CN111061260B - Automatic container automatic transfer control method based on automatic driving coarse alignment and two-dimensional image fine alignment - Google Patents
Automatic container automatic transfer control method based on automatic driving coarse alignment and two-dimensional image fine alignment Download PDFInfo
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Abstract
The invention discloses a container automatic transfer control method based on automatic driving coarse alignment and two-dimensional image fine alignment, which comprises the steps of firstly acquiring position information of a container when the container enters alignment operation, and completing coarse alignment by walking to a container area in an automatic driving mode; then, the image recognition alignment mode is adopted to carry out fine alignment until the butt joint between the unmanned equipment and the container is completed. The invention has the advantages of simple principle, wide application range, accurate butt joint and the like.
Description
Technical Field
The invention mainly relates to the field of logistics, express delivery and storage, in particular to a container automatic transfer control method based on automatic driving coarse alignment and two-dimensional image fine alignment, which is suitable for unmanned equipment.
Background
With the rapid development of logistics and express delivery, new changes are brought to the life style of human beings. As human dependency on logistics and express becomes more and more severe, more demands are put on the efficiency and cost of the logistics and express industries. At present, the proportion of logistics cost to the total national production value is higher than the level of developed countries. If the cost of distribution of the logistics is to be reduced, the number of people and vehicles in the whole logistics link is to be reduced, and the number of vehicles is not reduced in a proper way for a while, the number of people can be considered to be reduced. Most desirably, the whole logistics process is replaced by a machine, particularly an unmanned intelligent device.
In the logistics and express industry, in order to improve the distribution efficiency, a plurality of levels of warehouses are generally arranged, and logistics packages are transferred among the warehouses until the logistics packages are in the hands of users. The interaction between the transfer vehicle and the warehouse is manually completed by a person, and the logistics packages are moved from the warehouse to the transfer vehicle or unloaded from the transfer vehicle to the warehouse by using manpower.
In the interaction process between the transfer vehicle and the warehouse, a lot of manpower participates, so that the logistics cost is high, and particularly, the large error rate and certain damage rate exist in the manual link, and the 'controllable' and 'considerable' of goods in the whole logistics link cannot be ensured, so that the real-time management and monitoring of the whole process in the real sense are realized. In order to improve logistics efficiency and reduce cost, many logistics companies have begun to try to automatically sort by using mechanical arms in warehouses, thereby reducing manpower and simultaneously reducing logistics cost.
In addition, some logistics companies attempt to realize diversion and terminal distribution by using a distribution robot, which can reduce the number of personnel for terminal logistics distribution; there are also logistics companies attempting to transport between warehouses using unmanned vehicles, thereby reducing the need for drivers during the transportation process. To sum up, in order to reduce the quantity of people in the logistics process, the logistics cost is reduced, unmanned transformation is performed on a plurality of processes and links of logistics in the prior art, but the process of loading and unloading goods carried by unmanned vehicles on a warehouse is still completed by manpower.
However, in the whole logistics link, no better solution exists in the aspects of butt joint among devices, especially between unmanned intelligent devices, cargo transportation and the like, and the real whole-flow unmanned management cannot be realized.
In the process of transporting the container, the docking of the unmanned equipment and the container needs to be completed, and the traditional mode generally only depends on the walking capacity of the unmanned equipment to match with the position information of the container to align in the whole process, but the aligning mode only depends on the position information of the unmanned equipment and the position information of the unmanned equipment, and in many occasions, errors are generated between the position reached by walking and the actual aligning requirement, namely the aligning precision is often insufficient, so that the reliable transportation of the container cannot be ensured.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems existing in the prior art, the invention provides the automatic container transfer control method based on automatic driving coarse alignment and two-dimensional image fine alignment, which has the advantages of simple principle, wide application range and capability of realizing accurate butt joint.
In order to solve the technical problems, the invention adopts the following technical scheme:
when the alignment operation is carried out, the position information of the container is acquired first, and the container is walked to a container area by an automatic driving mode to finish the rough alignment; then, the image recognition alignment mode is adopted to carry out fine alignment until the butt joint between the unmanned equipment and the container is completed.
As a further improvement of the invention: the flow is as follows:
step S1: entering an alignment area to acquire container target parameters;
step S2: setting tolerable error parameters of coarse alignment and fine alignment;
step S3: coarse alignment is performed by using an automatic driving system;
step S4: after moving in place, if the error is within the tolerable error range of the coarse alignment, turning to the next step; otherwise, repeating the previous step;
step S5: performing fine alignment by using an image fine alignment system;
step S6: after moving in place, if the error is within the tolerance error range of the fine alignment, turning to the next step, otherwise, repeating the previous step;
step S7: the container automatically moves to the platform to be docked.
As a further improvement of the invention: the container target parameters refer to the coordinates and attitude of the container when it is ready for alignment.
As a further improvement of the invention: the automatic driving system is utilized to perform rough alignment, namely the positioning system of the automatic driving system is utilized to determine the position of the unmanned vehicle-mounted container, surrounding obstacle information is acquired through the environment sensing system, then a route is planned through the planning decision making system, a path instruction is sent to the control system, and finally the container is transported to a target address.
As a further improvement of the invention: the image fine alignment system adopts a monocular camera to detect a target or a multi-eye camera to detect the target, and obtains pose information.
As a further improvement of the invention: and arranging a pattern with a known shape at a known position of the object to be docked, identifying the pattern with the known shape by using the image acquisition device, and determining coordinates in a reference coordinate system by using characteristic points on the pattern to serve as aligned reference coordinates.
As a further improvement of the invention: the cargo box is fixedly connected with the car body by utilizing a six-degree-of-freedom platform, and the upper plane of the six-degree-of-freedom platform is fixedly connected with a cargo box guide rail; the container is connected with the guide rail through the moving wheel; the container and the container guide rail are not connected with the vehicle body; the motion of the six-degree-of-freedom platform is finally transmitted to the container through the container guide rail, and when the container does not actively move, the six-degree-of-freedom platform is fixedly connected with the container, and the posture of the six-degree-of-freedom platform is consistent with that of the container.
As a further improvement of the invention: the spherical hinge is matched with a plurality of electric cylinders to form an attitude stabilizing mechanism, a container is connected with a container guide rail, the container guide rail is fixedly connected with a platform, and the platform is connected with a vehicle body through the spherical hinge and the electric cylinders of the spherical hinge; the driver of the electric cylinder is connected with a vehicle controller, and a container posture measuring device is arranged on the platform.
Compared with the prior art, the invention has the advantages that: the automatic container transfer control method based on automatic driving coarse alignment and two-dimensional image fine alignment has the advantages of simple principle and wide application range, and can greatly improve the fault tolerance of unmanned equipment and the alignment precision by adopting a two-stage alignment mode, thereby ensuring the stability and reliability in the butt joint process and the container transfer process, and finally realizing the real whole-flow unmanned management in the whole logistics link.
Drawings
FIG. 1 is a schematic flow chart of the method of the present invention.
Fig. 2 is a schematic illustration of a container employing a six degree of freedom adjustment function in a specific application example of the present invention.
Fig. 3 is a schematic diagram of a container target location coordinate system in a specific application example of the present invention.
Fig. 4 is a schematic diagram of the relationship between the container coordinate system and the camera coordinate system in a specific application example of the present invention.
Fig. 5 is a schematic illustration of an unmanned vehicle entering an alignment area in a specific application example of the present invention.
Fig. 6 is a schematic diagram of the rough alignment of the drone with the platform in a specific application example of the present invention.
Fig. 7 is a schematic illustration of the alignment of the drone in a specific application example of the present invention.
Fig. 8 is a schematic illustration of the automatic transfer of a container in a specific application example of the present invention.
Fig. 9 is a schematic view of a cargo box employing an attitude stabilization mechanism in another embodiment of the invention.
Detailed Description
The invention will be described in further detail with reference to the drawings and the specific examples.
As shown in FIG. 1, the automatic container transfer control method based on automatic driving coarse alignment and two-dimensional image fine alignment is suitable for various intelligent logistics equipment, in particular for unmanned logistics equipment of autonomous walking type. Taking an unmanned logistics vehicle as an example, after the control method of the invention is adopted, when the control method is used for aligning operation, the control method comprises the following steps:
step S1: entering an alignment area to acquire container target parameters;
step S2: setting tolerable error parameters of coarse alignment and fine alignment;
step S3: coarse alignment is performed by using an automatic driving system;
step S4: after moving in place, if the error is within the tolerable error range of the coarse alignment, turning to the next step; otherwise, repeating the previous step;
step S5: performing fine alignment by using an image fine alignment system;
step S6: after moving in place, if the error is within the tolerance error range of the fine alignment, turning to the next step, otherwise, repeating the previous step;
step S7: the container automatically moves to the platform to be docked.
In the above process, the container target parameters refer to the coordinates (under a certain coordinate system) and the pose of the container when the container is ready for alignment, and the parameters describing the container target pose
In the process, the automatic driving system is utilized for rough alignment, and the core of the automatic driving system is that the positioning system of the automatic driving system is utilized for determining the position of an unmanned vehicle-mounted container, surrounding barrier information is acquired through the environment sensing system, then a route is planned through the planning decision system, a path instruction is sent to the control system, and finally the container is transported to a target address.
In the above process, after the coarse alignment is completed, to ensure that the image fine alignment system can normally detect, the constraint can be completed by reasonably configuring the coarse alignment parameters.
In the above process, in the step S5, the image fine alignment system is used for fine alignment, and the core algorithm is to detect the target by using a monocular camera, so as to obtain pose information, and it is understood that the fine alignment may be performed by using binocular or other image acquisition methods, and the method is also within the scope of the present invention. In this example, a monocular camera is used to detect the target, and the principle and process are as follows:
assuming that the camera is mounted on the cargo box, since the camera is fixedly attached to the cargo box, the camera coordinate system (O c X c Y c Z c ) To the container coordinate system (O h X h Y h Z h ) The conversion relation of (c) can be known by measurement.
It is assumed that the camera has been calibrated before use, i.e. the internal parameter matrix a of the camera is known. If there is a pattern of known shape (adding a checkerboard) at a known location on the platform to be docked. Then the feature points on the pattern are in the reference coordinate system (O w X w Y w Z w ) The coordinates below are known. The reference coordinate system may be exemplified by a world coordinate system.
The camera coordinate system and the reference coordinate system can be expressed as follows:
according to the camera calibration principle, the following can be obtained:
since the internal parameter matrix A of the camera is known, R can be solved with at least 5 feature points 3×3 And T 3×1 Each feature point may yield 3 equations.
Obtaining R 3×3 And T 3×1 R is also known ch And T ch . Thus, R in the following formula is combined with (formula 1) and (formula 2) wh And T wh Obtaining the solution.
By R wh Three attitude angles (θ, γ, ψ) of the container with respect to the reference coordinate system can be found:
T wh is the three offsets (x, y, z) of the container relative to the reference coordinate system.
If the reference coordinate system is a container coordinate system of the target container position, the three attitude angles obtained above are differences between the current attitude of the container and the target attitude; the three offset values obtained above are the displacement differences between the current position and the current position of the container.
In particular applications, the image fine alignment system may include a detection subsystem and a motion subsystem, as desired. The detection subsystem can be arranged on the container and used for detecting the special pattern on the platform to be aligned; or may be placed on the platform to be aligned to detect a particular pattern on the cargo box. The motion subsystem may or may not be located on the vehicle. If the detection and motion subsystem are not on the cargo box or the belt alignment platform at the same time, wireless communication means are required to connect the detection subsystem to the motion subsystem.
In one specific example of an application, as shown in FIG. 2, the container may be a six degree of freedom adjustment function container. The six-degree-of-freedom platform is fixedly connected with the vehicle body, and the upper plane of the six-degree-of-freedom platform is fixedly connected with the container guide rail. The container is connected with the guide rail through the moving wheel. The container and the container guide rail are not connected with the vehicle body. Thus, movement of the six degree of freedom platform may ultimately be transferred to the cargo box through the cargo box rails. Therefore, when the container does not actively move, the six-degree-of-freedom platform is fixedly connected with the container, and the posture of the six-degree-of-freedom platform is consistent with that of the container. The container is provided with angle measuring equipment, so that the angle of the container can be measured in real time. Referring to fig. 5-8, there are schematic diagrams of the states of the unmanned vehicle entering the alignment area, the unmanned vehicle being roughly aligned with the platform, the unmanned vehicle being precisely aligned with the platform, and the container being automatically transferred.
The automatic driving positioning precision of the unmanned vehicle is 0.1m, and the movement ranges of the six-degree-of-freedom movement platforms x, y, z, theta, gamma and phi are respectively +/-0.06 m, +/-5 degrees and +/-5 degrees.
Step S1: firstly, enabling an unmanned vehicle to automatically drive to an alignment area to obtain coordinates (0, 0) of a container target position and a target posture (0, 0); origin O of container target position coordinate system e At the lower left corner of the side of the container in contact with the belt alignment platform, X e Is consistent with the advancing direction of the vehicle; z is Z e Vertically upwards, Y e 、X e 、Z e The right rule is met. Referring to fig. 3, a schematic diagram of a container target location coordinate system is shown.
Step S2: setting a coarse alignment tolerance error δx c ＝0.1m，δy c ＝0.1m，δz c =0.1m, irrespective of the angle error; setting a fine alignment tolerance error δx c ＝0.05m，δy c ＝0.05m，δz c ＝0.05m，δθ c ＝1°，δγ c ＝1°，δψ c ＝1°。
Step S3: the unmanned vehicle advances to a target position (0, 0) by utilizing an automatic driving system;
step S4: after the coarse movement is in place, the positioning system displays the position of the container in the container target coordinate system as (0.09,0.05,0.02), meeting the coarse alignment requirement.
Step S5: the checkerboard on the belt alignment platform is detected by a camera mounted at the origin of the container coordinate system. Referring to fig. 4, the relation between the container coordinate system and the camera coordinate system is as follows:
the transfer matrix of the camera coordinate system to the cargo box coordinate system can be calculated:
thus, the first and second substrates are bonded together,
the sides of the checkerboard are 5 cm long, and the coordinates of the corner points of the checkerboard in the container target coordinate system are completely known. Assuming that there are four lattices, 2 white lattices, 2 black lattices, there are 9 known points in total.
In this embodiment, the coordinates of the 9 known points in the container target coordinate system are (0.05, -0.05, -0.05), (0.1, -0.05, -0.05), (0.15, -0.05, -0.05), (0.05, -0.05, -0.1), (0.1, -0.05, -0.1), (0.15, -0.05, -0.1), (0.05, -0.05, -0.15), (0.1, -0.05, -0.15), respectively.
After the coordinates of the 9 points in the image coordinate system are obtained, the coordinates (0.06,0.03,0.01) of the origin of the coordinate system of the cargo box in the target coordinate system of the cargo box and the attitude angles theta, gamma and phi of the cargo box are respectively 3 degrees, -2 degrees and 1 degree by combining the internal parameter matrix A of the camera and the transfer matrix from the coordinate system of the camera to the coordinate system of the cargo box can be finally calculated.
Thus, the control command of the six-degree-of-freedom mechanism can be obtained by comparing the target position and the gesture, and the control command is wound around the container coordinate system Y h The axis rotates anticlockwise by 2 DEG around X h The shaft rotates clockwise by 3 DEG around Z h The shaft rotates clockwise 1 °. Toward-container coordinate system X h The axial negative direction moves 0.06m towards Y h The axial negative direction moves 0.03m towards Z h The axial negative direction movement is 0.01m. It will be appreciated that the instruction is not limited and is based on a different six-freedom system, but is merely one implementation, and that other ways are possible.
Step S6: after the six-degree-of-freedom platform moves in place, detecting the coordinate of the origin of the container coordinate system in the container target coordinate system again by using a monocular system (0.01,0.00,0.00), wherein the posture angle of the container is (-0.1 degrees, 0.2 degrees and 0.1 degrees). Meet the standard delta x of fine alignment c ＝0.05m，δy c ＝0.05m，δz c ＝0.05m，δθ c ＝1°，δγ c ＝1°，δψ c ＝1°。
Step S7: the container automatically walks onto the platform to be aligned.
In other embodiments, referring to fig. 9, the six-degree-of-freedom adjustment mechanism may be replaced by a manner of spherical hinge matching with an attitude stabilization mechanism of four electric cylinders, the container is connected with a container rail, the container rail is fixedly connected with a platform, and the platform is connected with a vehicle body through one large spherical hinge and four electric cylinders with double-head spherical hinges. The drivers of the four electric cylinders are connected with a vehicle controller, and a container posture measuring device is arranged on the platform.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to the invention without departing from the principles thereof are intended to be within the scope of the invention as set forth in the following claims.
Claims (6)
1. The automatic container transfer control method based on automatic driving coarse alignment and two-dimensional image fine alignment is characterized in that when the alignment operation is carried out, position information of a container is acquired first, and the automatic driving mode is utilized to walk to a container area to finish coarse alignment; then, performing fine alignment by adopting an image recognition alignment mode until the butt joint between the unmanned equipment and the container is completed; the specific flow is as follows:
step S1: entering an alignment area to acquire container target parameters; the container target parameters refer to coordinates and attitude parameters of the container when the container is ready for alignment;
step S2: setting tolerable error parameters of coarse alignment and fine alignment;
step S3: coarse alignment is performed by using an automatic driving system;
step S4: after moving in place, if the error is within the tolerable error range of the coarse alignment, turning to the next step; otherwise, repeating the previous step;
step S5: performing fine alignment by using an image fine alignment system;
step S6: after moving in place, if the error is within the tolerance error range of the fine alignment, turning to the next step, otherwise, repeating the previous step;
step S7: the container automatically moves to the platform to be docked.
2. The automatic container transfer control method based on automatic coarse alignment and two-dimensional image fine alignment according to claim 1, wherein the coarse alignment is performed by an automatic driving system, namely, the position of an unmanned vehicle-mounted container is determined by a positioning system of the automatic driving system, surrounding obstacle information is acquired by an environment sensing system, then a route is planned by a planning decision system, a route instruction is sent to a control system, and finally the container is transported to a target address.
3. The automatic transfer control method for the cargo box based on the automatic rough alignment and the two-dimensional image fine alignment according to claim 1 or 2, wherein the image fine alignment system acquires pose information by adopting a monocular camera detection target or a multi-eye camera detection target.
4. The automatic container transfer control method based on automatic rough alignment and two-dimensional image fine alignment according to claim 3, wherein a pattern with a known shape is arranged at a known position of an object to be docked, the pattern with the known shape is identified by the image acquisition device, and coordinates in a reference coordinate system are determined by utilizing characteristic points on the pattern, so that the coordinates are used as aligned reference coordinates.
5. The automatic container transfer control method based on automatic driving coarse alignment and two-dimensional image fine alignment according to claim 1 or 2, wherein the container is fixedly connected with a vehicle body by utilizing a six-degree-of-freedom platform, and the upper plane of the six-degree-of-freedom platform is fixedly connected with a container guide rail; the container is connected with the guide rail through the moving wheel; the container and the container guide rail are not connected with the vehicle body; the motion of the six-degree-of-freedom platform is finally transmitted to the container through the container guide rail, and when the container does not actively move, the six-degree-of-freedom platform is fixedly connected with the container, and the posture of the six-degree-of-freedom platform is consistent with that of the container.
6. The automatic container transfer control method based on automatic driving coarse alignment and two-dimensional image fine alignment according to claim 1 or 2, wherein a spherical hinge is matched with a plurality of electric cylinders to form an attitude stabilizing mechanism, the container is connected with a container guide rail, the container guide rail is fixedly connected with a platform, and the platform is connected with a vehicle body through the spherical hinge and the electric cylinders of the spherical hinge; the driver of the electric cylinder is connected with a vehicle controller, and a container posture measuring device is arranged on the platform.
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| CN111605943A (en) * | 2020-05-27 | 2020-09-01 | 新石器慧通（北京）科技有限公司 | Logistics equipment |
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| CN103486969B (en) * | 2013-09-30 | 2016-02-24 | 上海大学 | Machine vision alignment methods and device thereof |
| CN105775548A (en) * | 2014-12-23 | 2016-07-20 | 天津强敏机械有限公司 | Positioning device of automatic storage location identifying and sensing system of stereoscopic warehouse |
| JP6247796B2 (en) * | 2015-11-25 | 2017-12-13 | 株式会社日立製作所 | Shelf placement system, transfer robot, and shelf placement method |
| CN106347919A (en) * | 2016-11-10 | 2017-01-25 | 杭州南江机器人股份有限公司 | Automatic warehousing system |
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2018
- 2018-10-17 CN CN201811208408.2A patent/CN111061260B/en active Active
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