CN111056196A - Automatic container transfer control method based on image signs - Google Patents

Automatic container transfer control method based on image signs Download PDF

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CN111056196A
CN111056196A CN201811208126.2A CN201811208126A CN111056196A CN 111056196 A CN111056196 A CN 111056196A CN 201811208126 A CN201811208126 A CN 201811208126A CN 111056196 A CN111056196 A CN 111056196A
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image
container
mark
dimensional
aligned
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CN111056196B (en
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李睿
安向京
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Changsha Xingshen Intelligent Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention discloses a control method for automatically transferring a container based on an image mark, which comprises the following steps of: step S1: scanning the image mark to acquire pose information of the container relative to an object to be aligned; step S2: the container is driven to move to a target pose, and the container is automatically transported to an object to be aligned. The invention has the advantages of simple principle, wide application range, accurate butt joint and the like.

Description

Automatic container transfer control method based on image signs
Technical Field
The invention mainly relates to the field of logistics, express delivery and storage, in particular to an automatic transfer control method of a container based on image signs, which is suitable for unmanned equipment.
Background
With the rapid development of logistics and express delivery, the method brings new changes to the way of human life. With the increasing dependence of human beings on logistics and express delivery, more requirements are put on the efficiency and cost of the logistics and express delivery industry. At present, the proportion of the logistics cost to the total value of national production is higher than the level of developed countries. If the logistics distribution cost needs to be reduced, the number of people and vehicles in the whole logistics link needs to be reduced, the number of vehicles is temporarily reduced in an inappropriate way, and the reduction of the number of people can be considered. Ideally, the entire logistics process is replaced by machines, especially unmanned intelligent devices.
In the logistics and express delivery industries, in order to improve the delivery efficiency, multiple levels of warehouses are usually set, and logistics packages are transported among the warehouses until the logistics packages are delivered to the hands of users. The interaction between the transfer vehicle and the warehouse is manually completed by people, and the logistics packages are moved from the warehouse to the transfer vehicle one by one 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, especially, a large error rate and a certain damage rate exist in the manual link, the controllability and the observability of goods in the whole logistics link can not be ensured, and the real-time management and monitoring of the whole process can be realized in a real sense. In order to improve the logistics efficiency and reduce the cost, many logistics companies have tried to adopt mechanical arms to automatically sort in the warehouse, so as to reduce the manpower and the logistics cost.
In addition, some logistics companies try to realize transportation and terminal distribution by using distribution robots, which can reduce the number of people for terminal logistics distribution; there are also logistics companies that try to transport between warehouses using unmanned vehicles to reduce the demand on drivers during the transport. In summary, in order to reduce the number of people in the logistics process and reduce the logistics cost, in the prior art, unmanned transformation is performed on many processes and links of logistics, but the process of loading and unloading goods carried by unmanned vehicles in a warehouse is still completed by manpower.
However, in the whole logistics link, no better solution is provided for the butt joint between devices, especially between unmanned intelligent devices, and the transfer of goods, and the real full-flow unmanned management cannot be realized.
In the transferring process of the container, the butt joint of the unmanned equipment and the container needs to be completed, and in the whole process, the alignment is generally carried out only by matching the position information of the unmanned equipment with the position information of the container in a traditional mode, namely the relative position information of the unmanned equipment and the position information is obtained, and then the alignment is carried out on the unmanned equipment and the container by utilizing the position information. However, the position information is only one aspect that affects the alignment of the two, and the attitude information of the two is not considered. In addition, the position information is often uncertain in some complex application scenes, and the alignment accuracy of the position information and the position information cannot be reliably guaranteed, so that the reliable transfer of the container cannot be guaranteed.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems in the prior art, the invention provides the automatic transfer control method of the container based on the image mark, 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:
a control method for automatically transferring a container based on an image mark comprises the following steps when the container is aligned:
step S1: scanning the image mark to acquire pose information of the container relative to an object to be aligned;
step S2: the container is driven to move to a target pose, and the container is automatically transported to an object to be aligned.
As a further improvement of the invention: prior to step S1, the container is brought into an alignment area.
As a further improvement of the invention: at any one position within the alignment area, the image capture device can see the image signature.
As a further improvement of the invention: in the step S2, after the container is driven to move to the target pose, current pose information of the container relative to the object to be aligned is further acquired; judging whether the error between the current pose and the target pose is within a tolerable range, and if so, automatically transferring the container to an object to be aligned; otherwise, the pose of the container is adjusted again.
As a further improvement of the invention: the tolerable range is a preset tolerance parameter.
As a further improvement of the invention: the image acquisition equipment is one or a combination of a camera system, binocular camera system detection and a laser radar.
As a further improvement of the invention: the image acquisition equipment is arranged on the container and fixedly connects the image mark to be identified with the object to be aligned; or the image acquisition equipment is arranged on the object to be aligned, and the image mark to be identified is fixedly connected with the container.
As a further improvement of the invention: the image mark is a two-dimensional image mark or a three-dimensional mark.
As a further improvement of the invention: the three-dimensional mark is a cuboid, each surface of the cuboid is marked with a coded annular mark, and the central position of each mark is in a reference coordinate system (O)wXwYwZw) The three-dimensional coordinates of (a) are known.
As a further improvement of the invention: the three-dimensional mark is a ring-shaped mark and consists of a central positioning mark and coding bits surrounding the central positioning mark, a coding band is divided into a plurality of parts in equal parts by adopting a binary coding principle, each equal part represents a binary bit, and a binary value is formed in the clockwise direction.
As a further improvement of the invention: after entering the alignment area, the coarse alignment mode is performed first, and then the fine alignment mode is realized through the image mark.
As a further improvement of the invention: in the coarse alignment mode, automatic driving is adopted, and functions of movement and detection are achieved.
As a further improvement of the invention: aligning in a mode of combining a plurality of image marks; namely, firstly, carrying out coarse alignment by using a three-dimensional mark, and then carrying out fine alignment by using a two-dimensional image mark; or, the two-dimensional image mark is firstly utilized for rough alignment, and then the three-dimensional mark is utilized for fine alignment.
Compared with the prior art, the invention has the advantages that: the automatic container transfer control method based on the image marks is simple in principle and wide in application range, and can greatly improve the fault tolerance rate of unmanned equipment and improve the alignment precision, so that the stability and reliability in the butt joint process and the container transfer process are ensured, and finally the real full-process unmanned management in the whole logistics link can be realized.
Drawings
FIG. 1 is a schematic flow diagram of the process of the present invention.
Fig. 2 is a schematic diagram of the ring-shaped sign image adopted in the specific application example of the invention.
Fig. 3 is a schematic diagram of the invention after being encoded by using a ring-shaped logo image in a specific application example.
Detailed Description
The invention will be described in further detail below with reference to the drawings and specific examples.
As shown in fig. 1, the automatic container transfer control method based on image signs is suitable for various intelligent logistics devices, especially for autonomous walking unmanned logistics devices. In this embodiment, after the control method of the present invention is adopted, when entering the alignment operation, the following steps are taken as an example:
step S1: entering an alignment area;
step S2: scanning the image mark to acquire pose information of the container relative to an object to be aligned (a platform or another unmanned logistics device);
step S3: the vehicle drives the container to move to a target pose;
step S4: acquiring current pose information of the container relative to an object to be aligned;
step S5: is the error of the current pose from the target pose within a tolerable range?
Step S6: if the tolerance is tolerable, the next step is carried out; otherwise, go to step S3 or readjust the pose of the vehicle.
Step S7: the container is automatically transferred to the object to be aligned.
In the above process, the alignment area is ensured that the image mark can be seen by the image acquisition device (such as a camera system) at any position in the alignment area. It can be understood that the camera system can also be selected according to actual needs, as long as the matching degree with the image mark is satisfied, for example, other three-dimensional scanning devices such as binocular camera system detection and laser radar detect.
In the above process, an image capture device (e.g., a camera system) may be mounted on the cargo box to secure the image markers to be identified to the object to be aligned. It will be appreciated that in other embodiments, the camera system may be mounted on the platform to be aligned to attach the image markers to be identified to the cargo box.
In the above process, the motion mechanism for adjusting the vehicle may be the vehicle itself, or an external force may assist the vehicle to move.
In the above process, the image mark may be a suitable mark selected according to actual needs, such as a two-dimensional image (two-dimensional code is not the case for two-dimensional images, and two-dimensional images refer to planar images), or a three-dimensional mark.
In a specific application example, a three-dimensional sign is taken as an example to describe the working process of the invention in detail.
The three-dimensional scanning system is assumed to be a binocular camera system, and the detection distance is 0.01 m-50 m. The binocular camera system is fixedly connected with the cargo box. Suppose a known binocular camera coordinate system (O)cXcYcZc) To the container coordinate system (O)hXhYhZh) The conversion relationship of (1) is as follows:
Figure BDA0001831734660000051
the three-dimensional mark is a cuboid, each surface of the cuboid is marked with a coded annular mark, and the center position of each mark is in a reference coordinate system (O)wXwYwZw) The three-dimensional coordinates of (a) are known.
The ring-type mark, as shown in fig. 2, is composed of a central positioning mark and coded bits surrounding the central positioning mark, and the coded band is divided into n equal parts (called n-bit coding, which is 8-bit coding in this embodiment) by using the principle of binary coding, and each equal part represents a binary bit and constitutes a binary value in the clockwise direction. Because the ring has no start bit and stop bit, each ring code can have at most n different values, and in order to ensure the uniqueness of the code, the decimal number corresponding to the minimum binary number value is taken as the code value of the code mark.
As shown in fig. 3, the smallest binary number is "101011", i.e., 43.
Each surface of the three-dimensional mark is provided with a plurality of ring-shaped marks, and the number of each mark is not repeated. Assume in the embodiment that there are 4 ring flags per face.
All the ring-shaped marks in the visual field can be identified in the binocular, and the serial numbers of the ring-shaped marks and the three-dimensional coordinates of the ring-shaped marks in a reference coordinate system can be obtained at the same time.
Reference coordinate system (O)wXwYwZw) To binocular camera coordinate system (O)cXcYcZc) The conversion relationship of (a) can be expressed as follows:
Figure BDA0001831734660000052
wherein
Figure BDA0001831734660000053
Three equations are available for each three-dimensional marker, and there are a total of 12 position parameters in the above equation. Thus, a minimum of 4 three-dimensional landmarks need to be identified. Because 4 points in the same plane are correlated, the formed linear equation system is not full of rank, and therefore, 4 points in the same plane are not needed to solve a unique solution. Thus, in embodiments, it is known whether the ring-type indicia are coplanar. 4 non-coplanar 4 landmark points can be chosen among the identified landmarks for computation.
The information of the four marker points is as follows:
serial number Numbering Coordinates of reference system Coordinates of camera coordinate system
1 N1 (xw1,yw1,zw1) (xc1,yc1,zc1)
2 N2 (xw2,yw2,zw2) (xc2,yc2,zc2)
3 N3 (xw3,yw3,zw3) (xc3,yc3,zc3)
4 N4 (xw4,yw4,zw4) (xc4,yc4,zc4)
Thus, it is possible to obtain:
Figure BDA0001831734660000061
from the above formula, R can be obtained3×3And T3×1The solution of (1).
Because of the coordinate transformation parameter R of the coordinate system of the binocular camera to the coordinate system of the cargo boxchAnd TchAre known. In this embodiment of the present invention,
Figure BDA0001831734660000062
Figure BDA0001831734660000063
by R3×3，T3×1，Rch，TchCan find Rwh，Twh。
Three attitude angles (theta, gamma, psi) and R of the container relative to a reference coordinate systemwhThe relationship of (1) is:
Figure BDA0001831734660000071
obtaining RwhThen, three attitude angles of the container relative to the reference coordinate system can be obtained.
Figure BDA0001831734660000072
Figure BDA0001831734660000073
Figure BDA0001831734660000074
TwhIs the coordinate of the origin of the container coordinate system in the reference coordinate system.
Therefore, the pose information of the container relative to the reference coordinate is calculated.
As an optimized embodiment, after entering the alignment area, a coarse alignment mode may be performed, and then a fine alignment mode may be implemented by the image marker.
In the coarse alignment mode, the system employs autopilot, with motion and detection capabilities.
Image markers if on the cargo box, the detection mechanism is on the platform to be aligned or elsewhere within the alignment area, then the cart would be simple, but the communication of the fine alignment detection mechanism with the aligned motion mechanism would have to be added. There are also many possibilities for fine alignment kinematic mechanisms, such as the aforementioned six-degree-of-freedom mechanism, a mechanism with spherical hinges, or an unmanned vehicle parked on a platform that moves with the vehicle.
As another preferred embodiment, the alignment may be performed by combining a plurality of image markers. Namely, the three-dimensional mark is firstly utilized to carry out coarse alignment, and then the two-dimensional image mark is utilized to carry out fine alignment. Or, the two-dimensional image mark is used for rough alignment, and then the three-dimensional mark is used for fine alignment. This is intended to be within the scope of the present invention.
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-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.

Claims (13)

1. A control method for automatically transferring a container based on an image mark is characterized in that when the container is aligned, the method comprises the following steps:
step S1: scanning the image mark to acquire pose information of the container relative to an object to be aligned;
step S2: the container is driven to move to a target pose, and the container is automatically transported to an object to be aligned.
2. The method of claim 1 wherein the container is brought into an alignment area prior to step S1.
3. The method of claim 2, wherein the image graphic indicia is visible to the image capture device at any one location within the registration zone.
4. The method for controlling automatic transfer of an image marker based cargo box according to claim 1, 2 or 3, wherein in the step S2, after the cargo box is driven to move to the target pose, the current pose information of the cargo box relative to the object to be aligned is further acquired; judging whether the error between the current pose and the target pose is within a tolerable range, and if so, automatically transferring the container to an object to be aligned; otherwise, the pose of the container is adjusted again.
5. The method as claimed in claim 4, wherein the tolerable range is a preset tolerance parameter.
6. The automatic cargo box transfer control method based on the image signs as claimed in claim 3, wherein the image acquisition equipment is one or more of a camera system, a binocular camera system detection and a laser radar.
7. The automatic cargo box transfer control method based on the image markers as claimed in claim 3, wherein the image acquisition equipment is installed on the cargo box and fixedly connects the image markers to be recognized with the object to be aligned; or the image acquisition equipment is arranged on the object to be aligned, and the image mark to be identified is fixedly connected with the container.
8. The automatic transfer control method for a container based on image signs as claimed in claim 1, 2 or 3, characterized in that the image signs are two-dimensional image signs or three-dimensional signs.
9. The image-based target of claim 8The automatic container transfer control method is characterized in that the three-dimensional mark is a cuboid, each surface of the cuboid is provided with a coded annular mark, and the center position of each mark is in a reference coordinate system (O)wXwYwZw) The three-dimensional coordinates of (a) are known.
10. The method of claim 8, wherein the three-dimensional indicia is a ring-shaped indicia comprising a center positioning indicia and a code bit surrounding the center positioning indicia, wherein the code band is divided into equal parts by a binary coding principle, each equal part represents a binary bit, and the equal parts form a binary value in a clockwise direction.
11. The automatic cargo box transfer control method based on the image marker as claimed in claim 3, wherein after entering the alignment area, a coarse alignment mode is performed, and then a fine alignment mode is performed by the image marker.
12. The method as claimed in claim 11, wherein in the coarse alignment mode, automatic driving is used, and the method has functions of movement and detection.
13. A control method for automatically transferring a container based on image signs as claimed in claim 1, 2 or 3, characterized in that the alignment is performed by combining a plurality of image signs; namely, firstly, carrying out coarse alignment by using a three-dimensional mark, and then carrying out fine alignment by using a two-dimensional image mark; or, the two-dimensional image mark is firstly utilized for rough alignment, and then the three-dimensional mark is utilized for fine alignment.
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