CN117434949A - Multi-sensor target docking system of commodity car transfer robot - Google Patents
Multi-sensor target docking system of commodity car transfer robot Download PDFInfo
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Abstract
The invention discloses a multi-sensor target docking system of a commodity car transfer robot, and belongs to the technical field of robot motion driving and control. The invention mainly comprises a robot frame, a commodity vehicle positioning and orientation module, a machine body internal deviation correcting module, a surrounding obstacle detecting module and a clamping module. The robot frame is rectangular and internally provided with a cavity for bearing the commodity vehicle. The commodity car positioning and orientation module consists of a servo turntable arranged in front of the top of the robot, and a laser radar, a visible light camera and an infrared camera which are arranged on the servo turntable, so that the commodity car body positioning and orientation is realized. The deviation rectifying module in the machine body consists of laser radars arranged in the middle of clamping jaws of the four clamping modules, so that the tire positioning and orientation of the commodity vehicle are realized. The surrounding obstacle detection module consists of laser radars arranged around the robot; the clamping module consists of a lifting mechanism, a wheelbase adjusting mechanism and a clamping jaw swinging mechanism, and stably lifts up the commodity vehicle by clamping the tire.
Description
Technical Field
The invention relates to a multi-sensor target docking system in the technical field of robot docking, in particular to a multi-sensor target docking system of a commodity car transfer robot, and belongs to the technical field of robot motion driving and control.
Background
The intelligent green has become an important mark for promoting port development and transformation. In the whole car logistics chain, the automobile wharf is an important node in the whole car logistics chain and is important for port logistics. However, the traditional operation mode of the automobile wharf mainly relies on manpower, which causes inefficiency, resource waste, high carbon emission, blockage and frequent safety problems. The commodity car transfer robot is intelligent equipment applied to an automatic commodity car transfer, and can autonomously complete commodity car transportation and transfer tasks, so that labor cost is reduced, transportation efficiency, safety and operation accuracy are improved, carbon emission is reduced, environmental sustainability is promoted, obvious improvement is brought to a whole port logistics system, and no case of docking the commodity car by using a mobile robot exists at present.
Disclosure of Invention
Aiming at the problems that the commodity car transportation of an automobile wharf depends on a large amount of manpower, is poor in safety and has huge carbon emission, the main purpose of the invention is to provide the multi-sensor target docking system of the commodity car transportation robot, which is arranged on a commodity car transportation robot, so that the functions of positioning and orienting the target commodity car, docking and correcting, clamping and picking up the car, detecting obstacles and the like of the commodity car transportation robot are realized, the independent transportation of the commodity car by the commodity car transportation robot is realized, the problems of serious waste of human resources of the automobile wharf, low working efficiency, huge carbon emission and the like are solved, and the working efficiency of the automobile wharf is improved.
The invention aims at realizing the following technical scheme:
a multi-sensor target docking system of a commodity car transfer robot comprises seven parts of a commodity car transfer robot frame, a commodity car positioning and orientation module, a fuselage internal deviation correcting module, a surrounding obstacle detection module, a clamping module, a control and communication module and a combined navigation module.
The commodity car transfer robot frame is built by the reinforcing bar and forms, is the rectangle, contains the cavity for bear commodity car. The commodity car positioning and orientation module, the deviation rectifying module in the machine body, the surrounding obstacle detection module, the clamping module, the control and communication module and the combined navigation module are all installed on the frame of the commodity car transfer robot.
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 installed on the three-dimensional servo turntable, wherein the multi-line laser radar is installed at the middle position of the top of the three-dimensional servo turntable, the visible light camera and the infrared camera are installed 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 large-scale environmental perception of the commodity car transfer robot 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 orientation of the target commodity car body are realized.
The machine body internal deviation correcting module consists of four single-line laser radars arranged at the middle positions of clamping jaws of four clamping modules of the commodity car transfer robot and is used for scanning the tires of the commodity car. The single-line laser radar is installed downwards, and when the clamping module moves, the single-line laser radar can move along with the clamping module, and only the inner environment point cloud information of the cavity of the commodity vehicle transfer robot collected by the single-line laser radar is reserved through range filtering. When the commodity vehicle transfer robot is in butt joint with the target commodity vehicle, when the target commodity vehicle is positioned in a cavity of the commodity vehicle transfer robot, the single-line laser radar scans the commodity vehicle tires in a short distance, obtains the distances between the two sides of the interior of the commodity vehicle transfer robot and the two sides of the target commodity vehicle, transmits the distances to the robot control and communication module, converts the distances into deviation correction control quantity, and realizes deviation correction control on the commodity vehicle transfer robot; when the commodity car transfer robot is abutted against a target commodity car, the front two single-line laser radars of the internal deviation correcting module of the body detect whether the commodity car tires are aligned or not, so that the commodity car transfer robot is controlled to stop moving; after the commodity car transfer robot stops moving, the rear clamping module is in the wheelbase adjustment process, the single-line laser radar at the rear part of the deviation correcting module in the machine body detects whether the clamping jaw centers of the rear clamping module are aligned with the central positions of the rear tires of the commodity car respectively, so that the robot control and communication module is realized to control the clamping module to descend and clamp the commodity car in a holding mode, and when the single-line laser radar at the rear part detects that the rear clamping module centers are not aligned with the central positions of the tires of the commodity car, the robot control and communication module is used for controlling the clamping module at the rear part of the robot to move so as to be aligned with the centers of the tires of the commodity car, and then the robot control and communication module is used for controlling the clamping module to descend and clamp the tires of the commodity car in a holding mode.
The four-around obstacle detection module consists of millimeter wave radars installed on the three-dimensional servo turntable and four multi-line laser radars installed around the commodity car transfer robot, the millimeter wave radars move along with the movement of the three-dimensional servo turntable, the remote obstacle information in front of the commodity car transfer robot is detected, the four multi-line laser radars around the commodity car transfer robot detect the obstacle information of the environment without dead angles around the robot, the obstacle point cloud information is transmitted to the control and communication module, the control and communication module processes the obstacle point cloud, the distance between the obstacle and the central position of the robot is obtained, and the control and communication module controls the robot to stop moving or detour according to the obstacle avoidance strategy, so that the obstacle is avoided.
The clamping module is arranged at the left front, the right front, the left rear and the right rear of the cavity of the frame 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 clamping jaw swinging actions are realized, an infrared sensor is arranged on one side of each clamping jaw, and a control and communication module can detect whether the clamping jaw clamps a tire of a commodity car or not by detecting whether the infrared sensor is triggered or not.
The control and communication module is arranged inside the commodity car transfer robot and comprises a robot control box, a gateway and an exchanger, and is used for receiving sensor sensing information of the commodity car positioning and orientation module, the body internal deviation rectifying module, the surrounding obstacle detecting module and the clamping module of the commodity car transfer robot, providing a control strategy according to an internal algorithm and logic, controlling the commodity car transfer robot to move, simultaneously realizing communication with a commodity car transfer robot remote server, and comprising a cloud scheduling 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 middle position of the top of the commodity car transferring robot, a directional antenna is arranged at the position of the top of the commodity car transferring robot, which is close to the front, and the gesture sensor is arranged on a three-dimensional servo turntable of the commodity car positioning and directional module, so that the positioning and directional and autonomous navigation of the commodity car transferring robot are realized.
After the commodity vehicle autonomous transfer robot receives the commodity vehicle transfer task issued by the cloud scheduling system, the commodity vehicle positioning and orientation module is utilized to remotely position and orient the commodity vehicle, dynamically plan a docking path, and the control and communication module controls the movement of the commodity vehicle transfer robot; when the commodity vehicle is positioned in the cavity of the commodity vehicle transfer robot, positioning and orienting the commodity vehicle tyre by utilizing the single-line laser radar of the internal deviation correcting module of the machine body to realize close-range deviation correction, and controlling the commodity vehicle transfer robot to stop moving according to the detection information of the front single-line laser radar of the internal deviation correcting module of the machine body; the robot control and communication module controls the clamping module to adjust the wheelbase until the rear single-line laser radar of the deviation correcting module in the machine body is aligned with the rear tire of the commodity vehicle, and then controls the clamping module to clamp the commodity vehicle tire, so as to lift the commodity vehicle and finish the vehicle taking action of the commodity vehicle transferring robot; then, the commodity vehicle transferring robot transfers the commodity vehicle to a specified position by utilizing an autonomous navigation technology; the control and communication module controls the clamping module of the clamping module to descend simultaneously, and controls the clamping jaws to loosen the tires of the commodity trolley, so that the commodity trolley transfer robot discharging action is completed.
The beneficial effects are that:
1. the invention discloses a multi-sensor target docking system of a commodity vehicle transfer robot, which integrates detection, identification, positioning, navigation and control, remotely identifies a commodity vehicle body through a commodity vehicle positioning and orientation module, positions and orients the commodity vehicle and determines a final vehicle taking path; the inner docking module of the machine body scans the tires of the commodity vehicle in a short distance, obtains the distance between the inner part of the cavity of the robot and the two sides of the commodity vehicle, transmits the distance to the robot control and communication module, and converts the distance into deviation rectifying control quantity to realize the deviation rectifying of the movement of the robot; after the commodity car is in butt joint, the robot control and communication module controls the clamping module to clamp the commodity car tyre, and the commodity car transferring robot actively searches the commodity car and completes autonomous car taking and autonomous carrying, so that the transferring efficiency of the commodity car transferring robot is improved.
3. The invention discloses a multi-sensor target docking system of a commodity car transfer robot, which adopts a commodity car positioning and orientation module comprising a 32-line laser radar, a visible light camera, an infrared camera and a three-dimensional servo turntable, wherein the three-dimensional servo turntable comprises two motors which are vertically installed, so that three-dimensional direction movement can be realized, multi-range environment detection is realized by installing the 32-line laser radar, the visible light camera and the infrared camera on the three-dimensional servo turntable, and meanwhile, the multi-line laser radar, the visible light information and the infrared camera multi-sensor information are fused to obtain the pose information of the commodity car, the acquired information is rich, and the commodity car transfer robot is realized to realize high-precision positioning of the commodity car under no data communication.
4. According to the multi-sensor target docking system of the commodity car transfer robot, the adopted internal deviation rectifying module of the machine body is arranged in the frame cavity of the commodity car transfer robot, when the commodity car appears in the cavity of the commodity car transfer robot, the internal deviation rectifying module of the machine body detects the commodity car tyre in a short distance, and in the docking process of the commodity car transfer robot, the docking motion deviation rectifying of the commodity car transfer robot is realized by acquiring the distances between the two sides of the cavity of the commodity car transfer robot and the two sides of the commodity tyre; whether the single-line laser radar at the front part of the internal deviation correcting module is aligned with the front wheel of the commodity car or not is detected, so that the parking precision control of the commodity car transfer robot is realized; whether the single-line laser radar at the rear part of the internal deviation correcting module is aligned with the rear wheels of the commodity car or not is detected, so that the accurate control of the wheelbase adjustment of the clamping module of the commodity car transfer robot is realized.
5. The invention discloses a multi-sensor target docking system of a commodity car transferring robot, which adopts a clamping module comprising a lifting mechanism, a wheel base adjusting mechanism and a clamping jaw swinging mechanism, wherein lifting action, wheel base adjusting action and clamping jaw swinging action can be realized, lifting and lowering of commodity cars are realized by lifting operation, wheel base adjusting action is realized, commodity car transferring robots can carry commodity cars with different sizes, clamping jaw swinging action is realized, clamping and loosening of commodity car tires by clamping jaws is realized, and further, car taking and car placing operations are stably completed, an infrared sensor is arranged on one side of each clamping jaw, whether the infrared sensor is triggered or not is detected by a robot control and communication module, whether the clamping jaw of the clamping module is used for clamping the commodity car tires is detected, and car taking safety of the commodity car loading and transporting robot is ensured.
6. The invention discloses a multi-sensor target docking system of a commodity car transfer robot, which adopts a surrounding obstacle detection module which consists of four multi-line laser radars arranged around the commodity car transfer robot, can detect surrounding obstacle information without dead angles, and can acquire the distance between the commodity car transfer robot and an obstacle.
Drawings
FIG. 1 is a commodity car transfer robot and its construction according to the present invention;
FIG. 2 is a side view of the merchandise cart transfer robot of the present invention;
FIG. 3 is a front view of the merchandise cart transfer robot of the present invention;
FIG. 4 is a top view of the merchandise cart transfer robot of the present invention;
FIG. 5 is a block diagram of a merchandise cart positioning orientation module of the present invention;
FIG. 6 shows the mounting positions of the surrounding obstacle detection module, the internal deviation correction module of the machine body and the positioning and orientation module of the commodity car;
fig. 7 is an information flow transmission process of the commodity car autonomous transfer robot of the present invention.
The device comprises a 1-commodity vehicle transfer robot frame, a 2-commodity vehicle positioning and orientation module, a 3-body internal deviation correcting module, a 4-surrounding obstacle detection module, a 5-clamping module, a 6-control and communication module, a 7-combined navigation module, an 8-32 line laser radar, a 9-infrared camera, a 10-visible light camera, an 11-millimeter wave radar, a 12-servo motor and a 13-three-dimensional servo turntable base.
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 on the other.
The embodiment discloses a commodity car transfer robot multisensor target docking system installs on a commodity car transfer robot, has realized that commodity car transfer robot is accurate to dock and transport commodity car, realizes low carbonization, the intellectuality of car pier, has improved car pier's work efficiency. The middle of the commodity car transferring robot is a cavity for bearing a commodity car, and the commodity car transferring robot is 6m long, 3m wide, 2.8m high and 5.9t heavy. As shown in the mechanism composition of the commodity car transporting robot in fig. 1, the mechanism composition of the side view of the commodity car transporting robot in fig. 2, the structure composition of the front view of the commodity car transporting robot in fig. 3, and the mechanism composition of the top view of the commodity car transporting robot in fig. 4, the multi-sensor target docking system of the commodity car transporting robot consists of seven parts including a commodity car transporting robot frame 1, a commodity car positioning and orientation module 2, a body internal deviation rectifying module 3, a surrounding obstacle detecting module 4, a clamping module 5, a control and communication module 6 and a combined navigation module 7.
The commodity car transfer robot frame 1 is built by the reinforcing bar and forms, the centre has set up the cavity for bear commodity car, the frame length 6m, wide 3m, high 2.8m, the inside length 6m of cavity, wide 2.2m, high 2.5m, commodity car transfer robot can exist gradually in commodity car transfer robot frame 1 cavity inside when being docked with commodity car, commodity car location orientation module 2, the inside deviation correcting module 3 of fuselage, obstacle detection module 4 all around, clamping module 5, control and communication module 6, integrated navigation module 7 all install on commodity car transfer robot frame 1.
The commodity car positioning and orientation module 2 is shown in fig. 5, has the height of 317.5mm, the length of 270mm and the width of 165mm, and consists of a 32-line laser radar 8, an infrared camera 9, a visible light camera 10, two servo motors 12 and a three-dimensional servo turntable base 13, and the commodity car positioning and orientation module 2 is arranged at the front position of the top of the commodity car transfer robot frame 1. The three-dimensional servo turntable is composed of two servo motors 12, so that the multi-angle free movement of the three-dimensional servo turntable is realized. The 32-line laser radar 8 is arranged at the middle position of the top of the three-dimensional servo turntable base 13, the infrared camera 9 and the visible light camera 10 are arranged on two sides of the 32-line laser radar 8, so that the commodity car transfer robot can scan a front distance in a large range, the scanning efficiency is improved, the movement pitching angle of the three-dimensional servo turntable is set to be-60 degrees to 0 degree, the azimuth angle is set to be-120 degrees to 120 degrees, and the omnibearing detection of the front position of the commodity car transfer robot is realized.
The installation position of the deviation rectifying module 3 in the machine body is shown in fig. 6, and the module is composed of four single-line laser radars which are installed in the middle position of clamping claws of the clamping module 5 in the machine body of the commodity car transfer robot and used for scanning commodity car tires and positioning and orienting the commodity car tires. Each single-wire laser radar faces downwards, wherein the front single-wire laser radar can only move up and down along with the clamping module 5 at the front of the robot, and is used for positioning and orienting the front wheels of the commodity vehicle. In the butt joint process, when the commodity vehicle is positioned in the commodity vehicle transferring robot cavity, the single-line laser radar scans the commodity vehicle tyre, the control and communication module 6 detects the distance between the two sides in the robot cavity and the commodity vehicle tyre, and converts the distance into a deviation correction control quantity to control the robot to correct the deviation; when the front single-line laser radar identifies the central position of the front tire of the commodity vehicle, the robot control and communication module 6 controls the commodity vehicle transfer robot to stop moving; the rear single-wire laser radar can move up and down along with the clamping module 5 at the rear part of the robot and can move back and forth along with the clamping module 5 at the rear part of the robot, is used for positioning and orienting the rear wheels of the commodity vehicle, and the single-wire laser radar at the rear part of the deviation correcting module 3 in the machine body is used for detecting whether the single-wire laser radar is aligned with the rear wheels of the commodity vehicle or not, so that whether the clamping module 5 needs to adjust the wheelbase or not is judged, and the purpose that the clamping module 5 can stably clamp the tires of the commodity vehicle is achieved.
The surrounding obstacle detection module 4 is shown in fig. 6, and mainly comprises a millimeter wave radar 11 installed on a three-dimensional servo turntable base 13 at the front position of the top of the robot and four 16-line laser radars installed at the surrounding positions of the robot body, wherein the distance between the front and rear 16-line laser radars is 6m, the distance between the 16-line laser radars at the left side and the right side is 3m, the millimeter wave radar 11 detects obstacle information in the front long-distance direction of the robot from the top position of the robot, the four 16-line laser radars around the robot body do not have dead zones, detect the obstacle information around the robot, and transmit the obstacle information into a control box of the control and communication module 6, and control the robot to stop moving or plan a local path to avoid the obstacle.
The clamping module 5 is arranged at the left front, the right front, the left rear and the right rear of the cavity of the commodity car transfer robot and comprises a lifting mechanism, a wheelbase adjusting mechanism and a clamping jaw swinging mechanism. The lifting mechanism consists of a servo motor, a worm gear reducer, a roll-on screw rod and a guide rail module, and realizes lifting action, wherein the power of the servo motor is 3KW, the rated output rotating speed is 1500rpm, the rated output torque is 19.7Nm, the speed ratio of the worm gear reducer is 28, and the lead of the ball screw is 10mm; the wheel base adjusting mechanism consists of a servo motor, a planetary reducer, a ball screw and a guide rail slide block, and realizes the wheel base adjusting action, wherein the power of the servo motor is 1KW, the rated output rotating speed is 1500rpm, the speed reducer has a speed ratio of 5, and the lead of the ball screw is 20mm; 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 motion is realized, an infrared sensor is arranged on one side of the clamping jaw, and whether the clamping jaw clamps a commodity car tire can be detected by detecting whether the infrared sensor is triggered or not.
The control and communication module 6 is arranged in the commodity car transferring robot frame 1 and mainly comprises a robot control box, a 5G router and an exchanger, wherein the robot control box receives sensor sensing information of a commodity car positioning and orientation module, a body internal deviation correcting module, a surrounding obstacle detecting module and a clamping module of the commodity car transferring robot to acquire a control strategy; the 5G router is communicated with a cloud scheduling system and a wharf operating system.
The integrated navigation module 7 mainly comprises a GPS positioning system and an attitude sensor, a position antenna of the GPS positioning system is arranged at the middle position of the top of the commodity car transfer robot frame 1, a direction antenna is arranged at the front position of the top of the commodity car transfer robot frame 1, and the attitude sensor is arranged in a robot control box to realize the positioning and orientation of the robot.
As shown in fig. 7, the 32-line laser radar 8, the infrared camera 9 and the visible light camera 10 in the commodity car positioning and orientation module 2 are communicated with the control box in the control and communication module 6 in a UDP mode, and the two servo motors 12 of the three-dimensional servo turntable in the commodity car positioning and orientation module 2 are controlled by ROS and are communicated with the control box in the control and communication module 6 in a CAN communication mode; four single-line laser radars of the internal deviation rectifying module 3 of the machine body are controlled by ROS and are communicated with a control box in the control and communication module 6 in a UDP mode; 4 16-line laser radars and millimeter wave sensors 11 in the surrounding obstacle detection module 4 are communicated with a control box in the control and communication module 6 in a UDP mode; the GPS positioning system and the attitude sensor in the integrated navigation module 7 are controlled by ROS and communicate with the control box of the control and communication module 6 by serial communication.
The commodity car transferring robot reaches the front position of the commodity car by using an autonomous navigation technology through a control and communication module 6, a surrounding obstacle detection module 4 detects obstacle information of surrounding environment of the robot at all times, the robot remotely scans the commodity car body by using a commodity car positioning and orientation module 2 and transmits point cloud data of the car body to the robot control and communication module 6, the remote positioning and orientation of the robot to the commodity car is realized, the robot control and communication module 6 dynamically plans a docking path, a track tracking algorithm is used for controlling the movement of the commodity car transferring robot, when the commodity car is in an inner cavity of the commodity car transferring robot, a body internal deviation correction module 3 closely detects the commodity car tire, and transmits the tire point cloud information to the control and communication module 6, the positioning orientation and the close deviation correction control to the commodity car tire are realized, a clamping module 5 of the commodity car transferring robot is controlled by the control and communication module 6 to be aligned with the commodity car tire, and then the clamping module 5 is controlled to clamp the commodity car tire, and the commodity car is lifted, and the commodity car transferring robot is finished to take the commodity car; then, the control and communication module 6 controls the commodity car transferring robot to transfer the commodity car to a specified position through an autonomous navigation technology; the control and communication module 6 controls the clamping module 5 to descend simultaneously, the clamping jaws put down the tires of the commodity trolley, and the commodity trolley transfer robot discharging action is completed.
In summary, the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should 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.
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| CN202311431503.XA CN117434949A (en) | 2023-10-31 | 2023-10-31 | Multi-sensor target docking system of commodity car transfer robot |
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