CN111017804B - Intelligent mobile transfer system and transfer method thereof - Google Patents
Intelligent mobile transfer system and transfer method thereof Download PDFInfo
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- CN111017804B CN111017804B CN201911087981.7A CN201911087981A CN111017804B CN 111017804 B CN111017804 B CN 111017804B CN 201911087981 A CN201911087981 A CN 201911087981A CN 111017804 B CN111017804 B CN 111017804B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/063—Automatically guided
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07568—Steering arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07581—Remote controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0759—Details of operating station, e.g. seats, levers, operator platforms, cabin suspension
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/16—Platforms; Forks; Other load supporting or gripping members inclinable relative to mast
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention belongs to the field of warehouse logistics, and particularly discloses an intelligent mobile transfer system and a transfer method thereof. This system is including getting goods device, monitoring devices, controlling means, drive arrangement and power supply unit, wherein: the goods taking device can be adapted to a slope goods taking channel while taking and placing goods; the monitoring device acquires images of the surrounding environment and the front environment, the pitch angle of the intelligent mobile transfer system, and the lifting height and the pitch angle of the pallet fork; the control device is used for planning a moving path and a goods taking path and determining the lifting height and the pitching angle required by the fork; the driving device drives the intelligent mobile transfer system to move. The intelligent mobile transfer system can lift and pitch the fork according to the gradient information acquired by the gyroscope, so that the intelligent mobile transfer system can be ensured to stably run on a slope, and meanwhile, a moving path and a goods taking path can be accurately planned by acquiring the surrounding environment image and the front environment image, so that the automatic loading and unloading of goods are realized.
Description
Technical Field
The invention belongs to the field of warehouse logistics, and particularly relates to an intelligent mobile transfer system and a transfer method thereof.
Background
Along with the development of automatic warehouse logistics, the demand of market to this type of wheeled robot of intelligent AGV increases gradually, and wheeled robot possess the characteristics that the motion is simple and fast, is equipped with automatic navigation and intelligent recognition system, alright carry out intelligent work in automatic workshop warehouse. The intelligent AGV generally has a flat ground, but in some special working conditions, such a wheeled robot is required to work on a slope, for example, when a slope goods taking channel exists between a turnover box distribution vehicle and a warehouse, the robot trolley is required to run on the slope stably without instability or rushing out of the slope.
The investigation shows that the existing warehouse logistics mostly adopt manual loading and unloading, and have the problems of low working efficiency, high error rate, disordered management and the like. And the limiting factors such as miscellaneous goods stacking, large environmental interference, inconsistent specifications of delivery vehicles, narrow internal space and the like often exist, the whole processes of transportation, positioning, placement and the like of the turnover box from the delivery vehicle to the warehouse need to be realized by automatic loading and unloading goods, and the existing automatic loading and unloading goods technology can only realize loading and unloading of a goods taking space with a specific specification or needs to be manually carried out outside the goods taking space for automatic loading and unloading. To the location and the accurate function of putting that adapt to multiple specification space of getting goods, prior art scheme is difficult to satisfy the demand of warehouse commodity circulation.
Therefore, the intelligent mobile transfer system is developed for the key technical research of the unmanned operation of warehouse logistics, is used for meeting the unmanned operation requirement of a warehouse, and has great significance for improving the intelligent degree of the warehouse and the goods transportation efficiency.
Disclosure of Invention
Aiming at the defects or the improvement requirements of the prior art, the invention provides an intelligent mobile transfer system and a transfer method thereof, and the system is correspondingly designed with a goods taking device, a monitoring device and a control device according to the problems of complex warehouse environment and low robot intelligence degree, so that the lifting height and the pitching angle of a fork can be adjusted according to the gradient of a slope goods taking channel, and a moving path and a goods taking path are planned according to the surrounding environment and the front environment, thereby realizing full-automatic goods taking and placing while adapting to the complex road condition, and being particularly suitable for the application occasion of automatic warehouse storage.
To achieve the above object, according to one aspect of the present invention, an intelligent mobile transfer system is provided, which includes a goods taking device, a monitoring device, a control device, a driving device, and a power supply device for supplying power to the devices, wherein:
the goods taking device comprises a fork, a lifting module and a pitching module, wherein the fork is arranged at the front part of the intelligent mobile transfer system and plays a role of bearing goods, the lifting module is used for driving the fork to move along the vertical direction, and the pitching module is used for driving the fork to rotate up and down relative to the horizontal plane, so that goods can be taken and put and meanwhile the goods taking device can adapt to a slope goods taking channel;
the monitoring device comprises a laser navigator, a depth camera, a gyroscope, a lifting sensor and a pitching sensor, when the monitoring device works, the laser navigator arranged at the top of the intelligent mobile transfer system is used for acquiring images of the surrounding environment for planning a moving path, the depth camera arranged at the top of the fork is used for acquiring images of the front environment for planning a goods taking path, and meanwhile, the pitching angle of the intelligent mobile transfer system is acquired according to the gyroscope, so that the gradient of the goods taking channel on the slope is determined, and the lifting height and the pitching angle of the fork are acquired respectively by the lifting sensor and the pitching sensor;
the control device is used for planning the moving path and the goods taking path and determining the lifting height and the pitching angle required by the fork when the fork is positioned in the slope goods taking channel; the driving device drives the intelligent mobile transfer system to move according to the moving path and the goods taking path, so that intelligent mobile transfer is realized.
As a further preferred, the intelligent mobile transfer system further comprises an operation device for displaying the operation state of the intelligent mobile transfer system and realizing manual operation control.
Preferably, the operating device includes a touch display screen, an emergency stop button and a control handle, the touch display screen is used for displaying the running state and providing an operating interface to realize running control, the control handle is used for performing remote manual control, and the emergency stop button is used for emergency braking in an emergency situation.
As a further preferred, the goods taking device further comprises auxiliary forks symmetrically arranged at the left and right sides of the fork, and the auxiliary forks are used for bearing goods so as to prevent the goods from toppling due to unstable gravity.
Preferably, the monitoring device further comprises an anti-collision instrument installed in front of the intelligent mobile transfer system, and the anti-collision instrument is used for scanning whether foreign matters exist in the surrounding environment in real time, so that collision is prevented.
Further preferably, the driving device includes a linear motor for performing horizontal movement, a steering motor for performing steering, and a steering wheel.
According to another aspect of the present invention, there is provided a method for performing a transfer using the above-mentioned intelligent mobile transfer system, the method comprising the steps of:
s1, with the initial pose of the intelligent mobile transfer system as an original point, adopting a laser reflector positioning mode, scanning a peripheral reflector by using the laser navigator to establish a reflector coordinate system, planning a moving path in the reflector coordinate system and moving the moving path to the front of a goods taking channel according to the moving path;
s2, adjusting the self pose according to the pitch angle acquired by the gyroscope, and then entering a goods taking space along the goods taking channel;
s3, when the number of the reflectors scanned by the laser navigator is lower than a preset value, automatically switching to a laser SLAM positioning mode, establishing a contour coordinate system and continuing to advance until the reflectors completely enter a goods taking space;
s4 identifying goods to be taken according to the front image acquired by the depth camera, automatically switching to a visual SLAM positioning mode, establishing a goods coordinate system and planning a goods taking path;
s5, picking goods according to the goods picking path in the goods coordinate system, and avoiding interference with the goods picking space wall by taking the coordinate of the intelligent mobile transfer system in the contour coordinate system as a closed-loop control quantity;
s6, automatically switching to a laser SLAM positioning mode after the goods taking device lifts goods, and automatically planning an exit path according to the pose of the intelligent mobile transfer system in the contour coordinate system;
s7 exiting the pick space along the pick channel according to the exit path planned by the step S6;
s8, when the number of the reflectors scanned by the laser navigator is lower than a preset value, automatically switching to the laser reflector positioning mode, and moving to a cargo discharging point according to the path in the reflector coordinate system to complete cargo discharging.
Generally, compared with the prior art, the above technical solution conceived by the present invention mainly has the following technical advantages:
1. aiming at the problems of complex warehouse environment and slope goods taking channel, the invention correspondingly designs the lifting module and the pitching module, so as to lift and pitch the fork according to the slope information obtained by the gyroscope, thereby ensuring that the intelligent mobile transfer system can stably run on the slope, and simultaneously, according to the problems of disorder and narrow space in the warehouse, correspondingly arranging the laser navigator and the depth camera, and accurately planning a moving path and a goods taking path by obtaining surrounding environment images and front environment images, thereby realizing the automatic loading and unloading of goods;
2. meanwhile, by designing the operating device, the invention can display the running state in real time and provide a manual running control platform, thereby improving the reliability of the intelligent mobile transfer system, realizing remote manual control and providing diversified selections for users;
3. in addition, the auxiliary fork and the anti-collision instrument are arranged, so that the stability of the intelligent transfer system can be further improved, and accidents such as toppling or collision can be prevented;
4. the intelligent moving transfer method provided by the invention provides three positioning modes of laser reflector positioning, laser SLAM positioning and visual SLAM positioning, and automatically switches according to the working state, thereby effectively improving the planning precision of a moving path and a goods taking path, greatly improving the intelligent degree of a warehouse and realizing full-automatic goods transfer.
Drawings
FIG. 1 is a schematic perspective view of an intelligent mobile transshipment system constructed in accordance with a preferred embodiment of the present invention;
FIG. 2 is a schematic illustration of the construction of a pickup device constructed in accordance with a preferred embodiment of the present invention;
FIG. 3 is a control schematic diagram of the intelligent mobile transfer system for multi-index overall process control according to the present invention;
fig. 4 is a flow chart of the task of taking goods on the uphill slope by using the intelligent mobile transfer system provided by the invention.
The same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein:
10-driving device, 20-goods taking device, 21-fork, 22-auxiliary fork, 23-lifting module, 24-pitching module, 31-laser navigator, 32-depth camera, 33-gyroscope, 34-lifting sensor, 35-pitching sensor, 36-anti-collision device, 41-touch display screen, 42-control handle, 43-emergency stop button, 50-control device and 60-power supply device.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1, an embodiment of the present invention provides an intelligent mobile transfer system, which includes a pickup device 20, a monitoring device, a control device 50, a driving device 10, and a power supply device 60 for supplying power to the above devices, wherein:
as shown in fig. 2, the goods taking device 20 includes a fork 21, an auxiliary fork 22, a lifting module 23 and a pitching module 24, the fork 21 is installed at the front of the intelligent mobile transfer system and plays a role of bearing goods, the auxiliary fork 22 is symmetrically installed at two sides of the fork 21 and is used for bearing goods so as to prevent the goods from toppling over due to unstable center of gravity, the lifting module 23 is used for driving the fork 21 to ascend or descend along a vertical direction, and the pitching module 24 is used for driving the fork 21 to rotate up and down relative to a horizontal plane, so that the goods taking and placing are achieved while the goods taking device is adapted to a slope goods taking channel;
the monitoring device comprises a laser navigator 31, a depth camera 32, a gyroscope 33, a lifting sensor 34 and a pitching sensor 35, when the monitoring device works, the laser navigator 31 arranged at the top of the intelligent mobile transfer system is used for acquiring images of the surrounding environment for planning a moving path, the depth camera 32 arranged at the top of the fork 21 is used for acquiring images of the front environment for planning a goods taking path, meanwhile, the pitching angle alpha of the intelligent mobile transfer system is acquired according to the gyroscope 33, the gradient of a slope goods taking channel is determined, and the lifting sensor 34 and the pitching sensor 35 are used for respectively acquiring the lifting height z and the pitching angle beta of the fork 21;
the control device 50 includes an industrial personal computer and a motion control card, as shown in fig. 3, the point cloud information M { (x) acquired by the laser navigator 31i,yi) 1,2,3, … and point cloud information N { (a) collected by the depth camera 32i,bi) Calculating by using an industrial personal computer to obtain the pose (x, y, theta) of the intelligent mobile transfer system in each coordinate system, planning a moving path and a goods taking path according to the pose (x, y, theta) of the intelligent mobile transfer system, calculating the straight-line driving distance L and the steering angle gamma, and calculating by using an industrial personal computer to obtain the lifting height z and the pitching angle beta required by the fork 21 when the fork is positioned in a slope goods taking channel through the pitching angle alpha acquired by the gyroscope 33;
the driving device 10 drives the intelligent mobile transfer system to move according to the moving path and the goods taking path, so that intelligent mobile transfer is realized.
Further, the intelligent mobile transfer system further comprises an operating device for displaying the running state of the intelligent mobile transfer system and realizing manual running control, the operating device comprises a touch display screen 41, a control handle 42 and an emergency stop button 43, the touch display screen 41 is used for displaying the running state and providing an operation interface to realize running control, the control handle 42 is used for an operator to perform remote manual control, and the emergency stop button 43 is used for emergency braking under emergency conditions.
Further, monitoring devices still includes and installs the anterior anticollision appearance 36 of intelligent movement transfer system for whether there is the foreign matter in real time scanning all ring edge borders, thereby prevents the emergence of collision.
The intelligent mobile transfer system provided by the invention adopts three positioning modes, namely laser reflector positioning, laser SLAM positioning and visual SLAM positioning, wherein the laser reflector positioning utilizes a laser navigator 31 to scan a reflector fixed in a working environment so as to carry out autonomous mapping positioning, the established coordinate system is a reflector coordinate system P, and the pose of the intelligent mobile transfer system in the reflector coordinate system is (x)P,yP,θP) (ii) a The laser SLAM positioning utilizes the laser navigator 31 to scan the point cloud information of the surrounding environment, after a reflector and point cloud data with larger errors are removed, the contour information of a goods taking space is extracted, a contour coordinate system Q is established, and the pose of the intelligent mobile transfer system in the contour coordinate system is (xQ, yQ, theta)Q) (ii) a The vision SLAM positioning utilizes the depth camera 32 to obtain images of the front environment, identifies cargos from the images, establishes a cargo coordinate system R, and sets the pose of the intelligent mobile transfer system in the cargo coordinate system as (x)R,yR,θR)。
According to another aspect of the present invention, as shown in fig. 4, there is provided a method for performing a transfer using the above-mentioned intelligent mobile transfer system, the method comprising the steps of:
s1, with the initial pose of the intelligent mobile transfer system as the origin, adopting a laser reflector positioning mode, scanning the peripheral reflectors by using the laser navigator 31 to establish a reflector coordinate system, planning a moving path in the reflector coordinate system and moving the moving path to the front of the goods taking channel according to the moving path;
s2, adjusting the self pose according to the pitch angle obtained by the gyroscope 33, and entering a goods taking space along the goods taking channel;
s3, when the number of the reflectors scanned by the laser navigator 31 is lower than a preset value, automatically switching to a laser SLAM positioning mode, establishing a contour coordinate system and continuing to advance until the reflectors completely enter a goods taking space;
s4 identifying goods to be taken according to the front image acquired by the depth camera 32, automatically switching to a visual SLAM positioning mode, establishing a goods coordinate system and planning a goods taking path;
s5, picking goods according to the goods picking path in the goods coordinate system, taking the coordinate of the intelligent mobile transfer system in the contour coordinate system as a closed-loop control quantity, and avoiding interference with the goods picking space wall;
s6 the goods to be taken device 20 is automatically switched to a laser SLAM positioning mode after lifting the goods, and a path exiting the goods taking space is automatically planned according to the pose of the intelligent mobile transfer system in the contour coordinate system;
s7 exiting the goods taking space along the goods taking channel according to the path planned in the step S6;
and S8, when the number of the reflectors scanned by the laser navigator 31 is lower than a preset value, switching to a laser reflector positioning mode, and moving to a cargo discharging point according to a path in a reflector coordinate system to complete cargo discharging.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (7)
1. An intelligent mobile transfer system, characterized in that, the system includes a goods taking device (20), a monitoring device, a control device (50), a driving device (10) and a power supply device (60) for supplying power to the devices, wherein:
the goods taking device (20) comprises a fork (21), a lifting module (23) and a pitching module (24), the fork (21) is installed at the front part of the intelligent mobile transfer system and plays a role of bearing goods, the lifting module (23) is used for driving the fork (21) to move along the vertical direction, and the pitching module (24) is used for driving the fork (21) to rotate up and down relative to the horizontal plane, so that goods can be taken and placed while the goods taking device can adapt to a slope goods taking channel;
the monitoring device comprises a laser navigator (31), a depth camera (32), a gyroscope (33), a lifting sensor (34) and a pitching sensor (35), wherein during work, the laser navigator (31) arranged at the top of the intelligent mobile transfer system is used for acquiring a peripheral reflector so as to establish a reflector coordinate system, a moving path is planned in the reflector coordinate system and moves to a goods taking channel according to the reflector coordinate system, when the number of the reflectors scanned by the laser navigator is lower than a preset value, the laser navigator is automatically switched to a laser SLAM positioning mode, a contour coordinate system is established and continues to advance until the reflectors completely enter a goods taking space, an image of the front environment is acquired by the depth camera (32) arranged at the top of the fork (21), the visual SLAM positioning mode is automatically switched for planning work of the goods taking path, and the pitching angle of the intelligent mobile transfer system is acquired according to the gyroscope (33), thereby determining the gradient of the goods taking channel on the slope, and respectively acquiring the lifting height and the pitching angle of the fork (21) by using the lifting sensor (34) and the pitching sensor (35);
the control device (50) is used for planning the moving path and the goods taking path and determining the lifting height and the pitching angle required by the fork (21) when the goods taking path is positioned on the slope; the driving device (10) drives the intelligent mobile transfer system to move according to the moving path and the goods taking path, so that intelligent mobile transfer is realized.
2. The intelligent mobile transshipment system according to claim 1, further comprising an operation device for displaying the operational status of the intelligent mobile transshipment system and implementing manual operational control.
3. The intelligent mobile transfer system of claim 2, wherein the operation device comprises a touch display screen (41), a control handle (42) and an emergency stop button (43), the touch display screen (41) is used for displaying the operation state, an operation interface is provided for realizing operation control, the control handle (42) is used for remote manual control, and the emergency stop button (43) is used for emergency braking in an emergency situation.
4. The intelligent mobile transshipment system according to claim 1, wherein the pickup device (20) further comprises auxiliary forks (22) symmetrically installed at left and right sides of the fork (21) for carrying the cargo to prevent the cargo from toppling due to unstable center of gravity.
5. The intelligent mobile transporter system of claim 1, wherein the monitoring device further comprises a collision avoidance instrument (36) mounted at the front of the intelligent mobile transporter system for real-time scanning of the surrounding environment for the presence of foreign objects to prevent collisions.
6. The intelligent mobile transfer system according to any one of claims 1 to 5, wherein the driving device (10) comprises a linear motor, a steering motor and a steering wheel, wherein the linear motor is used for performing horizontal movement, and the steering motor is used for performing steering.
7. A method for carrying out transportation by using the intelligent mobile transportation system according to any one of claims 1-6, wherein the method comprises the following steps:
s1, with the initial pose of the intelligent mobile transfer system as an original point, adopting a laser reflector positioning mode, scanning a peripheral reflector by using the laser navigator (31) to establish a reflector coordinate system, planning a moving path in the reflector coordinate system and moving the moving path to the front of a goods taking channel according to the moving path;
s2, adjusting the self pose according to the pitch angle acquired by the gyroscope (33), and then entering a goods taking space along the goods taking channel;
s3, when the number of the reflectors scanned by the laser navigator (31) is lower than a preset value, automatically switching to a laser SLAM positioning mode, establishing a contour coordinate system and continuing to advance until the reflectors completely enter a goods taking space;
s4 identifying goods to be picked up according to the front image acquired by the depth camera (32), automatically switching to a visual SLAM positioning mode, establishing a goods coordinate system and planning a goods picking path;
s5, picking goods according to the goods picking path in the goods coordinate system, and avoiding interference with the goods picking space wall by taking the coordinate of the intelligent mobile transfer system in the contour coordinate system as a closed-loop control quantity;
s6, automatically switching to a laser SLAM positioning mode after the goods are lifted by the goods taking device (20), and automatically planning an exit path according to the pose of the intelligent mobile transfer system in the contour coordinate system;
s7 exiting the pick space along the pick channel according to the exit path planned by the step S6;
s8, when the number of the reflectors scanned by the laser navigator (31) is higher than a preset value, automatically switching to the laser reflector positioning mode, and moving to a cargo discharging point according to a path in the reflector coordinate system to complete cargo discharging.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112591678A (en) * | 2020-12-30 | 2021-04-02 | 广东尖峰电力设计院有限公司 | Intelligent forklift with lifting platform |
| CN112999396A (en) * | 2021-02-24 | 2021-06-22 | 中国农业大学 | Movable goods taking, sterilizing or disinfecting inspection device and inspection method for unmanned refrigerated warehouse |
| CN115159402B (en) * | 2022-06-17 | 2024-06-25 | 杭州海康机器人股份有限公司 | Goods placing and taking method and device, electronic equipment and machine-readable storage medium |
| CN115818072A (en) * | 2022-06-24 | 2023-03-21 | 深圳市速应科技有限公司 | Automatic logistics conveying line cooperative dispatching system based on AGV |
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