CN117434949A - A multi-sensor target docking system for commercial vehicle transfer robots - Google Patents

Abstract

The invention discloses a multi-sensor target docking system for a commercial vehicle transfer robot, which belongs to the technical field of robot motion drive and control. The invention mainly consists of a robot frame, a commercial vehicle positioning and orientation module, an internal deviation correction module of the fuselage, a surrounding obstacle detection module, and a clamping module. The robot frame is rectangular and contains a cavity for carrying commercial vehicles. The commercial vehicle positioning and orientation module consists of a servo turntable installed in front of the top of the robot, and a laser radar, visible light camera, and infrared camera installed on the servo turntable to realize the positioning and orientation of the commercial vehicle body. The internal deviation correction module of the fuselage consists of a laser radar installed in the middle of the clamping jaws of four clamping modules to realize the positioning and orientation of commercial vehicle tires. The surrounding obstacle detection module consists of laser radar installed around the robot; the clamping module consists of a lifting mechanism, a wheelbase adjustment mechanism and a clamping jaw swing mechanism. It clamps the tires to steadily lift the commercial vehicle.

Description

A multi-sensor target docking system for commercial vehicle transfer robots

Technical field

The invention relates to a multi-sensor target docking system in the field of robot docking technology, and in particular to a multi-sensor target docking system for a commercial vehicle transfer robot, which belongs to the technical field of robot motion drive and control.

Background technique

Smart green has become an important symbol of promoting port development and reform. In the vehicle logistics chain, the vehicle terminal is an important node in the vehicle logistics chain and is crucial to port logistics. However, the traditional automobile terminal operation method mainly relies on manual labor, resulting in low efficiency, resource waste, high carbon emissions, congestion and frequent safety problems. The commodity vehicle transfer robot is an intelligent equipment used for automated transportation of commodity vehicles. The commodity vehicle transfer robot independently completes the transportation and transfer tasks of commodity vehicles, reduces labor costs, improves transportation efficiency, safety and operational accuracy, and helps In order to reduce carbon emissions, promote environmental sustainability, and bring significant improvements to the entire port logistics system, there is currently no case of using mobile robots to dock commercial vehicles.

Contents of the invention

In view of the problems that the transfer of commercial vehicles at automobile terminals relies on a large amount of manpower, poor safety, and huge carbon emissions, the main purpose of the present invention is to provide a multi-sensor target docking system for a commercial vehicle transfer robot. The system is installed on a commercial vehicle transfer robot. On the platform, the commercial vehicle transfer robot can realize the functions of positioning and orientation of the target commodity vehicle, docking and deviation correction, clamping and picking up the vehicle, and obstacle detection, etc., and realize the commodity vehicle transfer robot to autonomously transport the commodity vehicle, solving the serious waste of human resources and low work efficiency at the automobile terminal. Problems such as huge carbon emissions have improved the working efficiency of automobile terminals.

The purpose of the present invention is achieved through the following technical solutions:

A multi-sensor target docking system for a commercial vehicle transfer robot, which consists of a commercial vehicle transfer robot frame, a commercial vehicle positioning and orientation module, an internal correction module of the fuselage, a surrounding obstacle detection module, a clamping module, a control and communication module, and a combined navigation module Composed of seven parts.

The frame of the commercial vehicle transfer robot is made of steel bars and is rectangular in shape with a cavity inside for carrying commercial vehicles. The commercial vehicle positioning and orientation module, fuselage internal correction module, surrounding obstacle detection module, clamping module, control and communication module, and integrated navigation module are all installed on the commercial vehicle transfer robot frame.

The commercial vehicle positioning and orientation module consists of multi-line lidar, visible light camera, infrared camera and three-dimensional servo turntable. Multi-line lidar, visible light camera, and infrared camera are all installed on the three-dimensional servo turntable. Among them, the multi-line lidar is installed in the middle of the top of the three-dimensional servo turntable. The visible light camera and infrared camera are installed on both sides of the multi-line lidar. When the three-dimensional servo When the turntable moves, the multi-line lidar, infrared camera and visible light camera will move with the movement of the three-dimensional servo turntable, thereby realizing the large-scale environment perception of the commercial vehicle transfer robot, and combining the depth information detected by the multi-line lidar with the infrared camera and The visual information detected by the visible light camera is combined to achieve the positioning and orientation of the target product vehicle body.

The internal correction module of the fuselage consists of four single-line laser radars installed in the middle of the clamping jaws of the four clamping modules of the commercial vehicle transfer robot, which are used to scan the tires of commercial vehicles. The single-line lidar is installed facing down. When the clamping module moves, the single-line lidar will follow the movement of the clamping module and pass range filtering. Only the point cloud information of the environment inside the cavity of the commercial vehicle transfer robot collected by the single-line lidar will be retained. When the commercial vehicle transfer robot docks with the target commodity vehicle, when the target commodity vehicle is already inside the cavity of the commodity vehicle transfer robot, the single-line laser radar scans the tires of the commercial vehicle at close range to obtain the information on both sides of the interior of the commodity vehicle transfer robot and the two sides of the target commodity vehicle. The distance is passed to the robot control and communication module, which converts the distance into a correction control quantity to realize the correction control of the commercial vehicle transfer robot; when the commercial vehicle transfer robot docks with the target commodity vehicle, the front part of the correction module inside the fuselage Two single-line laser radars detect whether the commercial vehicle tires are aligned, thereby controlling the commercial vehicle transfer robot to stop moving; when the commercial vehicle transfer robot stops moving, the rear clamping module adjusts the wheelbase, and the rear deflection correction module inside the fuselage The single-line lidar detects whether the center of the clamping jaw of the rear clamping module is aligned with the center position of the rear tire of the commercial vehicle, thereby realizing the robot control and communication module to control the clamping module to descend and clamp the commercial vehicle. When the rear single-line lidar When it is detected that the center of the rear clamping module is not aligned with the center of the commercial vehicle tire, the robot control and communication module controls the movement of the clamping module at the rear of the robot to achieve alignment with the center of the commercial vehicle tire, and then the robot control and communication module controls the clamping module. Descend and clamp the tire of the commercial vehicle.

The surrounding obstacle detection module consists of a millimeter-wave radar installed on a three-dimensional servo turntable and four multi-line laser radars installed around the commercial vehicle transfer robot. The millimeter-wave radar moves with the movement of the three-dimensional servo turntable to detect the transfer of commercial vehicles. Information about long-distance obstacles in front of the robot. Four multi-line laser radars around the commercial vehicle transfer robot detect information about obstacles in the environment without blind spots around the robot, and transmit the obstacle point cloud information to the control and communication module. The control and communication module detects obstacles. The object point cloud is processed to obtain the distance between the obstacle and the central position of the robot. According to the obstacle avoidance strategy, the control and communication module controls the robot to stop moving or take a detour to avoid obstacles.

The clamping module is installed at the four positions of the left front, right front, left rear, and right rear inside the frame cavity of the commercial vehicle transfer robot. It includes three parts: a lifting mechanism, a wheelbase adjustment mechanism, and a clamping jaw swing mechanism. The lifting mechanism is composed of a servo motor and a worm gear. It is composed of reducer, rolling screw and guide rail module to realize the lifting action; the wheelbase adjustment mechanism is composed of servo motor, planetary reducer, ball screw and guide rail slider to realize the wheelbase adjustment action; the clamping jaw swing mechanism is made of servo motor , planetary reducer, forward and reverse rotating trapezoidal screw, and slider rocker mechanism to realize the swing movement of the clamping jaw. Moreover, an infrared sensor is installed on one side of each clamping jaw. The control and communication module can detect whether the infrared sensor is triggered or not. Check whether the clamping jaws clamp commercial vehicle tires.

The control and communication module is installed inside the commercial vehicle transfer robot, including the robot control box, gateway, and switch. It is used to accept the commercial vehicle transfer robot's commercial vehicle positioning and orientation module, internal correction module of the fuselage, surrounding obstacle detection module, and clamping module. The sensor senses information and provides a control strategy based on internal algorithms and logic to control the movement of the commercial vehicle transfer robot. At the same time, it realizes communication with the remote server of the commercial vehicle transfer robot, including the cloud dispatch system and the car terminal operating system.

The integrated navigation module includes a GPS positioning system and an attitude sensor. The positioning antenna of the GPS positioning system is installed in the middle of the top of the commercial vehicle transfer robot, the directional antenna is installed in the front position of the top of the commercial vehicle transfer robot, and the attitude sensor is installed in the positioning and orienting position of the commercial vehicle. The module's three-dimensional servo turntable realizes the positioning, orientation and autonomous navigation of the commercial vehicle transfer robot.

After the commodity vehicle autonomous transfer robot receives the commodity vehicle transfer task issued by the cloud dispatching system, it uses the commodity vehicle positioning and orientation module to position and orient the commodity vehicle over a long distance, dynamically plans the docking path, and the control and communication module controls the movement of the commodity vehicle transfer robot; when the goods When the vehicle is located inside the cavity of the commercial vehicle transfer robot, the single-line lidar of the correction module inside the fuselage is used to position and orient the tires of the commercial vehicle to achieve close-range correction. At the same time, based on the front single-line lidar detection information of the correction module inside the fuselage, Control the commercial vehicle transfer robot to stop moving; the robot control and communication module controls the clamping module to adjust the wheelbase until the rear single-line lidar of the correction module inside the fuselage is aligned with the rear tire of the commercial vehicle, and then the control and communication module controls the clamping module It clamps the tire of the commercial vehicle, lifts the commercial vehicle, and completes the action of the commercial vehicle transfer robot to pick up the vehicle. After that, the commercial vehicle transfer robot uses autonomous navigation technology to transfer the commercial vehicle to the designated location; the control and communication module controls the clamping of the clamping module. The module descends at the same time, and controls the clamping claw to release the tire of the commercial vehicle, completing the release action of the commercial vehicle transfer robot.

Beneficial effects:

1. The invention discloses a multi-sensor target docking system for a commercial vehicle transfer robot, which integrates detection, identification, positioning, navigation, and control. It uses the commercial vehicle positioning and orientation module to remotely identify the commercial vehicle body and position and orient the commercial vehicle. Determine the final pick-up path; the internal docking module of the fuselage scans the tires of the commercial vehicle at close range, obtains the distance between the inside of the robot cavity and both sides of the commercial vehicle, and passes it to the robot control and communication module to convert it into a correction control quantity to realize the correction of the robot's motion; After docking, the robot control and communication module controls the clamping module to clamp the commercial vehicle tires. This method enables the commercial vehicle transfer robot to actively search for the commercial vehicle and complete autonomous pickup and autonomous transportation, thereby improving the transfer efficiency of the commercial vehicle transfer robot.

3. The invention discloses a multi-sensor target docking system for a commercial vehicle transfer robot. The commercial vehicle positioning and orientation module used includes a 32-line laser radar, a visible light camera, an infrared camera and a three-dimensional servo turntable. The three-dimensional servo turntable includes two vertically installed The motor can realize three-dimensional directional movement. By installing the 32-line lidar, visible light camera, and infrared camera on the three-dimensional servo turntable, multi-range environmental detection is achieved, and the multi-line lidar, visible light information, and infrared camera multi-sensor information are simultaneously integrated. The position and orientation information of the commercial vehicle is obtained, and the collected information is rich, achieving high-precision positioning of the commercial vehicle by the commercial vehicle transfer robot without data communication.

4. The invention discloses a multi-sensor target docking system for a commercial vehicle transfer robot. The internal deviation correction module used in the fuselage is installed inside the cavity of the frame of the commercial vehicle transfer robot. When the commercial vehicle appears inside the cavity of the commercial vehicle transfer robot, The correction module inside the fuselage detects the commercial vehicle tires at close range. During the docking process of the commercial vehicle transfer robot, the distance between the two sides of the cavity of the commercial vehicle transfer robot and the two sides of the commercial vehicle tires is obtained to achieve the correction of the docking movement of the commercial vehicle transfer robot; through Detect whether the single-line lidar at the front of the internal correction module is aligned with the front wheels of the commercial vehicle to achieve precise parking control of the commercial vehicle transfer robot; by detecting whether the single-line lidar at the rear of the internal correction module is aligned with the rear wheels of the commercial vehicle, it is possible to accurately control the parking of the commercial vehicle. The wheelbase adjustment of the transfer robot's clamping module is precisely controlled.

5. The invention discloses a multi-sensor target docking system for a commercial vehicle transfer robot. The clamping module used includes a lifting mechanism, a wheelbase adjustment mechanism and a clamping claw swing mechanism, which can realize lifting actions, wheelbase adjustment actions, and clamping claw swinging. The movement and lifting work realize the lifting and lowering of the commercial vehicle. The wheelbase adjustment action realizes the commodity vehicle transfer robot to transport commercial vehicles of different sizes. The swing action of the clamping claw realizes the clamping and loosening of the tires of the commercial vehicle. Then the car picking and placing operations are completed stably. An infrared sensor is installed on one side of the clamping claw. The robot control and communication module detects whether the infrared sensor is triggered, and detects whether the clamping claw of the clamping module tightens the commercial vehicle tires, ensuring that the commercial vehicle shipping robot The safety of picking up the car.

6. The invention discloses a multi-sensor target docking system for a commercial vehicle transfer robot. The surrounding obstacle detection module used is composed of four multi-line laser radars installed around the commercial vehicle transfer robot. It can detect all surrounding obstacles without blind spots. information and obtain the distance between the commercial vehicle transfer robot and the obstacle.

Description of the drawings

Figure 1 shows the commercial vehicle transfer robot and its structure of the present invention;

Figure 2 is a side view of the commercial vehicle transfer robot of the present invention;

Figure 3 is a front view of the commercial vehicle transfer robot of the present invention;

Figure 4 is a top view of the commercial vehicle transfer robot of the present invention;

Figure 5 is a structural diagram of the commercial vehicle positioning and orientation module of the present invention;

Figure 6 shows the installation positions of the surrounding obstacle detection module, the fuselage internal deviation correction module, and the commercial vehicle positioning and orientation module of the present invention;

Figure 7 shows the information flow transmission process of the commercial vehicle autonomous transfer robot of the present invention.

Among them, 1-commercial vehicle transfer robot frame, 2-commercial vehicle positioning and orientation module, 3-body internal deviation correction module, 4-surrounding obstacle detection module, 5-clamping module, 6-control and communication module, 7- Integrated navigation module, 8-32-line laser radar, 9-infrared camera, 10-visible light camera, 11-millimeter wave radar, 12-servo motor, 13-three-dimensional servo turntable base.

Detailed ways

The present invention will be described in detail below with reference to the drawings and embodiments. At the same time, the technical problems and beneficial effects solved by the technical solution of the present invention are also described. It should be pointed out that the described embodiments are only intended to facilitate the understanding of the present invention and do not have any limiting effect on others.

The multi-sensor target docking system of a commercial vehicle transfer robot disclosed in this embodiment is installed on a commercial vehicle transfer robot, which enables the commercial vehicle transfer robot to accurately dock and transport commercial vehicles, realize low-carbonization and intelligence of the automobile terminal, and improve Improve the working efficiency of the car terminal. There is a cavity in the middle of the commercial vehicle transfer robot, which is used to carry the commercial vehicle. The commercial vehicle transfer robot is 6m long, 3m wide, 2.8m high and weighs 5.9t. As shown in Figure 1, the structural composition of the commercial vehicle transfer robot, Figure 2, the structural composition of the side view of the commercial vehicle transfer robot, Figure 3, the structural composition of the front view of the commercial vehicle transfer robot, and Figure 4, the structural composition of the top view of the commercial vehicle transfer robot, the commercial vehicle The multi-sensor target docking system of the transfer robot consists of the commercial vehicle transfer robot frame 1, the commercial vehicle positioning and orientation module 2, the internal deviation correction module 3 of the fuselage, the surrounding obstacle detection module 4, the clamping module 5, the control and communication module 6, and the integrated navigation Module 7 consists of seven parts.

The commercial vehicle transfer robot frame 1 is made of steel bars with a cavity in the middle for carrying commercial vehicles. The frame is 6m long, 3m wide and 2.8m high. The interior of the cavity is 6m long, 2.2m wide and 2.2m high. 2.5m, when the commercial vehicle transfer robot is docked with the commercial vehicle, the commercial vehicle will gradually exist inside the cavity of the commercial vehicle transfer robot frame 1, the commercial vehicle positioning and orientation module 2, the internal deviation correction module 3 of the fuselage, and the surrounding obstacle detection module 4 , clamping module 5, control and communication module 6, and integrated navigation module 7 are all installed on the frame 1 of the commercial vehicle transfer robot.

The commercial vehicle positioning and orientation module 2 is shown in Figure 5. The module is 317.5mm high, 270mm long, and 165mm wide. It consists of a 32-line laser radar 8, an infrared camera 9, a visible light camera 10, and two servo motors 12, It consists of a three-dimensional servo turntable base 13, and the commercial vehicle positioning and orientation module 2 is installed on the top front position of the commercial vehicle transfer robot frame 1. The three-dimensional servo turntable is composed of two servo motors 12 to realize multi-angle free movement of the three-dimensional servo turntable. Among them, the 32-line lidar 8 is installed at the middle position of the top of the three-dimensional servo turntable base 13, and the infrared camera 9 and the visible light camera 10 are installed on both sides of the 32-line lidar 8. In order to enable the commercial vehicle transfer robot to scan the distance ahead in a wide range, To improve scanning efficiency, the motion pitch angle of the three-dimensional servo turntable is set to -60 degrees to 0 degrees, and the azimuth angle is set to -120 degrees to 120 degrees, achieving all-round detection of the front position of the commercial vehicle transfer robot.

The installation position of the correction module 3 inside the fuselage is shown in Figure 6. This module consists of four single-line laser radars installed in the middle of the clamping jaws of the clamping module 5 inside the fuselage of the commercial vehicle transfer robot for scanning commodities. Car tires, positioning and orienting commercial car tires. Each single-line lidar faces downward. The front single-line lidar can only move up and down along with the clamping module 5 on the front of the robot, which is used to position and orient the front wheels of commercial vehicles. During the docking process, when the commercial vehicle is inside the cavity of the commercial vehicle transfer robot, the single-line laser radar scans the tires of the commercial vehicle, and the control and communication module 6 detects the distance between both sides of the robot cavity and the tires of the commercial vehicle, and converts it into a correction control quantity. , control the robot to correct the deviation; when the front single-line lidar recognizes the center position of the front tire of the commercial vehicle, the robot control and communication module 6 controls the commercial vehicle transfer robot to stop moving; the rear single-line lidar can follow the installation of the rear part of the robot. The clamping module 5 moves up and down, and can also move forward and backward with the clamping module 5 at the rear of the robot. It is used to position and orient the rear wheels of the commercial vehicle. The single-line laser radar at the rear of the rectification module 3 inside the fuselage detects whether it is in line with the rear wheel of the commercial vehicle. The wheels are aligned to determine whether the clamping module 5 needs to adjust the wheelbase, so that the clamping module 5 can stably clamp commercial vehicle tires.

The surrounding obstacle detection module 4 is shown in Figure 6 and mainly consists of a millimeter wave radar 11 installed on a three-dimensional servo turntable base 13 in front of the top of the robot and four 16-line laser radars installed around the robot body. , the distance between the 16-line lidar at the front and rear is 6m, and the distance between the 16-line lidar at the left and right sides is 3m. The millimeter-wave radar 11 detects obstacle information in the long-distance direction in front of the robot from the top position of the robot. Four corners around the robot body The 16-line laser radar detects obstacle information around the robot without dead zones, and transmits the obstacle information to the control box of the control and communication module 6 to control the robot to stop moving or plan a local path to avoid obstacles.

The clamping module 5 is installed at four positions including the left front, right front, left rear, and right rear inside the cavity of the commercial vehicle transfer robot, and includes a lifting mechanism, a wheelbase adjustment mechanism, and a clamping jaw swing mechanism. The lifting mechanism is composed of a servo motor, a worm gear reducer, a rolling screw, and a guide rail module to realize the lifting action. The servo motor power is 3KW, the rated output speed is 1500rpm, the rated output torque is 19.7Nm, and the worm gearbox speed ratio is 28 , the ball screw lead is 10mm; the wheelbase adjustment mechanism is composed of a servo motor, a planetary reducer, a ball screw, and a guide rail slider to realize the wheelbase adjustment action. The servo motor power is 1KW, the rated output speed is 1500rpm, and the reducer The speed ratio is 5, the ball screw lead is 20mm; the clamping jaw swing mechanism is composed of a servo motor, a planetary reducer, a forward and reverse rotating trapezoidal screw, and a slider rocker mechanism to realize the swinging action of the clamping jaw. An infrared sensor is installed on one side of the clamping jaw. Sensor, by detecting whether the infrared sensor is triggered, it can detect whether the clamping jaw is clamping the commercial vehicle tire.

The control and communication module 6 is installed inside the commercial vehicle transfer robot frame 1 and is mainly composed of a robot control box, a 5G router, and a switch. The robot control box accepts the commercial vehicle transfer robot's commercial vehicle positioning and orientation module, the internal deviation correction module of the fuselage, The sensors of the surrounding obstacle detection module and clamping module sense information and obtain the control strategy; the 5G router implements communication with the cloud dispatch system and the terminal operating system.

The integrated navigation module 7 mainly includes a GPS positioning system and an attitude sensor. The position antenna of the GPS positioning system is installed at the top middle position of the commercial vehicle transfer robot frame 1, and the direction antenna is installed at the top of the commercial vehicle transfer robot frame 1. At the front position, the attitude sensor is installed in the robot control box to realize the positioning and orientation of the robot.

As shown in Figure 7, the 32-line lidar 8, infrared camera 9, and visible light camera 10 in the commercial vehicle positioning and orientation module 2 communicate with the control box in the control and communication module 6 through UDP. The two servo motors 12 of the three-dimensional servo turntable are controlled by ROS and communicate with the control box in the control and communication module 6 through CAN communication; the four single-line laser radars of the correction module 3 inside the fuselage are controlled by ROS and communicate with the control box through UDP. The control box in the control and communication module 6 communicates; the four 16-line lidar and millimeter wave sensors 11 in the surrounding obstacle detection module 4 communicate with the control box in the control and communication module 6 through UDP; the integrated navigation module 7 The GPS positioning system and attitude sensor are controlled by ROS and communicate with the control box of the control and communication module 6 through serial communication.

The commercial vehicle transfer robot uses autonomous navigation technology to reach the position in front of the commercial vehicle through the control and communication module 6. The surrounding obstacle detection module 4 detects obstacle information in the surrounding environment of the robot at all times. The robot uses the commercial vehicle positioning and orientation module 2 to scan the commercial vehicle body from a long distance. , and transfers the point cloud data of the car body to the robot control and communication module 6 to realize the long-distance positioning and orientation of the commercial vehicle by the robot. The robot control and communication module 6 dynamically plans the docking path, and uses the trajectory tracking algorithm to control the movement of the commercial vehicle transfer robot. When the commercial vehicle is in the internal cavity of the commercial vehicle transfer robot, the deviation correction module 3 inside the fuselage detects the commercial vehicle tires at close range, and transmits the tire point cloud information to the control and communication module 6 to realize the positioning and orientation of the commercial vehicle tires at close range. Correction control, control and communication module 6 controls the clamping module 5 of the commercial vehicle transfer robot to align the commercial vehicle tires, and then controls the clamping module 5 to hold and clamp the commercial vehicle tires, and lift the commercial vehicle to complete the pickup action of the commercial vehicle transfer robot. ; After that, the control and communication module 6 controls the commercial vehicle transfer robot to transfer the commercial vehicle to the designated location through autonomous navigation technology; the control and communication module 6 controls the clamping module 5 to descend at the same time, and the clamping claws put down the tires of the commercial vehicle to complete the transfer of the commercial vehicle. The robot releases the car.

To sum up, the above are only preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims (6)

1. The utility model provides a commodity car transports many sensors of robot target docking system which characterized in that: mainly comprises seven parts of a commodity vehicle transfer robot frame, a commodity vehicle positioning and orientation module, a machine body internal deviation rectifying module, a surrounding obstacle detecting module, a clamping module, a control and communication module and a combined navigation module,

the commodity car transfer robot frame is rectangular and comprises a cavity and is used for bearing a commodity car, the commodity car positioning and orientation module is arranged at the front position of the top of the commodity car transfer robot frame, the deviation correcting module in the machine body is arranged at the middle position of the clamping module clamping jaw in the commodity car transfer robot frame cavity, the surrounding barrier detection module is arranged at the surrounding position of the commodity car transfer robot frame, the clamping module is arranged at the left side and the right side in the commodity car transfer robot frame cavity, and the control and communication module and the combined navigation module are arranged in the commodity car transfer robot frame;

the commodity vehicle positioning and orientation module consists of a multi-line laser radar, a visible light camera, an infrared camera and a three-dimensional servo turntable; the multi-line laser radar, the visible light camera and the infrared camera are all arranged on the three-dimensional servo turntable, wherein the multi-line laser radar is arranged in the middle position of the top of the three-dimensional servo turntable, the visible light camera and the infrared camera are arranged on two sides of the multi-line laser radar, and when the three-dimensional servo turntable moves, the multi-line laser radar, the infrared camera and the visible light camera move along with the movement of the three-dimensional servo turntable, so that the environment perception in a large range is realized, and the depth information detected by the multi-line laser radar is combined with the visual information detected by the infrared camera and the visible light camera, so that the positioning and the orientation of a target commodity car are realized;

the machine body internal correction module consists of four single-line laser radars arranged at the middle positions of clamping jaws of the four clamping modules of the commodity car transfer robot, the single-line laser radars are arranged downwards, when the clamping modules move, the single-line laser radars move along with the movement of the clamping modules, only the internal environment information of a cavity of the commodity car transfer robot detected by the single-line laser radars is reserved, so that the single-line laser radars scan the commodity car tires, when the commodity car transfer robot is in butt joint with a target commodity car, correction control quantity is obtained by obtaining the difference between the two sides of the internal part of the commodity car transfer robot and the two sides of the target commodity car, so that correction is carried out on the commodity car transfer robot, meanwhile, after the movement of the commodity car transfer robot stops, the robot control and communication module controls the movement of the clamping modules, and the four single-line laser radars of the machine body internal correction module detect whether the centers of the clamping jaws of the four clamping modules are aligned with the four wheels of the commodity car in sequence, so that the clamping modules can stably hold the commodity car wheels;

the four multi-line laser radars around the commodity vehicle transfer robot detect the surrounding dead angle-free environment obstacle information of the commodity vehicle transfer robot, the obstacle information is transmitted to the control and communication module, and the control and communication module controls the commodity vehicle transfer robot to stop moving or detouring according to an obstacle avoidance strategy, so that obstacles are avoided;

the clamping module is arranged at the left front, right front, left rear and right rear of the inside of the frame cavity of the commodity car transfer robot, and comprises a lifting mechanism, a wheelbase adjusting mechanism and a clamping jaw swinging mechanism, wherein the lifting mechanism consists of a servo motor, a worm gear reducer, a roll-on screw rod and a guide rail module, so that lifting action is realized; the wheelbase adjusting mechanism consists of a servo motor, a planetary reducer, a ball screw and a guide rail slide block, so that the wheelbase adjusting action is realized; the clamping jaw swinging mechanism consists of a servo motor, a planetary reducer, a positive and negative spiral trapezoidal screw rod and a sliding block rocker mechanism, so that the clamping jaw swinging action is realized, an infrared sensor is arranged on one side of the clamping jaw, and whether the clamping jaw of the clamping module clamps the tire of the commodity vehicle can be detected by detecting whether the infrared sensor is triggered or not;

the control and communication module is arranged inside the commodity car transferring robot and comprises a robot control box, a gateway and an exchanger, and is used for receiving sensing information obtained by sensors in a commodity car positioning and orientation module, a body internal deviation correcting module and a surrounding obstacle detecting module of the commodity car transferring robot, providing a control strategy according to an internal algorithm and logic, controlling the movement of the commodity car transferring robot, and simultaneously realizing communication with a commodity car transferring robot remote server, and comprises a cloud dispatching system and an automobile wharf operating system;

the combined navigation module comprises a GPS positioning system and a gesture sensor, wherein a positioning antenna of the GPS positioning system is arranged at the central position of the top of the commodity car transfer robot, a directional antenna is arranged at the position, close to the front, of the top of the commodity car transfer robot, and the gesture sensor is arranged on a three-dimensional servo turntable of the commodity car positioning and directional module, so that the positioning, the orientation and the autonomous navigation of the commodity car transfer robot are realized.

2. A merchandise cart transfer robot multi-sensor target docking system of claim 1, wherein: the commodity car positioning and orientation module is used for scanning a target commodity car body and carrying out positioning and orientation on the target commodity car, wherein the three-dimensional servo turntable can realize movement in the pitching direction and the azimuth direction, so that the detection range of a sensor arranged on the three-dimensional servo turntable is enlarged, when the commodity car positioning and orientation module scans the commodity car, the three-dimensional servo turntable faces to the front of a robot in the initial stage, the three-dimensional servo turntable is at a zero position at the moment, then the three-dimensional servo turntable performs downward head swinging action until the three-dimensional servo turntable rotates downwards by 60 degrees, in the movement process of the three-dimensional servo turntable, the multi-line laser radar, the visible light camera and the infrared camera arranged on the three-dimensional servo turntable detect front commodity information at any time, and multi-frame point clouds of the multi-line laser radar are fused, so that multi-angle commodity car body point clouds data are acquired.

3. A merchandise cart transfer robot multi-sensor target docking system of claim 1, wherein: when the commodity car transporting robot is in butt joint with a target commodity car, the internal deviation rectifying module of the machine body is used for scanning commodity car tires, obtaining distances between two sides of the internal part of the commodity car transporting robot and two sides of the target commodity car respectively, transmitting the distances to the robot control and communication system, converting the distances into deviation rectifying control quantities by the robot control and communication system, and accordingly realizing deviation rectifying of the commodity car transporting robot.

4. A merchandise cart transfer robot multi-sensor target docking system of claim 1, wherein: the surrounding obstacle detection module is used for detecting obstacle information of surrounding environment, transmitting the obstacle information of the surrounding environment to the control and communication module, obtaining the distance between the obstacle and the center position of the commodity car transfer robot, and controlling the robot to stop moving or avoid the obstacle through the obstacle avoidance strategy.

5. A merchandise cart transfer robot multi-sensor target docking system of claim 1, wherein: the clamping module consists of a lifting mechanism, a wheelbase adjusting mechanism and a clamping jaw swinging mechanism, wherein the lifting mechanism consists of a servo motor, a worm gear reducer, a roll-on screw rod and a guide rail module, so that lifting work is realized; the wheelbase adjusting mechanism consists of a servo motor, a planetary reducer, a ball screw and a guide rail slide block, so that the wheelbase adjusting action is realized; the clamping jaw swinging mechanism consists of a servo motor, a planetary reducer, a positive and negative spiral trapezoidal screw, a sliding block rocker mechanism and clamping jaws, so that clamping jaw swinging motion is realized, an infrared sensor is arranged on one side of the clamping jaw swinging mechanism, whether clamping jaws of a commodity car transfer robot clamping module clamp commodity car tires or not can be detected by detecting whether the infrared sensor is triggered, and the commodity car transfer robot is stably lifted and put down in a mode of clamping the commodity car tires through the clamping module.

6. A merchandise cart transfer robot multi-sensor target docking system of claim 1, wherein: the servo motor of the three-dimensional servo turntable in the commodity car positioning and orientation module is controlled by the ROS operating system, and is communicated with the control box in the communication module through CAN communication mode and control; the 32-line laser radar, the visible light camera and the infrared camera in the commodity car positioning and orientation module are controlled by the ROS operating system and are communicated with the control box in the communication module in a UDP communication mode; the robot periphery multi-line laser radar group in the periphery obstacle detection module and the millimeter wave radar arranged on the servo turntable are controlled by the ROS operation system and are communicated with the control box in the communication module in a UDP communication mode; the single-line laser Lei Daqun of the deviation correcting module in the machine body is controlled by the ROS operating system and is communicated with a control box in the communication module in a UDP communication mode; the GPS and IMU of the integrated navigation module are controlled by the ROS operating system and are communicated with a control box in the communication module in a serial port communication mode.