CN217172470U - Docking accuracy detection system, carrier, and docking body - Google Patents
Docking accuracy detection system, carrier, and docking body Download PDFInfo
- Publication number
- CN217172470U CN217172470U CN202220969020.XU CN202220969020U CN217172470U CN 217172470 U CN217172470 U CN 217172470U CN 202220969020 U CN202220969020 U CN 202220969020U CN 217172470 U CN217172470 U CN 217172470U
- Authority
- CN
- China
- Prior art keywords
- longitudinal
- carrier
- transverse
- docking
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present disclosure relates to a docking accuracy detection system, carrier, and docking body, the detection system including: the carrier is provided with two longitudinal identification parts which are arranged at intervals; the docking body comprises two longitudinal detectors and a docking area for docking with the carrier, the docking area is provided with a longitudinal standard line and a transverse standard line which are perpendicular to each other, and the two longitudinal detectors are respectively arranged on two sides of the longitudinal standard line; when the carrier moves to the docking area, the two longitudinal markers face the two longitudinal detectors respectively, and the longitudinal detectors are used for detecting the length value of the front end or the rear end of the corresponding longitudinal marker from the junction of the corresponding longitudinal marker and the transverse standard line, so that the offset angle of the carrier relative to the longitudinal standard line and the longitudinal offset distance of the carrier relative to the transverse standard line are obtained through the two length values detected by the two longitudinal detectors. The method and the device can solve the problems of complex structure, complex processing and low reliability of the measurement result of the detection system.
Description
Technical Field
The disclosure relates to the technical field of unmanned distribution, in particular to a docking precision detection system, a carrier and a docking body.
Background
In an unmanned distribution scene, in the process of delivering goods, if the delivery of the goods is required to be smoothly completed when the carrier for delivering the goods is delivered to the next delivery link, the accuracy of the docking between the carrier and the goods receiving platform or the next carrier in the next delivery link is particularly important. In the related art, a detection system for detecting the docking accuracy of the carrier is complex in structure, complex in processing and low in reliability of measurement results.
SUMMERY OF THE UTILITY MODEL
The present disclosure provides a docking accuracy detection system, a carrier, and a docking body, so as to solve the problems of complex structure, complex processing, and low reliability of measurement results of the detection system in the related art.
In order to achieve the above object, the present disclosure provides a docking accuracy detection system, including: the carrier is provided with two longitudinal identification parts which are arranged at intervals, and each longitudinal identification part is provided with a front end and a rear end which are opposite; the docking body comprises two longitudinal detectors and a docking area for docking with the carrier, the docking area is provided with a vertical standard line and a horizontal standard line which are perpendicular to each other, and the two longitudinal detectors are respectively arranged on two sides of the vertical standard line; when the carrier moves to the docking area, the two longitudinal markers face the two longitudinal detectors respectively, and the longitudinal detectors are used for detecting the length value of the front end or the rear end of the corresponding longitudinal marker from the junction of the corresponding longitudinal marker and the transverse standard line, so that the offset angle of the carrier relative to the longitudinal standard line and the longitudinal offset distance of the carrier relative to the transverse standard line can be obtained through the two length values detected by the two longitudinal detectors.
Optionally, the detection system further comprises: the transverse identification part is arranged on the carrier and positioned between the two longitudinal identification parts; and the transverse detector is arranged on the docking body and positioned at one side of the transverse standard line, and is used for detecting a length value between the middle position of the transverse marker and the boundary of the transverse marker and the longitudinal standard line when the carrier moves to the docking area, so that the transverse offset distance of the carrier relative to the longitudinal standard line is obtained through the length value detected by the transverse detector and the offset angle.
Another aspect of the present disclosure provides a carrier, on which two longitudinal markers are disposed at intervals, each of the two longitudinal markers having a front end and a rear end opposite to each other, and when the carrier moves to a docking area having a vertical standard line and a horizontal standard line, the two longitudinal markers face two longitudinal detectors, respectively, so as to detect a length value between the front end or the rear end of each longitudinal marker and a boundary between the longitudinal marker and the horizontal standard line through the two longitudinal detectors, and to obtain an offset angle of the carrier with respect to the vertical standard line and a longitudinal offset distance of the carrier with respect to the horizontal standard line through the two length values detected by the two longitudinal detectors.
Optionally, a transverse marker is disposed on the carrier and located between the two longitudinal markers, and the transverse marker is configured to identify, by a transverse detector, a length value between a middle position of the transverse marker and a boundary between the transverse marker and the longitudinal standard line when the carrier moves to the docking area, so as to obtain a transverse offset distance of the carrier with respect to the longitudinal standard line through the length value detected by the transverse detector and the offset angle.
Optionally, two of the longitudinal signs are arranged in parallel and spaced apart, and the transverse signs are arranged perpendicular to the two longitudinal signs.
Optionally, the carrier has two opposite side wall surfaces, and an upper top surface and a lower bottom surface between the two side wall surfaces, and the two longitudinal markers are respectively disposed on the two side wall surfaces, or both the two longitudinal markers are disposed on the top surface or the bottom surface.
Optionally, the carrier has front and rear opposite walls, and top and bottom surfaces above and below between the front and rear walls, and the transverse indicator is provided on any one of the front, rear, top or bottom surfaces.
Optionally, the two longitudinal identification portions and the two transverse identification portions are arranged in a U shape, the two longitudinal identification portions are respectively disposed on two opposite side wall surfaces of the carrier, and the transverse identification portion is disposed on a rear wall surface or a front wall surface of the carrier.
Optionally, the longitudinal identification portion and/or the transverse identification portion includes a plurality of first identification portions and a plurality of second identification portions alternately arranged in sequence along the respective length directions.
Optionally, the longitudinal identification portion and/or the transverse identification portion are configured as a plate body, and the first identification portion or the second identification portion is configured as an opening formed in the plate body.
Optionally, one of the first identification portion and the second identification portion is configured as a reflective member and the other is configured as a non-reflective member.
Optionally, the first identification portion and the second identification portion have a dimension in the length direction of no more than 1 mm.
Optionally, the vehicle is a robot, AGV cart, unmanned vehicle, unmanned aerial vehicle, or vehicle for loading cargo.
A further aspect of the present disclosure provides a docking body comprising two longitudinal probes and a docking area for docking with a vehicle, the docking area having perpendicular longitudinal and transverse standard lines, the two longitudinal probes being disposed on either side of the longitudinal standard line; when the carrier moves to the docking area, the two longitudinal detectors face the two longitudinal markers of the carrier respectively, and the longitudinal detectors are used for detecting the length value between the front end or the rear end of the corresponding longitudinal marker and the junction of the corresponding longitudinal marker and the transverse standard line, so that the offset angle of the carrier relative to the longitudinal standard line and the longitudinal offset distance of the carrier relative to the transverse standard line can be obtained through the two length values detected by the two longitudinal detectors.
Optionally, the docking body includes a transverse detector located on one side of the transverse standard line, and the transverse detector is configured to detect a length value between a middle position of the transverse marker of the vehicle and a boundary of the transverse marker and the longitudinal standard line when the vehicle moves to the docking area, so as to obtain a transverse offset distance of the vehicle relative to the longitudinal standard line through the detected length value of the transverse detector and the offset angle.
Optionally, both of the longitudinal detectors are located on the transverse standard line, and/or the transverse detector is located on the longitudinal standard line.
Optionally, the longitudinal detector and/or the transverse detector is a camera, a photodetector, or an infrared sensor.
Optionally, the docking body is a cargo receiving platform, an intelligent container, an AGV cart, a robot, an unmanned vehicle, or an unmanned aerial vehicle.
According to the technical scheme, namely the docking precision detection system provided by the disclosure, the two longitudinal identification parts are arranged on the carrier, and when the carrier moves to the docking area, the two longitudinal detectors are used for respectively detecting the distance between the two longitudinal identification parts exceeding or not exceeding the transverse standard line, namely, the length value between the distance between the front end or the rear end of the longitudinal identification part and the junction of the longitudinal identification part and the transverse standard line, and the offset angle of the carrier relative to the longitudinal standard line and the longitudinal offset distance of the carrier relative to the transverse standard line can be obtained by converting the two length values through a simple formula. Therefore, the docking precision detection system provided by the disclosure has the advantages of simple structure, less required parts and low manufacturing cost, and can obtain an accurate offset angle through directly measured data and simply converting, so that the problems of complex structure, complex processing and low reliability of a measurement result of the detection system in the related art can be solved.
Additional features and advantages of the present disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
fig. 1 is a schematic block diagram of a configuration of a docking accuracy detection system provided in an exemplary embodiment of the present disclosure;
FIG. 2 is a schematic, diagrammatic illustration of a vehicle docking station provided in exemplary embodiments of the present disclosure;
fig. 3 is a schematic sketch of a vehicle provided in an exemplary embodiment of the present disclosure when the vehicle is only angularly offset;
fig. 4 is a schematic, diagrammatic view of a vehicle provided in an exemplary embodiment of the present disclosure, offset only longitudinally;
fig. 5 is a schematic, diagrammatic view of a vehicle provided in an exemplary embodiment of the present disclosure with two longitudinal lanes of indicia non-parallel;
FIG. 6 is a diagrammatic illustration of the vehicle at an angular offset and at a lateral offset provided in exemplary embodiments of the disclosure;
FIG. 7 is another diagrammatic illustration of the vehicle at an angular offset and at a lateral offset provided in an exemplary embodiment of the disclosure;
FIG. 8 is a schematic block diagram illustration of the structure of another embodiment of a vehicle provided in exemplary embodiments of the disclosure;
fig. 9 is a schematic structural diagram of a logo portion of a carrier provided in an exemplary embodiment of the present disclosure.
Description of the reference numerals
100-a docking area; 110-longitudinal gauge line; 120-transverse gauge line; 200-longitudinal probe; 210-a first detector; 220-a second detector; 300-a carrier; 3001-a first identification portion; 3002-a second identification portion; 310-longitudinal marking; 311-a first longitudinal marking; 312-a second longitudinal marking; 320-lateral identification; 400-a transverse detector; 500-imaginary rectangle; 510-first reference line.
Detailed Description
The following detailed description of the embodiments of the disclosure refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
In the present disclosure, for convenience of description, a three-coordinate system, that is, an XYZ coordinate system is defined for the docking accuracy detection system, where the Z direction is a vertical direction, and a side indicated by an arrow is an upper side, and vice versa is a lower side; the Y direction is longitudinal, and one side indicated by an arrow is front, otherwise, the Y direction is back; the X direction is the transverse direction, and the side indicated by the arrow is the left side, otherwise, the right side. Where nothing contrary is intended, use of the directional phrases such as "inner and outer" is intended to refer to the inner and outer relative to the contours of the component or structure itself. In addition, it should be noted that terms such as "first", "second", and the like are used for distinguishing one element from another, and have no order or importance. In addition, in the description with reference to the drawings, the same reference numerals in different drawings denote the same elements.
According to a first aspect of the present disclosure, there is provided a docking accuracy detection system, as shown with reference to fig. 1 to 9, including a carrier 300 and a docking body. The carrier 300 is provided with two longitudinal signs 310 arranged at intervals, each of the two longitudinal signs 310 having opposite front and rear ends; the docking body includes two longitudinal probes 200 and a docking area 100 for docking with the carrier 300, the docking area 100 having vertical longitudinal standard lines 110 and horizontal standard lines 120, the two longitudinal probes 200 being disposed at both sides of the longitudinal standard lines 110, respectively.
When the carrier 300 moves to the docking area 100, the two longitudinal markers 310 face the two longitudinal probes 200, respectively, and the longitudinal probes 200 are configured to detect a length value between a front end or a rear end of the corresponding longitudinal marker 310 and a boundary of the corresponding longitudinal marker 310 and the transverse standard line 120, so as to obtain an offset angle of the carrier 300 with respect to the longitudinal standard line 110 and a longitudinal offset distance of the carrier 300 with respect to the transverse standard line 120 through the two length values detected by the two longitudinal probes 200.
Through the above technical solution, two longitudinal markers 310 are disposed on the carrier 300, and when the carrier 300 moves to the docking area 100, the two longitudinal detectors 200 respectively detect the distance that the two longitudinal markers 310 exceed or do not exceed the transverse standard line 120, that is, the length between the front end or the rear end of the longitudinal marker 310 and the boundary between the longitudinal marker 310 and the transverse standard line 120, and the two length values are converted by only a simple formula, so as to obtain the offset angle of the carrier 300 with respect to the longitudinal standard line 110 and the longitudinal offset distance of the carrier 300 with respect to the transverse standard line 120. Therefore, the docking precision detection system provided by the disclosure has the advantages of simple structure, less required parts and low manufacturing cost, and can obtain an accurate offset angle through directly measured data and simply converting, so that the problems of complex structure, complex processing and low reliability of a measurement result of the detection system in the related art can be solved.
The present disclosure exemplarily describes a calculation process for obtaining the above offset angle and longitudinal offset distance through two length values detected by two longitudinal detectors 200, which is as follows:
the two longitudinal sensors 200 include a first sensor 210 and a second sensor 220, and the two longitudinal markers 310 include a first longitudinal marker 311 and a second longitudinal marker 312, and when the carrier 300 moves to the docking area 100, the first longitudinal marker 311 corresponds to the first sensor 210, and the second longitudinal marker 312 corresponds to the second sensor 220.
The two longitudinal markers 310 have both a parallel arrangement and a non-parallel arrangement, as follows:
when two longitudinal markers 310 are arranged in parallel, as shown in fig. 2 and 3, the two longitudinal markers 310 may be illustrated as two opposite sides of an imaginary rectangle 500, and a first reference line 510 of the imaginary rectangle 500 passing through the center thereof is parallel to the two sides, so that an included angle θ between the first reference line 510 of the rectangle and the longitudinal standard line 110 may be used as an offset angle of the carrier 300 with respect to the longitudinal standard line 110.
Assuming that the lengths of the two longitudinal markers 310 are both M, the distance between the two longitudinal markers 310 is W, the first length between the rear end of the first longitudinal marker 311 detected by the first detector 210 and the boundary between the first longitudinal marker 311 and the transverse standard line 120 is La, and the second length between the rear end of the second longitudinal marker 312 detected by the second detector 220 and the boundary between the second longitudinal marker 312 and the transverse standard line is Lb, the offset angle θ can be obtained by using a first formula:
wherein, from the above formula, when La > Lb, or θ > 0, the carrier 300 is deflected rightward with respect to the longitudinal standard line 110; at La < Lb, or θ < 0, the carrier 300 is deflected leftward with respect to the longitudinal standard line 110.
In addition, as shown in fig. 4, the distance Δ Y between the center position of the imaginary rectangle 500 and the lateral standard line 120 may be used to represent the longitudinal offset distance between the carrier 300 with respect to the lateral standard line 120. The longitudinal offset distance Δ Y can be obtained by the formula two:
it should be noted here that the central position of the imaginary rectangle 500 may be the central position of the vehicle 300, such as the geometric center or the center of gravity of the vehicle 300, or may be a position set by an operator as a reference, and the disclosure is not limited thereto.
When the two longitudinal markers 310 are not arranged in parallel, as shown in fig. 5, it may still be assumed that one imaginary rectangle 500 is as above, that is, two projections of the two longitudinal markers 310 on the same reference plane may be illustrated as two opposite sides of the imaginary rectangle 500, the reference plane is parallel to the longitudinal standard line 110 and the transverse standard line 120, therefore, the lengths of the two longitudinal markers 310 may be converted into the lengths of the two sides, and it may also be understood that points on the longitudinal markers 310 may be converted into points on the corresponding sides of the imaginary rectangle 500. For example, onThe first length La and the second length Lb detected by the two longitudinal detectors 200 may be projected onto two opposite sides of the imaginary rectangle, for example, the first longitudinal mark 311 forms an angle θ with the corresponding side of the imaginary rectangle 1 The angle between the second vertical mark 312 and the side of the corresponding imaginary rectangle is θ 2 From this, it can be seen that the first projection length L1 of the first length La on the corresponding side edge:
L1＝La*cosθ 1
second projection length L2 of the second length Lb on the side corresponding thereto:
L2＝Lb*cosθ 2
it can be seen that, at this time, the offset angle θ can be obtained from the formula three:
at this time, the longitudinal offset distance Δ Y can be obtained by the formula four:
wherein, here, it is to be noted that θ 1 And theta 2 The values of (b) may be preset or known when two longitudinal markers 310 are provided on the carrier 300.
Docking accuracy may be represented by the above-described offset angle θ and longitudinal offset distance Δ Y, and in some embodiments, by the lateral offset distance Δ C of the carrier 300 relative to the longitudinal reference line 110.
For example, in some embodiments, the detection system further comprises: a transverse marking 320 arranged on the carrier 300 and between the two longitudinal markings 310; and a transverse detector 400 disposed on the docking body at one side of the transverse standard line 120, for detecting a length value between a middle position of the transverse marker 320 and a boundary of the transverse marker 320 and the longitudinal standard line 110 when the carrier 300 moves to the docking area 100, so as to obtain a transverse offset distance of the carrier 300 with respect to the longitudinal standard line 110 through the length value and the offset angle detected by the transverse detector 400.
In this way, the accuracy of docking between the carrier 300 and the docking body is comprehensively expressed by the offset angle θ, the longitudinal offset distance Δ Y, and the lateral offset distance Δ C, and docking between the carrier 300 and the docking body can be more accurately realized.
The present disclosure exemplarily describes a calculation process of obtaining the lateral offset distance Δ C by the length value detected by the lateral detector 400, specifically as follows:
referring to fig. 2 to 7, the lateral markers 320 may form three sides of the imaginary rectangle 500 together with the two longitudinal markers 310 or two projections of the two longitudinal markers 310, or the projections of the lateral markers 320 on the reference plane may form three sides of the imaginary rectangle 500 together with the two longitudinal markers 310 or two projections of the two longitudinal markers 310.
For example, when the transverse markings 320 form three sides of the imaginary rectangle 500 together with the two longitudinal markings 310 or with two projections of the two longitudinal markings 310, as shown with reference to fig. 3, when the carrier 300 is only angularly offset with respect to the docking area, the length value C1 between the middle position of the transverse marking 320 detected by the transverse detector 400 and the boundary between the transverse marking 320 and the longitudinal standard line 110 is:
from this, when the vehicle is deflected to the right, C1 is a positive number; when the vehicle is deflected to the left, C1 is negative.
Referring to fig. 6, the lateral offset distance Δ C of the carrier 300 with respect to the longitudinal standard line 110 can be obtained from the formula five:
ΔC＝(C1-C2)*cosθ
where C2 is an actual measurement value of the length between the middle position of the lateral direction indicator 320 detected by the lateral direction detector 400 and the boundary between the lateral direction indicator 320 and the vertical direction standard line 110. When the boundary between the lateral indicator 320 and the vertical standard line 110 is located on the right side of the center position of the lateral indicator 320 (as shown in fig. 6), C2 is a positive number; c2 is a negative number when the boundary between the lateral marker 320 and the longitudinal standard line 110 is located to the left of the center position of the lateral marker 320 (as shown in fig. 7).
Referring to fig. 5, when the projection of the transverse marker 320 forms three sides of the imaginary rectangle 500 together with the two longitudinal markers 310 or the two projections of the two longitudinal markers 310, the transverse marker 320 forms an angle θ with the corresponding side of the imaginary rectangle, referring to fig. 4 3 The third projection length C0 of the measured value C2 on the side is:
C0＝C2*cosθ 3
it can be seen that, in this case, the lateral offset distance Δ C can be obtained from the formula six:
ΔC＝(C1-C2cosθ 3 )*cosθ
in summary, through the above calculation process exemplarily described in the present disclosure, values or approximate values of the offset angle θ, the longitudinal offset distance Δ Y, and the lateral offset distance Δ C can be obtained, and thus it can be known that the present disclosure can solve the problems of complex structure, complex processing, and low reliability of measurement results of the detection system in the related art.
Wherein, the carrier 300 may be, for example, a robot, an AGV cart, an unmanned vehicle, or a carrier for loading goods, and the docking body may be, for example, a cargo receiving platform, an intelligent container, an AGV cart, a robot, an unmanned vehicle, or an unmanned vehicle.
For example, in a full-link unmanned delivery scenario, the process of transporting an article from a warehouse to a designated location in china mainly includes the following 4 links:
1. the transport of a carrier loaded with goods, which may be for example a carrier such as a container or cutlery box, to a robot, which may be for example a handling robot, by for example a robot arm grab or an AGV cart, in which process the carrier may be for example a carrier or an AGV cart;
2. from the warehouse, transported by the robot to an unmanned vehicle/drone outdoors, in which process the vehicle may be, for example, a robot, and the docking body may be, for example, an unmanned vehicle/drone;
3. the unmanned vehicle/unmanned aerial vehicle is delivered to a designated place to be handed over to the intelligent container/goods receiving platform/robot, in the process, the carrier can be the unmanned vehicle/unmanned aerial vehicle, for example, and the butt joint body can be the intelligent container/goods receiving platform/robot, for example;
4. and then transported by the robot to the intelligent container/station on the floor where the client is located, in which process the vehicle can be e.g. a robot and the docking entity can be e.g. an intelligent container, wherein the robot can be e.g. a delivery robot.
In the docking accuracy detection system provided in the first aspect of the present disclosure, the carrier may be configured in any suitable manner, for example, a carrier provided in accordance with the second aspect of the present disclosure may be employed, which will be described below.
According to a second aspect of the present disclosure, referring to fig. 1, 8 and 9, two longitudinal markers 310 are disposed on the carrier 300 at intervals, each of the two longitudinal markers 310 has opposite front and rear ends, when the carrier 300 moves to the docking area 100 with the vertical longitudinal standard line 110 and the horizontal standard line 120, the two longitudinal markers 310 face the two longitudinal probes 200, respectively, so as to detect a length value between the front end or the rear end of each longitudinal marker 310 and an intersection of the longitudinal marker 310 and the horizontal standard line 120 through the two longitudinal probes 200, and obtain an offset angle of the carrier 300 relative to the longitudinal standard line 110 and a longitudinal offset distance of the carrier 300 relative to the horizontal standard line 120 through the two length values detected by the two longitudinal probes 200.
Through the technical scheme, when the carrier 300 moves to the docking area 100, the length value of the front end or the rear end of each longitudinal mark 310 from the junction of the longitudinal mark 310 and the transverse standard line 120 is detected through the two longitudinal detectors 200, and the offset angle and the longitudinal offset distance of the carrier 300 are obtained, so that the docking precision when the carrier 300 moves to the docking area 100 can be detected, the structure is simple, the manufacturing cost is low, the measuring mode is simple and direct, and the measuring result is accurate and reliable.
In some embodiments, referring to fig. 1, 8 and 9, a transverse marker 320 is disposed on the carrier 300 between the two longitudinal markers 310, and the transverse marker 320 is configured to identify, by the transverse detector 400, a length value between a middle position of the transverse marker 320 and a boundary between the transverse marker 320 and the longitudinal standard line 110 when the carrier 300 moves to the docking area 100, so as to obtain a transverse offset distance of the carrier 300 relative to the longitudinal standard line 110 according to the length value and the offset angle detected by the transverse detector 400. In this way, by adding the lateral direction marking unit 320, the lateral direction offset distance when the carrier 300 moves to the docking area 100 can be further detected, and the docking accuracy of the carrier can be further accurately detected.
In some embodiments, as shown with reference to fig. 1, two longitudinal markers 310 may be arranged in parallel and spaced apart, and the transverse marker 320 is arranged perpendicular to the two longitudinal markers 310. Therefore, the calculation process of the docking precision can be further simplified, and the processing mode is optimized. On this basis, for example, the offset angle θ can be obtained through the first formula, the longitudinal offset distance Δ Y can be obtained through the second formula, and the lateral offset distance Δ C can be obtained through the fifth formula, which is not described herein again.
In some embodiments, as shown with reference to fig. 1, the carrier can have an upper top surface and a lower bottom surface, and a circumferential wall surface between the top surface and the bottom surface, the circumferential wall surface including two opposing side wall surfaces and opposing front and rear wall surfaces.
Referring to fig. 1, two longitudinal direction indicators 310 may be respectively disposed on both side wall surfaces. Alternatively, it is also possible that both longitudinal markings 310 are provided on the top or bottom surface. Fig. 8 exemplarily shows an embodiment in which two longitudinal signs 310 are both provided on the bottom surface of the vehicle 300, to which the present disclosure is not limited.
Further, the lateral indicator 320 may be provided on any one of the front wall surface, the rear wall surface, the top surface, or the bottom surface. Fig. 1 exemplarily shows an embodiment in which the lateral indicator 320 is disposed on the rear wall surface, and fig. 8 exemplarily shows an embodiment in which the lateral indicator 320 is disposed on the bottom surface, to which the present disclosure is not limited.
On this basis, the relative positions of the horizontal direction markers 320 and the two vertical direction markers 310 may be arranged in any suitable manner according to the actual application requirements or scenes, for example, the two vertical direction markers 310 and the horizontal direction markers 320 may be arranged in a U shape, the two vertical direction markers 310 are respectively disposed on two opposite side wall surfaces of the carrier 300, and the horizontal direction markers 320 are disposed on the rear wall surface or the front wall surface of the carrier 300. The arrangement mode is beneficial to the matching of the identification part and the corresponding detector, and the measurement precision of the offset angle theta, the longitudinal offset distance delta Y and the transverse offset distance delta C is improved.
The longitudinal identification portion 310 and/or the transverse identification portion 320 may be configured in any suitable manner according to the actual application requirements or scenarios, for example, as shown in fig. 9, the longitudinal identification portion 310 and/or the transverse identification portion 320 includes a plurality of first identification portions 3001 and a plurality of second identification portions 3002 alternately arranged in sequence along the respective length directions. With the first recognized part 3001 and the second recognized part 3002 alternately arranged, it is only necessary to detect the change or the number of the first recognized part 3001 and the second recognized part 3002 by the corresponding detectors, for example, referring to fig. 1, when it is detected that the rear end of the first longitudinal mark 311 is a first length La from the boundary between the first longitudinal mark 311 and the transverse standard line 120, it is only necessary to recognize the number or the change rule of the first recognized part 3001 and the second recognized part 3002 between the rear end or the front end of the first longitudinal mark 311 and the boundary between the first longitudinal mark 311 and the transverse standard line 120 by the first detector 210. It should be noted here that the dimensions of the first identification portion 3001 and the second identification portion 3002 along the length direction of the corresponding mark portion can be known or preset for installing the longitudinal mark portion 310 and/or the transverse mark portion 320.
The first identification portion 3001 and the second identification portion 3002 may be disposed according to practical requirements, for example, in some embodiments, the longitudinal identification portion 310 and/or the transverse identification portion 320 may be configured as a plate body, and the first identification portion 3001 or the second identification portion 3002 is configured as an opening opened on the plate body. For example, when the first recognition part 3001 is configured as an opening, the second recognition part 3002 may be regarded as a barrier between two adjacent openings, and the number of openings and barriers may be recognized by corresponding detectors, so that a desired length value may be obtained, and the measurement is simple and convenient.
In other embodiments, one of the first identification portion 3001 and the second identification portion 3002 may be configured as a reflective member, and the other may be configured as a non-reflective member. Thus, by detecting 010101 … … changes in the reflective and non-reflective elements or the number of reflective or non-reflective elements, the desired length value can be obtained. The reflectors may be, for example, reflective stripes or films, and the non-reflectors may be, for example, stripes made of light absorbing material.
In still other embodiments, the first identification part 3001 and the second identification part 3002 may also use stripes with different colors to obtain the required length value by the variation and/or number of the stripes with different colors.
The minimum measurable offset angle can be controlled by controlling the dimensions of the first 3001 and second 3002 identifiers along the length of the indicia. For example, referring to FIG. 9, where the first dimension S1 of the first portion 3001 along the length of the indicator and the second dimension S2 of the second portion 3002 along the length of the indicator are both dimension values S, then the minimum measurable offset angle is:
it can be seen that, at a constant distance W between the two longitudinal marks 310, the smaller the dimension value S, the smaller the minimum measurable offset angle.
Further, the smaller the sizes of the first and second sizes S1 and S2, the more accurate the length value detected by the probe.
Thus, in some embodiments, the sizes of the first recognition part 3001 and the second recognition part 3002 in the length direction may be not greater than 1mm to ensure a minimum measurable offset angle, so that whether the carrier is offset can be recognized more accurately, and the accuracy of the docking accuracy can be further improved.
The vehicle 300 may be, for example, a robot, an AGV cart, an unmanned vehicle, an unmanned aerial vehicle, or a vehicle for loading cargo. The robot may be, for example, a transfer robot or a distribution robot, and the carrier may be, for example, a container or a lunch box.
In the docking accuracy detection system provided in the first aspect of the present disclosure, the docking body may be configured in any suitable manner, and for example, a carrier provided according to the third aspect of the present disclosure may be employed, which will be described below.
According to a third aspect of the present disclosure, there is provided a docking body, as shown in fig. 1 and 8, including two longitudinal probes 200 and a docking area 100 for docking with a carrier 300, the docking area 100 having vertical longitudinal standard lines 110 and horizontal standard lines 120, the two longitudinal probes 200 being respectively disposed at both sides of the longitudinal standard lines 110.
When the carrier 300 moves to the docking area 100, the two longitudinal sensors 200 face the two longitudinal markers 310 of the carrier 300, and the longitudinal sensors 200 are configured to detect a length value between a front end or a rear end of the corresponding longitudinal marker 310 and a boundary between the corresponding longitudinal marker 310 and the transverse standard line 120, so as to obtain an offset angle of the carrier 300 with respect to the longitudinal standard line 110 and a longitudinal offset distance of the carrier 300 with respect to the transverse standard line 120 according to the two length values detected by the two longitudinal sensors 200.
Through the technical scheme, the length value of the front end or the rear end of each longitudinal identification part 310 from the junction between the longitudinal identification part 310 and the transverse standard line 120 is detected through the two longitudinal detectors 200, and the offset angle and the longitudinal offset distance of the carrier 300 are obtained, so that the docking precision of the carrier 300 moving to the docking area 100 can be detected, the structure is simple, the manufacturing cost is low, the measuring mode is simple and direct, and the measuring result is accurate and reliable.
In some embodiments, the docking body includes a lateral finder 400 located at one side of the lateral standard line 120, and the lateral finder 400 is configured to detect a length value between a middle position of the lateral marker 320 of the carrier 300 and a boundary between the lateral marker 320 and the longitudinal standard line 110 when the carrier 300 moves to the docking area 100, so as to obtain a lateral offset distance of the carrier 300 with respect to the longitudinal standard line 110 through the length value and the offset angle detected by the lateral finder 400. In this way, by adding the lateral detector 400, the lateral offset distance when the carrier 300 moves to the docking area 100 can be further detected, and the docking accuracy of the carrier can be further accurately detected.
In some embodiments, referring to fig. 1, both the longitudinal detectors 200 may be located on the transverse standard line 120, so that the two longitudinal detectors 200 can be directly aligned with the intersection between the transverse standard line and the corresponding longitudinal mark 310, which is beneficial for obtaining a more accurate length value, and in this way, the connecting line or the detection light between the two longitudinal detectors 200 may replace the transverse standard line, i.e., the transverse standard line may be an imaginary line.
In some embodiments, the transverse detector 400 may be located on the longitudinal standard line 110, so that the transverse detector 400 can be directly aligned with the boundary between the longitudinal standard line and the transverse marker 320, which is beneficial for obtaining a more accurate length value, and in this way, the detection light of the transverse detector 400 may replace the longitudinal standard line, i.e., the longitudinal standard line may be an imaginary line.
The longitudinal detector 200 and/or the transverse detector 400 may be configured according to practical application requirements, for example, the longitudinal detector 200 and/or the transverse detector 400 may be a camera, so as to capture an image through the camera and recognize the image, so as to calculate a corresponding length value, for example, when a boundary between a capture center of the camera and the transverse identification portion 320 and a longitudinal standard line coincides, the corresponding length value may be obtained by recognizing the number of the first recognition portion 3001 and the second recognition portion 3002 located on one side of the capture center or recognizing the number of the first recognition portion 3001 and the second recognition portion 3002 passing through the capture center, taking the transverse detector 400 as an example.
In addition, the longitudinal detector 200 and/or the transverse detector 400 may also be a photo detector or an infrared sensor, for example, taking the first detector 210 as an example, the detection light of the photo detector or the infrared sensor may feed back different signals when the detection light irradiates the first identification part 3001 and the second identification part 3002, so that the number of the first identification part 3001 and the second identification part 3002 through which the detection light passes is identified by the photo detector or the infrared sensor, and a corresponding length value may be obtained.
The docking body may be, for example, a cargo receiving platform, a smart container, an AGV cart, a robot, an unmanned vehicle, or an unmanned aerial vehicle. The robot may be, for example, a transfer robot or a distribution robot.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, various possible combinations will not be separately described in this disclosure.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (18)
1. A docking accuracy detection system, comprising:
the carrier is provided with two longitudinal identification parts which are arranged at intervals, and each longitudinal identification part is provided with a front end and a rear end which are opposite; and
the docking body comprises two longitudinal detectors and a docking area for docking with the carrier, the docking area is provided with a vertical standard line and a horizontal standard line which are perpendicular to each other, and the two longitudinal detectors are respectively arranged on two sides of the vertical standard line;
when the carrier moves to the docking area, the two longitudinal markers face the two longitudinal detectors respectively, and the longitudinal detectors are used for detecting the length value of the front end or the rear end of the corresponding longitudinal marker from the junction of the corresponding longitudinal marker and the transverse standard line, so that the offset angle of the carrier relative to the longitudinal standard line and the longitudinal offset distance of the carrier relative to the transverse standard line can be obtained through the two length values detected by the two longitudinal detectors.
2. The docking accuracy detection system of claim 1, further comprising:
the transverse identification part is arranged on the carrier and positioned between the two longitudinal identification parts; and
and the transverse detector is arranged on the docking body and positioned at one side of the transverse standard line, and is used for detecting a length value between the middle position of the transverse identification part and the boundary of the transverse identification part and the longitudinal standard line when the carrier moves to the docking area, so that the transverse offset distance of the carrier relative to the longitudinal standard line is obtained through the length value detected by the transverse detector and the offset angle.
3. A vehicle, wherein the vehicle is provided with two spaced apart longitudinal markers, each of the two longitudinal markers having opposite front and rear ends, and wherein when the vehicle moves to a docking area having perpendicular longitudinal and transverse lines, the two longitudinal markers face two longitudinal detectors, respectively, such that the two longitudinal detectors detect a length value between the front or rear end of each longitudinal marker and a boundary between the longitudinal marker and the transverse line, and the two length values detected by the two longitudinal detectors determine an offset angle of the vehicle with respect to the longitudinal line and a longitudinal offset distance of the vehicle with respect to the transverse line.
4. The vehicle of claim 3, wherein a lateral marker is disposed on the vehicle between the two longitudinal markers, and the lateral marker is configured to identify a length value between a middle position of the lateral marker and a boundary of the lateral marker and the longitudinal standard line by a lateral detector when the vehicle moves to the docking area, so as to obtain a lateral offset distance of the vehicle relative to the longitudinal standard line by the length value detected by the lateral detector and the offset angle.
5. The carrier of claim 4, wherein two of the longitudinal markings are arranged in parallel and spaced apart, and the transverse markings are arranged perpendicular to the two longitudinal markings.
6. The carrier as claimed in claim 4, wherein the carrier has two opposite side wall surfaces, and an upper top surface and a lower bottom surface between the two side wall surfaces, and wherein two of the longitudinal markings are provided on the two side wall surfaces, respectively, or wherein both of the longitudinal markings are provided on the top surface or the bottom surface.
7. The vehicle of claim 4, wherein the vehicle has opposing front and rear walls, and an upper top surface and a lower bottom surface between the front and rear walls, the lateral indicia being provided on any of the front, rear, top, or bottom surfaces.
8. The carrier as claimed in claim 4, wherein the two longitudinal markings and the two transverse markings are arranged in a U-shape and are provided on two opposite side walls of the carrier, respectively, and the transverse markings are provided on a rear wall or a front wall of the carrier.
9. The carrier of claim 4, wherein the longitudinal and/or transverse markings comprise a plurality of first and second markings arranged alternately in succession along the respective length direction.
10. The carrier of claim 9, wherein the longitudinal markings and/or the transverse markings are configured as plates, and the first identification portion or the second identification portion is configured as an opening provided in the plate.
11. The vehicle according to claim 9, wherein one of the first identification portion and the second identification portion is configured as a reflective member and the other is configured as a non-reflective member.
12. The carrier of claim 9, wherein the first and second identified portions have a dimension in the length direction of no greater than 1 mm.
13. The carrier of any one of claims 3-12, wherein the carrier is a robot, an AGV cart, an unmanned vehicle, an unmanned aerial vehicle, or a vehicle for loading goods.
14. A docking body comprising two longitudinal probes and a docking area for docking with a vehicle, said docking area having perpendicular longitudinal and transverse lines of alignment, said longitudinal probes being disposed on either side of said longitudinal line of alignment;
when the carrier moves to the docking area, the two longitudinal detectors face the two longitudinal markers of the carrier respectively, and the longitudinal detectors are used for detecting the length value between the front end or the rear end of the corresponding longitudinal marker and the junction of the corresponding longitudinal marker and the transverse standard line, so that the offset angle of the carrier relative to the longitudinal standard line and the longitudinal offset distance of the carrier relative to the transverse standard line can be obtained through the two length values detected by the two longitudinal detectors.
15. A docking body as claimed in claim 14, wherein the docking body comprises a lateral detector located at one side of the lateral reference line, the lateral detector being configured to detect a length value between a middle position of the lateral marker of the vehicle and a boundary between the lateral marker and the longitudinal reference line when the vehicle moves to the docking area, so as to derive the lateral offset distance of the vehicle with respect to the longitudinal reference line from the length value detected by the lateral detector and the offset angle.
16. A docking body according to claim 15, wherein both of said longitudinal probes are located on said transverse guideline and/or wherein said transverse probes are located on said longitudinal guideline.
17. A docking body according to claim 16, wherein the longitudinal detector and/or the transverse detector is a camera, a photodetector or an infrared sensor.
18. A docking body according to claim 14 wherein said docking body is a cargo receiving platform, a smart container, an AGV cart, a robot, an unmanned vehicle or an unmanned aerial vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220969020.XU CN217172470U (en) | 2022-04-21 | 2022-04-21 | Docking accuracy detection system, carrier, and docking body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220969020.XU CN217172470U (en) | 2022-04-21 | 2022-04-21 | Docking accuracy detection system, carrier, and docking body |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217172470U true CN217172470U (en) | 2022-08-12 |
Family
ID=82710552
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220969020.XU Active CN217172470U (en) | 2022-04-21 | 2022-04-21 | Docking accuracy detection system, carrier, and docking body |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217172470U (en) |
-
2022
- 2022-04-21 CN CN202220969020.XU patent/CN217172470U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP7234265B2 (en) | Transportation device positioning apparatus and method | |
| US8561897B2 (en) | Load tracking utilizing load identifying indicia and spatial discrimination | |
| US11667503B2 (en) | Vehicle-mounted device, cargo handling machine, control circuit, control method, and program thereof | |
| KR100447308B1 (en) | Method and device for detecting the position of a vehicle a given area | |
| US20170150129A1 (en) | Dimensioning Apparatus and Method | |
| US11119499B2 (en) | Marker system | |
| CN105480864B (en) | Automatic detecting and calibrating system and method for container crane | |
| US20200031645A1 (en) | Vehicle-mounted device, cargo handling machine, control circuit, control method, and program thereof | |
| US20120287280A1 (en) | Method and system for sensing the position of a vehicle | |
| JP7375800B2 (en) | Cargo handling equipment, on-vehicle equipment, methods, and programs | |
| JP2017151650A (en) | Object state specification method, object state specification apparatus, and conveyance vehicle | |
| CN111891927B (en) | First floor container placement method and computer readable storage medium | |
| CN108801653B (en) | Evaluation method of carrying trolley | |
| CN217172470U (en) | Docking accuracy detection system, carrier, and docking body | |
| CN111606205A (en) | Container crane comprising a reference mark | |
| CN103105128A (en) | 3D location sensing system and method | |
| CN205472298U (en) | Automatic calibration system that detects of container crane | |
| KR20110069205A (en) | Apparatus for estimating position and distance of container in container landing system and method thereof | |
| JP2023120169A (en) | Laboratory system | |
| CN105946897A (en) | Railway tunnel limit dynamic detecting system and method based on laser-scanning range finders | |
| KR101909469B1 (en) | System for automated measuring Weight and volume | |
| JP7312089B2 (en) | Measuring device | |
| CN210030534U (en) | Packing adhesive tape and packing box | |
| CN114087984B (en) | Hanging plate positioning method and hanging plate hanging method | |
| US20230139296A1 (en) | Initial setting method of unmanned forklift, palette for adjustment, and adjustment system of unmanned forklift |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |