimensional servo turntable, scanning surrounding environment information from top to bottom at the moment of the 32-line laser radar installed on the three-dimensional servo turntable, acquiring the point cloud information of the surrounding environment, and accumulating the multi-frame point cloud information to acquire multi-angle point cloud data.
And 3.3, performing range filtering on the point cloud information of the surrounding environment scanned by the 32-line laser radar installed on the three-dimensional servo turntable, and only keeping the point cloud information of 10m and 3m wide in front of the commodity vehicle transfer robot.
And 3.4, detecting that the point cloud information after the range filtering in the step 3.3 contains the commodity vehicle, processing the point cloud after the range filtering in the step 3.3 by the commodity vehicle transfer robot control system, planning a new execution path of the commodity vehicle transfer robot, controlling the robot to move along the new execution path by the commodity vehicle transfer robot control system, and processing the point cloud as follows:
3.4.1, traversing all angles with 1 degree step in the set angle range. And acquiring a rectangular frame of the commodity vehicle point cloud in each angle direction, the area of the rectangular frame and the central position coordinate of the rectangular frame.
3.4.2 selecting a rectangular frame with the smallest area, taking the corresponding angle as a course angle of the commodity car in front of the commodity car transferring robot, and taking the central position of the rectangular frame with the smallest area as the position coordinate of the commodity car in front of the commodity car transferring robot.
And 3.4.3, the robot control system plans a straight path to be used as a discharging path of the last discharging road section according to the position coordinates of the commodity vehicle in front of the commodity vehicle transferring robot, and replaces the global discharging path issued by the cloud scheduling system to be used as a new execution path.
3.5, detecting that the point cloud information after the filtering in the range of the step 3.3 does not contain commodity vehicles, and reserving a global vehicle taking path issued by cloud scheduling by the commodity vehicle transfer robot and moving according to the global vehicle taking path issued by the cloud scheduling;
step 4, in the movement process of the commodity vehicle transfer robot, 32-line laser radars on two sides of the front end of the commodity vehicle transfer robot are used for scanning point cloud information of the environment around the commodity vehicle transfer robot at the moment, point cloud is segmented, and point cloud data in front of, on the left of, on the right of and in the commodity vehicle transfer robot are respectively output, wherein the range of the front point cloud data is 20m long and 2.1m wide, the range of the left and right Fang Dian cloud data is 20m long and 6m wide, and the range of the internal point cloud data is 6m long and 2.1m wide;
step 5, merging point clouds in the commodity vehicle transfer robot, on the left and right, and acquiring environmental point cloud information in the transverse direction of the commodity vehicle transfer robot;
5.1, scanning the commodity car in the transverse direction of the commodity car transferring robot, then processing point cloud data in the transverse direction of the commodity car transferring robot by the commodity car transferring robot control system, acquiring the distance between the left and right parked commodity cars of the commodity car transferring robot and the commodity car carried in the commodity car transferring robot, acquiring the deviation correction amount by the distance, adding the deviation correction amount into the wheel corner of the commodity car transferring robot, enabling the commodity car in the commodity car transferring robot to keep a set value distance from the left or right parked commodity car, and processing the point cloud as follows:
and 5.1.1, defining the transverse direction of the commodity vehicle transfer robot as the y direction, compressing the point cloud data in the transverse direction of the commodity vehicle transfer robot obtained in the step 7 in the y direction, and obtaining the coordinate value of the point cloud data in the y direction.
5.1.2, sorting the coordinate axes of the point cloud data in the y direction from large to small, traversing all coordinate values, checking whether the difference between two adjacent coordinate values is larger than a set distance threshold value of 0.05m, if so, indicating that the point cloud of the current coordinate value and the point cloud of the adjacent coordinate value are not in the same class, further checking whether the number of points in the current class is larger than a set minimum point number 40, if the condition is met, reserving, and if not, not reserving.
5.1.3, selecting two largest classes, and calculating the distance between the two largest classes, wherein the distance is determined as the distance between the commodity car on the left and the right of the commodity car and the commodity car inside the commodity car transfer robot;
5.2, if the commodity car is not scanned to the left or the right of the commodity car transferring robot, continuing moving according to a final car-placing path planned by the commodity car transferring robot;
step 6, merging point clouds in the commodity vehicle transfer robot and in front of the commodity vehicle transfer robot to acquire environmental point cloud information in the longitudinal direction of the commodity vehicle transfer robot;
6.1, if the point cloud information obtained in the step 3 after the range filtering contains a commodity vehicle, the environmental point cloud information in the longitudinal direction of the commodity vehicle transfer robot obtained in the step 10 contains the commodity vehicle, the environmental point cloud in the longitudinal direction of the commodity vehicle transfer robot is processed, the distance from the parked commodity vehicle in front of the commodity vehicle transfer robot to the commodity vehicle transfer robot for carrying the commodity vehicle is obtained, when the distance is reduced to 1m, the robot control system controls the commodity vehicle transfer robot to move for 0.7m and then stop moving, and the environmental point cloud in the longitudinal direction of the commodity vehicle transfer robot is processed as follows:
6.1.1, defining the longitudinal direction of the commodity vehicle transfer robot as the x direction, combining point cloud data in front of the commodity vehicle transfer robot with internal point cloud data, compressing the combined point cloud data in the x direction, and acquiring coordinate values of the point cloud data in the x direction;
6.1.2, sorting coordinate values of the point cloud data in the x direction from large to small, traversing all coordinate values, checking whether the difference between two adjacent coordinate values is larger than a set distance threshold value of 0.05m, if so, indicating that the point cloud of the current coordinate value and the point cloud of the adjacent coordinate value do not belong to the same class, further checking whether the number of points in the current class is larger than a set minimum point number 40, if the condition is met, reserving the class, and if the condition is not met, not reserving the class;
6.1.3, selecting two largest classes, and calculating the distance between the two largest classes, wherein the distance is determined as the distance between the commodity vehicle in the commodity vehicle transfer robot and the commodity vehicle in front;
and 6.1.4, when the distance between the commodity car inside the commodity car transferring robot and the commodity car in front of the commodity car transferring robot is detected to be 1m, the robot control system controls the commodity car transferring robot to move forwards for 0.7m and then stop moving.
And 6.2, if the point cloud information obtained in the step 3 after the range filtering is detected does not contain a commodity vehicle, the environmental point cloud information in the longitudinal direction of the commodity vehicle transfer robot obtained in the step 10 does not contain the commodity vehicle, and when the transfer robot in the commodity moves to a path end point, the robot is controlled to stop moving.
And 7, controlling the clamping mechanism by the commodity vehicle transferring robot control system to finish the vehicle placing operation, acquiring the position coordinates of the commodity vehicle to be parked by using the GPS positioning system after the commodity vehicle is placed down, uploading the position coordinates of the commodity vehicle to the cloud scheduling system in an MQTT communication mode, updating the position of the next commodity vehicle to be parked, and carrying the next commodity vehicle by using the commodity vehicle transferring robot by using an autonomous navigation technology.
The commodity car transfer robot is used for planning the car placing position of the commodity car transfer robot by adopting a cloud, planning a car placing path, issuing the car placing path to a car end, acquiring the car placing path by the commodity car transfer robot car end, moving along the car placing path, and simultaneously, in a last car placing section, not depending on car cloud interaction, detecting surrounding parked commodity cars by utilizing three multi-line laser radars installed at different positions, positioning and orienting the parked commodity cars according to the front, correcting the deviation of the parked commodity cars according to the left and right of a middle section, controlling the commodity car transfer robot to park according to the parked commodity cars in the front in a short distance, and realizing orderly parking of the commodity car in a close parking area of a car dock by the commodity car transfer robot.
The foregoing detailed description has set forth the objects, aspects and advantages of the invention in further detail, it should be understood that the foregoing description is only illustrative of the invention and is not intended to limit the scope of the invention, but is to be accorded the full scope of the invention as defined by the appended claims.
Claims (5)
1. The utility model provides a goods car neatly parks equipment of goods car based on multi-line laser radar which characterized in that: the system comprises a cloud scheduling system, a commodity vehicle transfer robot, a clamping system, an environment sensing system and a robot control system; the cloud scheduling system comprises map information of an automobile dock and is used for issuing a picking and placing command of the commodity car transfer robot and planning a global path; the commodity car transfer robot is a mobile robot for transferring commodity cars; the clamping system is loaded on the commodity car transferring robot and used for clamping the commodity car to be transferred; the environment sensing system comprises a three-dimensional servo turntable arranged in front of the top of the commodity car transfer robot, a multi-line laser radar arranged on the three-dimensional servo turntable and multi-line laser radars arranged on two sides of the front of the commodity car transfer robot; the three-dimensional servo turntable can realize free rotation of a plurality of angles, and the detection range of the multi-line laser radar is enlarged; the multi-line laser radar arranged on the three-dimensional servo turntable is used for remotely scanning the commodity vehicle; the multi-line laser radars arranged at the two sides of the front of the commodity car transferring robot can scan the commodity car loaded in the front, the left and right sides and the inside of the robot in a short distance; the robot control system is used for controlling the commodity car transfer robot to run, communicating with the cloud scheduling system and processing information acquired by the environment sensing system.
2. A method for orderly parking commodity vehicles based on multi-line laser radar is realized based on equipment for orderly parking commodity vehicles based on multi-line laser radar, and is characterized in that: comprises the following steps of the method,
step 1, a wharf operating system issues parking task information of a close parking area of a cloud dispatching system, wherein the task information comprises commodity vehicle size, vehicle taking area position and parking area position of the close parking area; uploading vehicle end information of the commodity vehicle transfer robot to a cloud dispatching system, wherein the vehicle end information comprises the current position of the commodity vehicle transfer robot; if the close parking area is planned for the first time, the cloud scheduling system plans the current vehicle-placing position and the current vehicle-taking position of the commodity vehicle transfer robot according to the vehicle-placing task information of the close parking area; if the close parking area is not planned for the first time, the cloud scheduling system plans the current parking position and the current vehicle taking position according to the information of the parking task of the close parking area and the last parking position of the commodity vehicle transfer robot; the cloud scheduling system plans a global vehicle taking path and a global vehicle placing path of the commodity vehicle transferring robot by using vehicle end information, a vehicle placing position and a vehicle taking position, and issues the global vehicle taking path and the global vehicle placing path to the commodity vehicle transferring robot;
step 2, the commodity vehicle transfer robot receives a global vehicle taking path and a global vehicle placing path issued by the cloud scheduling system, and the commodity vehicle is loaded to be transferred by utilizing a clamping mechanism after reaching a vehicle taking position along the global vehicle taking path;
step 3, when the commodity car transferring robot moves along the global car-putting path and the end position of the global car-putting path is a first set distance, the robot control system plans a new execution path according to the environmental point cloud information acquired by the multi-line laser radar installed in front of the top of the commodity car transferring robot;
step 4, the commodity car transferring robot moves along the new execution path obtained in the step 3, and two multi-line laser radars arranged on two sides of the front end of the commodity car transferring robot acquire the distance between the commodity car carried in the commodity car transferring robot and the left and right parked commodity car, so that the movement of the commodity car transferring robot is rectified;
step 5, when the commodity vehicle transfer robot reaches a distance which is a second set value from the end position of the path, acquiring the distance between the commodity vehicle carried in the commodity vehicle transfer robot and the left and right parked commodity vehicles by using multi-line laser radars arranged at the two ends in front of the commodity vehicle transfer robot, so as to determine the parking position of the commodity vehicle transfer robot;
step 6, a commodity vehicle transfer robot control system controls a clamping mechanism to finish vehicle placing operation, a positioning system is utilized to obtain the position coordinates of the commodity vehicle for placing, and the position coordinates of the commodity vehicle for placing are uploaded to a cloud scheduling system to finish one-time vehicle placing operation; the parking quantity of commodity vehicles in the dense parking area is improved, the labor intensity is reduced, and the working efficiency and the working precision are improved.
3. The method for orderly parking of commodity vehicles based on multi-line laser radar according to claim 2, wherein the method comprises the following steps: the implementation method of the step 3 is that,
3.1, stopping moving the robot when the commodity car transfer robot reaches a position which is a first set distance from the end position of the global car-putting path; the robot control system controls the three-dimensional servo turntable to do downward swinging movement according to the set angle value; in the process of swinging the three-dimensional servo turntable, acquiring environmental point cloud information from top to bottom by a multi-line laser radar arranged on the three-dimensional servo turntable; after the three-dimensional servo turntable finishes swinging, the robot control system accumulates the environmental point cloud information acquired by the multi-line laser mines, carries out range filtering of a set range, and only retains the environmental point cloud information in front of the commodity vehicle transfer robot;
3.2, the front environment point cloud information acquired from top to bottom by the commodity vehicle transfer robot in the step 3.1 is processed to plan a new execution path of the commodity vehicle transfer robot when commodity vehicle information exists;
3.2.1, traversing all angles with 1 degree as step length in the set angle range; acquiring a rectangular frame of the commodity vehicle point cloud in each angle direction, the area of the rectangular frame and the central position coordinate of the rectangular frame;
3.2.2, selecting a rectangular frame with the smallest area, taking a corresponding angle as a course angle of the commodity car in front of the commodity car transferring robot, and taking the central position of the rectangular frame with the smallest area as a position coordinate of the commodity car in front of the commodity car transferring robot;
3.2.3, the robot control system plans a straight path to be used as a discharging path of the last discharging road section according to the position coordinates of the commodity vehicle in front of the commodity vehicle transferring robot, and replaces the global discharging path issued by the cloud scheduling system to be used as a new execution path;
and 3.3, the environmental point cloud information in front of the transfer robot obtained in the step 3.1 is free of commodity car information, and the global car-putting path issued by cloud scheduling is used as a new execution path.
4. A method for orderly parking of commodity vehicles based on multi-line lidar as claimed in claim 3, wherein: the implementation method of the step 4 is that,
4.1, two multi-line laser radars arranged at two sides of the front end of the commodity car transfer robot scan the surrounding environment to obtain environment point cloud data, the environment point cloud data acquired by the two multi-line laser radars are combined, and the point cloud data in the commodity car transfer robot, in the front, in the left and in the right are respectively obtained by utilizing range filtering of a set range to obtain environment information of the commodity car transfer robot in all directions;
4.2, merging the point clouds in the commodity vehicle transfer robot, on the left and right, which are obtained in the step 4.1, and obtaining the environmental point cloud information of the commodity vehicle transfer robot in the transverse direction;
4.3, the environmental point cloud information in the transverse direction of the commodity vehicle transfer robot obtained in the step 4.2 is processed to obtain the distance between the commodity vehicle carried in the cavity of the commodity vehicle transfer robot and the left and right parked commodity vehicles, the deviation correction amount is obtained according to the distance, and the deviation correction amount is added into the wheel corner of the commodity vehicle transfer robot, so that the distance between the commodity vehicle in the commodity vehicle transfer robot and the left or right parked commodity vehicle is kept at a set value;
4.3.1, compressing and merging point clouds in the transverse direction of the commodity vehicle transfer robot, and only reserving coordinate values of the merged point clouds in the transverse direction of the commodity vehicle transfer robot;
4.3.2, sorting the coordinate values from large to small, calculating whether the difference between each pair of adjacent coordinate values is larger than a set distance threshold value, if so, indicating the point cloud of the current coordinate value and the point cloud of the previous coordinate value, wherein the point cloud and the point cloud of the previous coordinate value do not belong to the same class in the transverse direction of the commodity vehicle transfer robot; otherwise, belong to the same class;
4.3.3, removing classes with the number of point clouds smaller than the set minimum number of point clouds from all classes;
4.3.4, wherein the class of one point cloud represents a commodity vehicle carried in the commodity vehicle transfer robot; if other point cloud types exist, the left and right sides of the transfer robot representing the commodity vehicle have the commodity vehicle parked; if other point cloud types do not exist, no parked commodity vehicle exists on the left and right sides of the commodity vehicle transfer robot;
and 4.4, the environment point cloud information in the transverse direction of the commodity car transferring robot obtained in the step 4.2 is not provided with commodity car information, and the commodity car transferring robot continues to move along the new execution path obtained in the step 3.
5. The method for orderly parking of commodity vehicles based on multi-line laser radar according to claim 4, wherein the method comprises the following steps: the implementation method of the step 5 is that,
5.1, merging the point clouds in the commodity vehicle transfer robot and in front of the commodity vehicle transfer robot obtained in the step 4.1, and obtaining environmental point cloud information in the longitudinal direction of the commodity vehicle transfer robot;
5.2, acquiring the distance between the commodity vehicle and the front parking commodity vehicle, which is carried by the commodity vehicle transfer robot, by processing the environmental point cloud information, so as to determine the parking position of the commodity vehicle transfer robot;
5.2.1, compressing and merging point clouds in the longitudinal direction of the commodity vehicle transfer robot, and only reserving coordinate values of the merged point clouds in the longitudinal direction of the commodity vehicle transfer robot;
5.2.2, sorting coordinate values from large to small, and calculating whether the difference between each pair of adjacent coordinate values is larger than a set distance threshold value, if so, the point cloud representing the current coordinate value and the point cloud representing the previous coordinate value do not belong to the same class in the transverse direction of the commodity vehicle transfer robot; otherwise, belong to the same class;
5.2.3, removing classes with the number of the point clouds smaller than the set minimum number of the point clouds; the class of one of the point clouds represents a commodity vehicle carried in the commodity vehicle transfer robot; if other point cloud types exist, representing a commodity vehicle in front of the commodity vehicle transfer robot; if no other point cloud class exists, the fact that no parked commodity vehicle exists in front of the commodity vehicle transfer robot is represented;
5.2.4, calculating the current distance between the commodity vehicle in the commodity vehicle transfer robot and the commodity vehicle in front of the commodity vehicle, and making a difference with the distance between the commodity vehicle in front of and behind the required close parking area to obtain the distance that the commodity vehicle transfer robot needs to continuously advance, and controlling the commodity vehicle transfer robot to stop moving after controlling the distance that the commodity vehicle transfer robot needs to advance to move;
and 5.3, the environmental point cloud information in the longitudinal direction of the commodity car transferring robot is obtained in the step 5.1, and the commodity car information is not available, so that when the commodity car transferring robot reaches the end point of the global car-putting path, the commodity car transferring robot control system controls the commodity car transferring robot to stop moving.
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