CN112520433A

CN112520433A - Intelligent navigation method and device, stacker crane and storage medium

Info

Publication number: CN112520433A
Application number: CN202011455280.7A
Authority: CN
Inventors: 樊祥文; 何永义; 沈俊杰; 秦彬辉; 刘宗阳
Original assignee: Shanghai Kelai Luojin Electrical And Mechanical Automation Engineering Co ltd; SHANGHAI KELAI ELECTROMECHANICAL AUTOMATION ENGINEERING CO LTD
Current assignee: Shanghai Kelai Luojin Electrical And Mechanical Automation Engineering Co ltd; SHANGHAI KELAI ELECTROMECHANICAL AUTOMATION ENGINEERING CO LTD
Priority date: 2020-12-10
Filing date: 2020-12-10
Publication date: 2021-03-19

Abstract

The embodiment of the invention discloses an intelligent navigation method, an intelligent navigation device, a stacker crane and a storage medium, wherein the method comprises the following steps: if a navigation starting instruction is received, controlling a laser radar sensor on the stacker crane to acquire current environment information; determining the current offset distance and the current offset angle between a reference position point on the central axis of the stacker crane and the central axis of the container and the current relative distance between each corner point of the stacker crane and each box surface of the container according to the current environment information, the size information of the stacker crane, the size information of the container and the installation position information of a laser radar sensor; if the current relative distance does not meet the preset collision condition, the current left driving speed and the current right driving speed of the stacker crane are determined according to the current offset distance and the current offset angle to respectively control the left driving mechanism and the right driving mechanism so as to move the stacker crane, so that the automatic navigation of the stacker crane in the container is realized, and the cargo stacking efficiency is improved.

Description

Intelligent navigation method and device, stacker crane and storage medium

Technical Field

The embodiment of the invention relates to computer technology, in particular to an intelligent navigation method, an intelligent navigation device, a stacker crane and a storage medium.

Background

With the rapid development of the logistics industry, the cargo transportation and storage aspects often need to utilize containers for cargo shipment. At present, the stacker crane can move in the container to stack cargos in a manual navigation stacker crane mode. However, this manual navigation method may reduce the cargo stacking efficiency and also increase the labor cost.

Disclosure of Invention

The embodiment of the invention provides an intelligent navigation method, an intelligent navigation device, a stacker crane and a storage medium, which are used for realizing automatic navigation of the stacker crane in a container, so that the stacker crane can quickly reach a cargo stacking position, the cargo stacking efficiency is improved, manual participation is not needed, and the labor cost is reduced.

In a first aspect, an embodiment of the present invention provides an intelligent navigation method, including:

if a navigation starting instruction is received, controlling a laser radar sensor on a stacker crane to acquire current environmental information around the stacker crane in the container;

determining a current offset distance between a reference position point on a central axis of a stacker crane and a central axis of a container, a current offset angle between the central axis of the stacker crane and the central axis of the container and a current relative distance between each angular point of the stacker crane and each container surface of the container according to the current environment information, the stacker crane size information, the container size information and the installation position information of the laser radar sensor;

if the current relative distance does not meet the preset collision condition, determining the current left driving speed corresponding to a left driving mechanism and the current right driving speed corresponding to a right driving mechanism in the stacker crane according to the current offset distance and the current offset angle;

controlling the left drive mechanism based on the current left drive speed and controlling the right drive mechanism based on the current right drive speed to move the stacker.

In a second aspect, an embodiment of the present invention further provides an intelligent navigation apparatus, including:

the environment information acquisition module is used for controlling a laser radar sensor on the stacker crane to acquire current environment information around the stacker crane in the container if a navigation starting instruction is received;

the angle and distance determining module is used for determining the current offset distance between a reference position point on the central axis of the stacker crane and the central axis of the container, the current offset angle between the central axis of the stacker crane and the central axis of the container and the current relative distance between each angular point of the stacker crane and each box surface of the container according to the current environment information, the stacker crane size information, the container size information and the installation position information of the laser radar sensor;

the speed determining module is used for determining a current left driving speed corresponding to a left driving mechanism and a current right driving speed corresponding to a right driving mechanism in the stacker crane according to the current offset distance and the current offset angle if the current relative distance does not meet the preset collision condition;

a movement module to control the left drive mechanism based on the current left drive speed and to control the right drive mechanism based on the current right drive speed to move the palletizer.

In a third aspect, an embodiment of the present invention further provides a stacker crane, including:

the laser radar sensor is used for acquiring current environmental information around the stacker crane in the container;

the left driving mechanism and the right driving mechanism are used for driving the stacker crane to move;

the controller is used for realizing the intelligent navigation method in any embodiment of the invention.

In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the intelligent navigation method according to any embodiment of the present invention.

According to the technical scheme of the embodiment of the invention, the current environment information around the stacker crane in the container is obtained by controlling the laser radar sensor on the stacker crane, and the current offset distance between the reference position point on the central axis of the stacker crane and the central axis of the container, the current offset angle between the central axis of the stacker crane and the central axis of the container and the current relative distance between each angular point of the stacker crane and each box surface of the container are determined according to the current environment information, the stacker crane size information, the container size information and the installation position information of the laser radar sensor. If detect unsatisfied preset collision condition at present according to current relative distance, can determine the driving speed about the hacking machine according to current offset distance and current skew angle, and control driving mechanism about controlling respectively, so that the hacking machine moves forward, thereby the work efficiency who has solved current manual navigation mode existence is low, the problem that the cost of labor is high, the automatic navigation of hacking machine in the container has been realized, make the hacking machine can reach the goods pile position fast, the efficiency of goods pile is improved, and need not artifical the participation, the cost of labor is reduced.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief description will be given below of the drawings required for the embodiments or the technical solutions in the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a flowchart of an intelligent navigation method according to an embodiment of the present invention;

fig. 2 is a flowchart of an intelligent navigation method according to a second embodiment of the present invention;

fig. 3 is a flowchart of an intelligent navigation method according to a third embodiment of the present invention;

fig. 4 is a flowchart of an intelligent navigation method according to a fourth embodiment of the present invention;

fig. 5 is a schematic structural diagram of an intelligent navigation device according to a fifth embodiment of the present invention;

fig. 6 is a schematic structural diagram of a stacker crane according to a sixth embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

Example one

Fig. 1 is a flowchart of an intelligent navigation method according to an embodiment of the present invention, which is applicable to a situation where a stacker crane performs autonomous navigation in a container so as to move to a cargo stacking position for cargo stacking. The method may be performed by an intelligent navigation device, which may be implemented in software and/or hardware, integrated in a device with navigation functions, such as a controller of a palletizer.

As shown in fig. 1, the method specifically includes the following steps:

and S110, if a navigation starting instruction is received, controlling a laser radar sensor on the stacker crane to acquire current environmental information around the stacker crane in the container.

The navigation starting instruction can be an instruction which is generated based on the triggering of a user through a touch click mode and is used for starting intelligent navigation of the stacker crane. The current environment information may be the relative position information between the palletizer and each container surface of the container at the current time. The lidar sensor may be a device for collecting ambient information in real time. For example, the laser radar sensor may be a sensor that calculates a relative distance to an obstacle by transmitting and receiving a laser beam, analyzing a turn-back time after the laser beam encounters the obstacle.

Specifically, when a navigation starting instruction is received, the laser radar sensors on the stacker crane are controlled to be in a working state, and laser radar signals are sent out and received around the stacker crane, so that current environmental information around the stacker crane, which is acquired by the laser radar sensors in real time, can be acquired, and the relative position information between the stacker crane and each container surface of the container can be acquired independently.

And S120, determining the current offset distance between a reference position point on the central axis of the stacker crane and the central axis of the container, the current offset angle between the central axis of the stacker crane and the central axis of the container and the current relative distance between each angular point of the stacker crane and each container surface of the container according to the current environment information, the stacker crane size information, the container size information and the installation position information of the laser radar sensor.

The stacker of this embodiment may move forward or backward in the container, for example, from the entrance of the container to the cargo stacking position inside the container, so that in order to avoid a front-back collision, only the movement operation in the front-back direction may be considered. For the sake of calculation, the stacker can be considered as a cuboid. The stacker size information may refer to length, width and height information of a rectangle that the stacker sees. The length, width and height of the cuboid to which the palletiser is considered is determined based on the actual maximum length, actual maximum width and actual maximum height of the palletiser. The container can also be seen as a cuboid. The container size information may refer to length, width and height information of the container. The mounting position information of the laser radar sensor can be a specific mounting position of the laser radar sensor on the stacker crane, such as distance information between the position of the laser radar sensor and each corner point of the stacker crane. Each corner point of the palletizer may refer to each vertex of a cuboid as viewed by the palletizer. The central axis of the stacker crane can be the central axis of the stacker crane as an axisymmetric object. For example, the central line of a rectangular solid viewed by the stacker can be taken as the central axis of the stacker along the traveling direction of the stacker. The centre axis of the container may be the centre axis perpendicular to the plane of the container entrance. For example, the central line of a rectangular parallelepiped viewed by the container along the direction of travel of the stacker crane may be taken as the central axis of the container. The current offset distance may be a distance from a reference position point on the central axis of the stacker crane to the central axis of the container at the current time. The reference position point may refer to any reference point which is selected on the axis of the palletizer and fixed in position. For example, the reference position point may refer to a central point of the stacker crane, or may refer to a central point of a mounting position of the laser radar sensor, so as to facilitate calculation and improve calculation efficiency. The stacker crane central axis and the container central axis in the embodiment are not parallel lines, that is, there is an intersection point between the stacker crane central axis and the container central axis, so that the distance from a reference position point on the stacker crane central axis to the container central axis can be used as the current offset distance. The current offset angle is the included angle between the central axis of the stacker crane and the central axis of the container at the current moment. Both the current offset distance and the current offset angle may specify positive and negative directions. For example, with respect to the central axis of the stacker crane, when the reference position point on the central axis of the stacker crane is on the left side of the central axis of the container, that is, when the reference position point is on the left side of the central axis of the container, the left side may be taken as the positive direction of the current offset distance; when the reference position point on the central axis of the stacker crane is on the right side of the central axis of the container, namely the right deviation, the right deviation can be used as the negative direction of the current offset distance. When container axis rotates along clockwise and can coincide with hacking machine axis sooner, can regard clockwise as the positive direction of current skew angle. When the container central axis rotates along the counterclockwise direction and can coincide with the stacker crane central axis more quickly, the counterclockwise direction can be taken as the negative direction of the current offset angle.

Specifically, according to the current environment information, the stacker crane size information, the container size information and the installation position information of the laser radar sensor, the current offset distance and the current offset angle between the central axis of the stacker crane and the central axis of the container can be obtained through geometric calculation so as to determine the forward or backward specific moving direction of the stacker crane. Meanwhile, the current relative distance between each corner point of the stacker crane and each box surface of the container can be determined through geometric calculation so as to avoid collision between the stacker crane and the container. The geometric calculation may be performed by a built-in computer program, or may be performed by triggering a corresponding calculation component to complete the calculation, and a specific calculation completion method is not specifically limited in this embodiment.

S130, if the fact that the preset collision condition is not met currently is determined according to the current relative distance, determining the current left driving speed corresponding to a left driving mechanism and the current right driving speed corresponding to a right driving mechanism in the stacker crane according to the current offset distance and the current offset angle.

The preset collision condition is a preset condition for judging whether the stacker crane collides with the container when continuing to move. For example, if it is detected that the current relative distance between each corner point of the stacker crane and each container surface of the container is greater than or equal to the preset distance, it may be determined that the preset collision condition is not met currently, that is, it is safe for the stacker crane to continue moving forward. If the current relative distance between at least one angular point of the stacker crane and each container surface of the container is detected to be smaller than the preset distance, the fact that the current condition of collision is met can be determined, namely the stacker crane can collide with the container when continuing to move forwards, and therefore the stacker crane cannot continue to move forwards. The left driving mechanism and the right driving mechanism are respectively a movement mechanism for controlling the stacker crane to walk leftwards and rightwards.

Specifically, whether the current time meets the preset collision condition can be detected based on the current relative distance, if not, the current left driving speed corresponding to the left driving mechanism and the current right driving speed corresponding to the right driving mechanism in the stacker crane can be determined based on the current offset distance and the current offset angle, so that the posture of the stacker crane is adjusted to the preset offset distance and the offset angle, for example, the offset distance and the offset angle of the stacker crane are adjusted to be zero or values larger than zero. For example, when the stacker crane is currently in a left-offset state, the stacker crane may be turned to the right by setting the left driving speed to be greater than the right driving speed so as to adjust the offset distance and the offset angle of the stacker crane to be zero.

Illustratively, S130 may include: based on a fuzzy control algorithm, determining a speed ratio between a current left driving speed corresponding to a left driving mechanism and a current right driving speed corresponding to a right driving mechanism in the stacker crane according to the current offset distance and the current offset angle; and determining the current left driving speed and the current right driving speed according to the speed ratio and a preset basic speed.

The fuzzy control algorithm can be realized by converting an accurate quantity measured by a sensor into a fuzzy quantity suitable for fuzzy operation, adding operation in a fuzzy controller, and converting the fuzzy quantity in an operation result into the accurate quantity so as to realize specific operation control on an actuator. The preset base speed may be a preset safe speed for each movement of the palletiser, which is related to the performance of the engine itself of the palletiser.

Specifically, based on a fuzzy control algorithm and a preset offset distance and an offset angle to which the stacker crane is to be adjusted in advance, a speed ratio between a current left driving speed corresponding to a left driving mechanism and a current right driving speed corresponding to a right driving mechanism in the stacker crane can be determined according to the current offset distance and the current offset angle corresponding to the stacker crane. The preset base speed may be determined as the current right driving speed, and the product between the preset base speed and the speed ratio may be determined as the current left driving speed. The current left driving speed and the current right driving speed may also be set based on a preset basic speed to ensure that a ratio between the current left driving speed and the current right driving speed is the above speed ratio. For example, if the speed ratio between the current left driving speed and the current right driving speed is determined to be 1:3 and the preset base speed of the palletizer is 0.2m/s, it may be determined that the current left driving speed is 0.2m/s and the current right driving speed is 0.6 m/s.

S140, controlling the left driving mechanism based on the current left driving speed, and controlling the right driving mechanism based on the current right driving speed to move the stacker crane.

Specifically, the left driving mechanism of the stacker crane moves at a left driving speed, and the right driving mechanism moves at a current right driving speed, so that the stacker crane can move automatically, and autonomous navigation of the stacker crane in the container is realized.

According to the technical scheme, the current environmental information around the stacker crane in the container is obtained by controlling the laser radar sensor on the stacker crane, and the current offset distance and the current offset angle between the central axis of the stacker crane and the central axis of the container and the current relative distance between each angular point of the stacker crane and each box surface of the container are determined according to the current environmental information, the stacker crane size information, the container size information and the installation position information of the laser radar sensor. If detect unsatisfied preset collision condition at present according to current relative distance, can determine the driving speed about the hacking machine according to current offset distance and current skew angle, and control driving mechanism about controlling respectively, so that the hacking machine moves forward, thereby the work efficiency who has solved current manual navigation mode existence is low, the problem that the cost of labor is high, the automatic navigation of hacking machine in the container has been realized, make the hacking machine can reach the goods pile position fast, the efficiency of goods pile is improved, and need not artifical the participation, the cost of labor is reduced.

Example two

Fig. 2 is a flowchart of an intelligent navigation method according to a second embodiment of the present invention, and in this embodiment, based on the above embodiments, further optimization is performed on the step "determining a current offset distance and a current offset angle between a central axis of a stacker crane and a central axis of a container and a current relative distance between each corner point of the stacker crane and each container surface of the container according to current environment information, stacker crane size information, container size information, and installation position information of a laser radar sensor". Wherein explanations of the same or corresponding terms as those of the above embodiments are omitted.

As shown in fig. 2, the method specifically includes the following steps:

s210, if a navigation starting instruction is received, controlling a laser radar sensor on the stacker crane to acquire current environmental information around the stacker crane in the container.

And S220, determining current characteristic straight line information corresponding to each box surface of the container in the sensor coordinate system according to the current environment information.

The current characteristic straight line information may refer to straight line information where a container surface of the container is located at the current time, so as to represent position information where the container surface of the container is located. For example, the current characteristic straight line information may be a linear equation corresponding to the characteristic straight line where the box surface is located, in a linear function manner, for example: the current characteristic straight-line information may refer to a characteristic straight-line equation corresponding to the box plane, i.e., y ═ kx + b, where the slope k and intercept b of the straight line may be determined based on the current environment information.

Illustratively, S220 may include: converting the current environment information to obtain each position coordinate point corresponding to the container under a sensor coordinate system; filtering, clustering and segmenting each position coordinate point to determine a target position coordinate point corresponding to each container surface of the container; and determining the current characteristic straight line information corresponding to each box surface according to the target position coordinate point corresponding to each box surface.

Specifically, the container and the stacker crane can be abstracted into a planar representation in a top view manner, and a sensor coordinate system can be established based on the installation position information of the laser radar sensor. For example, the laser radar sensor mounting position center point may be set as the origin of coordinates, the direction of linear travel with the stacker crane may be set as the positive y-axis direction, and the direction perpendicular to the direction of travel may be set as the positive x-axis direction. The current environment information may include laser radar data of each measured position point, and each measured position coordinate point in the sensor coordinate system may be obtained by converting the laser radar data. Since all the position point coordinates measured by the laser radar sensor in the measurement range are not all position points on the container, there may be environmental position points outside the container or useless position points beyond the size range of the stacker crane, and thus filtering operation needs to be performed on the useless position coordinate points in all the measured position coordinate points. For example, the container may have an open container surface during loading of the cargo, for example, one surface of the container is in an open state, and the other three surfaces of the container are in a closed state, so as to transmit the cargo to the container through the open container surface for stacking by the stacker crane, so that the measured position coordinate points may include environmental position points outside the open container surface, and thus, a filtering operation is required to obtain useful position coordinate points corresponding to all container surfaces of the container in the closed state. By clustering and dividing the filtered position coordinate points, the target position coordinate point corresponding to each closed container surface of the container can be obtained. According to the target position coordinate point corresponding to each box surface, a linear equation of a straight line where each box surface is located under the established sensor coordinate system can be determined, and therefore current characteristic straight line information corresponding to each box surface is obtained.

And S230, determining the current offset distance between the central point of the installation position of the laser radar sensor on the central axis of the stacker crane and the central axis of the container, the current offset angle between the central axis of the stacker crane and the central axis of the container and the current relative distance between each angular point of the stacker crane and each container surface of the container under a sensor coordinate system according to the current characteristic straight line information, the stacker crane size information, the container size information and the installation position information of the laser radar sensor.

Specifically, the current offset distance between the central point of the installation position of the laser radar sensor on the central axis of the stacker crane and the central axis of the container and the current offset angle between the central axis of the stacker crane and the central axis of the container can be obtained through geometric calculation according to the current characteristic straight line information, the size information of the stacker crane, the size information of the container and the installation position information of the laser radar sensor, so as to determine the moving direction of the stacker crane. The current relative distance between each corner point and each face of the container may be determined by geometric calculations to avoid a collision of the palletizer with the container.

Illustratively, S230 may include: according to the installation position information of the laser radar sensor and the size information of the stacker crane, determining position coordinate information corresponding to each corner point of the stacker crane and stacker crane central axis position information corresponding to a stacker crane central axis in a sensor coordinate system; determining container central axis position information corresponding to the central axis of the container in a sensor coordinate system according to the current characteristic straight line information and the container size information; according to the position information of the central axis in the container, taking the distance between the central point of the installation position of the laser radar sensor on the central axis of the stacker crane and the central axis of the container as the current offset distance; determining a current offset angle between the central axis of the stacker crane and the central axis of the container according to the central axis position information of the stacker crane and the central axis position information of the container; and determining the current relative distance between each corner point of the stacker crane and each container surface of the container according to the current characteristic straight line information and the position coordinate information corresponding to each corner point.

Specifically, the lidar sensor may be installed right in front of the stacker crane, or may be installed in front of the left or right, which is not specifically limited in this embodiment. And determining position coordinate information corresponding to each corner point of the stacker crane in a sensor coordinate system according to the installation position information of the laser radar sensor and the size information of the stacker crane. And determining the position information of the central axis of the stacker crane corresponding to the central axis of the stacker crane based on the position coordinate information corresponding to each angular point. For example, the lidar sensor is installed right in front of the stacker crane and located on the central axis of the stacker crane, the length of the stacker crane is 2 meters, the width of the stacker crane is 2 meters, the coordinate information of four corner points on the plane is (1,0), (-1,0), (-1, -2) and (1, -2), and the position information of the central axis of the stacker crane corresponding to the central axis of the stacker crane is the linear equation x being 0. According to the current characteristic straight line information and the container size information, the container central axis position information corresponding to the container central axis in the sensor coordinate system can be obtained through simple geometric calculation. For example: if the current characteristic straight line information is respectively-x +5, x +10, y-x-10, and the container length is long

And if the width of the container is 10 meters, the position information of the central axis of the container corresponding to the central axis of the container in the sensor coordinate system can be determined to be-x-2.5.

Determining a specific value for a current offset distance between a stacker crane central axis and a container central axisAnd then, the central point of the installation position of the laser radar sensor on the central axis of the stacker crane is the original point of the sensor coordinate system, so that the distance between the original point of the sensor coordinate system and the central axis of the container can be determined based on the original point coordinate of the sensor coordinate system and the position information of the central axis of the container, and the distance is used as the current offset distance between the central axis of the stacker crane and the central axis of the container. The specific direction of the current offset distance can be determined based on whether the center point of the installation position of the laser radar sensor is offset left or right relative to the central axis of the container. When the specific numerical value of the current offset angle between the central axis of the stacker crane and the central axis of the container is determined, the acute angle included by two straight lines of the central axis of the stacker crane and the central axis of the container can be used as the current offset angle according to the position information of the central axis of the stacker crane and the position information of the central axis of the container. The specific direction of the current offset angle can be determined based on whether the position of the central axis of the stacker crane and the central axis of the container is coincided as soon as possible counterclockwise or as soon as possible clockwise. For example, the coordinates of the origin of the sensor coordinate system are (0,0), the container central axis position information is y ═ x-2.5, and the distance between the origin of the sensor coordinate system and the container central axis can be obtained by calculation according to the distance calculation formula from the point to the straight line

And taking the meter as the size of the current offset distance. The position information of the central axis of the stacker crane is x which is 0, and the included angle between the two central axes can be 45 degrees through calculation, namely the size of the current offset angle is 45 degrees. According to the embodiment, the distances between the four corners of the stacker crane and three straight lines corresponding to the container surface of the container can be determined one by one based on a point-to-straight line distance calculation formula according to current characteristic straight line information and position coordinate information corresponding to each corner point, and therefore 12 calculated distance information are used as the determined current relative distances.

S240, if it is determined that the preset collision condition is not met currently according to the current relative distance, determining a current left driving speed corresponding to a left driving mechanism and a current right driving speed corresponding to a right driving mechanism in the stacker crane according to the current offset distance and the current offset angle.

And S250, controlling the left driving mechanism based on the current left driving speed, and controlling the right driving mechanism based on the current right driving speed to move the stacker crane.

According to the technical scheme, the current characteristic straight line information corresponding to each box surface of the container under the sensor coordinate system is determined according to the current environment information, and based on the current characteristic straight line information corresponding to each box surface, the stacker crane size information, the container size information and the installation position information of the laser radar sensor, the current offset distance and the current offset angle between the central axis of the stacker crane and the central axis of the container and the current relative distance between each corner point of the stacker crane and each box surface of the container can be determined more conveniently and accurately, so that the information determination efficiency and the information determination accuracy are improved, the automatic navigation accuracy is guaranteed, and the automatic navigation efficiency is further improved.

EXAMPLE III

Fig. 3 is a flowchart of an intelligent navigation method according to a third embodiment of the present invention, where the third embodiment of the present invention further adds a related content of "if it is determined that a preset collision condition is currently satisfied according to the current relative distance, the stacker crane is controlled to move in the reverse direction, and when the stacker crane moves in the reverse direction by the preset distance, the operation of controlling a laser radar sensor on the stacker crane to acquire current environmental information around the stacker crane located in the container" is executed. Wherein explanations of the same or corresponding terms as those of the above embodiments are omitted.

As shown in fig. 3, the method specifically includes the following steps:

and S310, if a navigation starting instruction is received, controlling a laser radar sensor on the stacker crane to acquire current environmental information around the stacker crane in the container.

S320, determining the current offset distance between a reference position point on the central axis of the stacker crane and the central axis of the container, the current offset angle between the central axis of the stacker crane and the central axis of the container and the current relative distance between each angular point of the stacker crane and each container surface of the container according to the current environment information, the stacker crane size information, the container size information and the installation position information of the laser radar sensor.

S330, determining whether the current collision condition is met according to the current relative distance, and if so, executing a step S340; if not, go to step S350.

And S340, controlling the stacker crane to move reversely, and returning to the operation of controlling the laser radar sensor on the stacker crane to acquire the current environmental information around the stacker crane in the container in the step S310 when the reverse movement distance of the stacker crane is a preset distance.

The preset distance can be a preset proper distance according to the size information of the stacker crane and the size information of the container. The short preset distance can cause the reverse movement distance of the stacker crane to be short, so that the current relative distance still meets the preset collision condition, and the stacker crane still needs to continue to perform reverse movement. The excessively large preset distance may cause an excessively large reverse movement distance of the stacker crane, thereby reducing navigation efficiency and wasting electric energy.

Specifically, when the fact that the preset collision condition is met currently is determined according to the current relative distance, it is indicated that the stacker crane continues to move forwards and collides with one or more box surfaces of the container, so that the stacker crane and the container are damaged, the stacker crane can be controlled to move in the reverse direction at the moment, and when the reverse movement distance reaches the preset distance, the mode of executing S310 can be returned, so that the stacker crane can continue to move forwards again, the stacker crane cannot collide with the container in the moving process, and the intelligent navigation safety of the stacker crane is guaranteed.

Illustratively, the 'controlling the stacker reverse movement' in S340 may include: and performing negation operation on the current offset distance, and determining a current left driving speed corresponding to a left driving mechanism and a current right driving speed corresponding to a right driving mechanism in the stacker crane based on the current offset distance and the current offset angle obtained after negation operation. Controlling a left drive mechanism based on a current left drive speed and a right drive mechanism based on a current right drive speed to move the stacker in a reverse direction.

In particular, the reverse movement of the palletiser may be achieved by converting the sensor coordinate system. In essence, control of the reverse movement of the palletiser can be achieved by simply inverting the current offset distance. For example, the negation operation may refer to negating the direction of the current offset distance, and the magnitude value is kept unchanged, that is, negating the positive and negative of the current offset distance. If the current offset distance is left offset, that is, the current offset distance is a positive value, the current offset distance obtained after the negation operation is right offset, that is, the current offset distance is a negative value. According to the current offset distance and the current offset angle obtained after the negation operation, a speed ratio between the current left driving speed corresponding to the left driving mechanism and the current right driving speed corresponding to the right driving mechanism in the stacker crane can be determined again by using a fuzzy control algorithm, and the current left driving speed and the current right driving speed are determined by combining a preset basic speed, so that the reverse moving speed and the moving direction of the stacker crane can be controlled through the current left and right driving speeds.

And S350, determining the current left driving speed corresponding to the left driving mechanism and the current right driving speed corresponding to the right driving mechanism in the stacker crane according to the current offset distance and the current offset angle.

S360, controlling the left driving mechanism based on the current left driving speed, and controlling the right driving mechanism based on the current right driving speed to move the stacker crane.

According to the technical scheme, when the current preset collision condition is met according to the current relative distance, the stacker crane can be controlled to move reversely, so that when the reverse movement distance is the preset distance, the current environment information can be acquired through returning execution, the stacker crane can move forwards again, the stacker crane cannot collide with a container in the moving process, and the intelligent navigation safety of the stacker crane is guaranteed.

Example four

Fig. 4 is a flowchart of an intelligent navigation method according to a fourth embodiment of the present invention, and in this embodiment, based on the foregoing embodiments, related content for determining whether the stacker crane moves to the target stacking position is further added. Wherein explanations of the same or corresponding terms as those of the above embodiments are omitted.

As shown in fig. 4, the method specifically includes the following steps:

and S410, if a navigation starting instruction is received, controlling a laser radar sensor on the stacker crane to acquire current environmental information around the stacker crane in the container.

And S420, determining the current offset distance between a reference position point on the central axis of the stacker crane and the central axis of the container, the current offset angle between the central axis of the stacker crane and the central axis of the container and the current relative distance between each angular point of the stacker crane and each container surface of the container according to the current environment information, the stacker crane size information, the container size information and the installation position information of the laser radar sensor.

And S430, acquiring current position information of the stacker crane.

The current position information can be directly obtained according to a positioning module installed on the stacker crane or can be determined according to the current environment information obtained by a laser radar module on the stacker crane.

S440, determining whether the stacker crane moves to the target stacking position or not based on the current position information, and if so, executing the step S450; if not, go to step S460.

The target stacking position can be a preset position to which the stacker crane finally moves for stacking goods, namely a navigation end position.

Specifically, whether navigation is finished may be determined by detecting whether the current position information is a preset target code position.

S450, detecting whether the current offset distance and the current offset angle between the central axis of the stacker crane and the central axis of the container are both within a preset error range, and if so, ending the moving operation of the stacker crane; if not, controlling the stacker crane to move reversely, and returning to execute the step S410 when the reverse movement distance of the stacker crane is a preset distance.

When the stacker crane moves to the target stacking position within the preset error range, the current posture of the stacker crane is compared with the preset standard posture to obtain the allowed maximum error range. For example, the preset error range may refer to a maximum error range allowed by the current offset distance and the current offset angle when the stacker moves to the target stacking position, compared to the preset standard offset distance and the standard offset angle. The specific implementation manner of controlling the reverse movement of the stacker crane in the embodiment can be referred to the description of the above embodiment.

Specifically, when the stacker crane moves to the target stacking position, whether the final posture of the stacker crane meets the required standard posture can be determined by detecting whether the current offset distance and the current offset angle between the central axis of the stacker crane and the central axis of the container are within the preset error range, so that goods can be stacked based on the final posture. When the current offset distance and the current offset angle between the central axis of the stacker crane and the central axis of the container are both within the preset error range, the final posture of the stacker crane is shown to meet the preset standard posture, and the moving operation of the stacker crane, namely navigation, can be finished at the moment, so that the stacker crane can accurately finish subsequent goods stacking operation based on the final posture. When the current offset distance or the current offset angle between the central axis of the stacker crane and the central axis of the container is not within the preset error range, the final posture of the stacker crane does not conform to the preset standard posture and needs to be moved and adjusted again, at the moment, the stacker crane can be controlled to move in the reverse direction, and when the reverse movement distance of the stacker crane is the preset distance, the stacker crane can continue to move forward again by returning to execute the S410 mode until the final posture conforms to the preset standard posture, so that the accuracy of intelligent navigation of the stacker crane is ensured, and the subsequent cargo stacking operation can be accurately performed.

And S460, if the preset collision condition is determined not to be met currently according to the current relative distance, determining the current left driving speed corresponding to the left driving mechanism and the current right driving speed corresponding to the right driving mechanism in the stacker crane according to the current offset distance and the current offset angle.

Specifically, when the stacker crane does not move to the target stacking position, it is indicated that the stacker crane still needs to move forward, and at this time, whether the preset collision condition is currently met or not can be detected according to the current relative distance, and intelligent navigation is continued based on the detection result until the stacker crane moves to the target stacking position.

S470, controlling the left driving mechanism based on the current left driving speed, and controlling the right driving mechanism based on the current right driving speed to move the stacker crane.

According to the technical scheme, whether the stacker crane moves to the target stacking position or not and whether the current offset distance and the current offset angle between the central axis of the stacker crane and the central axis of the container are within the preset error range or not are judged, so that the final posture of the stacker crane meets the preset standard posture, the accuracy of intelligent navigation of the stacker crane is guaranteed, and the subsequent cargo stacking operation can be conveniently and accurately carried out.

The following is an embodiment of the intelligent navigation device provided in the embodiments of the present invention, and the device and the intelligent navigation method in the embodiments belong to the same inventive concept, and details that are not described in detail in the embodiments of the intelligent navigation device may refer to the embodiments of the intelligent navigation method.

EXAMPLE five

Fig. 5 is a schematic structural diagram of an intelligent navigation device according to a fifth embodiment of the present invention, where the embodiment is applicable to autonomous navigation in a container so as to move to a cargo stacking position for cargo stacking, and the intelligent navigation device includes: an environment information acquisition module 510, an angle and distance determination module 520, a velocity determination module 530, and a movement module 540.

The environment information acquiring module 510 is configured to, if a navigation start instruction is received, control a laser radar sensor on a stacker crane to acquire current environment information around the stacker crane located in the container; an angle and distance determining module 520, configured to determine, according to the current environment information, stacker crane size information, container size information, and installation position information of the laser radar sensor, a current offset distance between a reference position point on a central axis of the stacker crane and the central axis of the container, a current offset angle between the central axis of the stacker crane and the central axis of the container, and a current relative distance between each angular point of the stacker crane and each container surface of the container; a speed determining module 530, configured to determine, according to the current offset distance and the current offset angle, a current left driving speed corresponding to a left driving mechanism and a current right driving speed corresponding to a right driving mechanism in the stacker crane if it is determined that the preset collision condition is not satisfied currently according to the current relative distance; a moving module 540 for controlling the left drive mechanism based on the current left drive speed and the right drive mechanism based on the current right drive speed to move the palletizer.

Optionally, the angle and distance determining module 520 includes:

the straight line information determining unit is used for determining current characteristic straight line information corresponding to each box surface of the container in the sensor coordinate system according to the current environment information;

and the angle and distance determining unit is used for determining the current offset distance between the central point of the installation position of the laser radar sensor and the central axis of the container on the central axis of the stacker crane, the current offset angle between the central axis of the stacker crane and the central axis of the container and the current relative distance between each angular point of the stacker crane and each box surface of the container under the sensor coordinate system according to the current characteristic straight line information, the size information of the stacker crane, the size information of the container and the installation position information of the laser radar sensor.

Optionally, the straight line information determining unit includes:

a coordinate point obtaining subunit, configured to convert current environment information to obtain each position coordinate point corresponding to the container in the sensor coordinate system;

the coordinate point determining subunit is used for performing filtering, clustering and segmentation operations on the position coordinate points to determine a target position coordinate point corresponding to each container surface of the container;

and the straight line information determining subunit is used for determining the current characteristic straight line information corresponding to each box surface according to the target position coordinate point corresponding to each box surface.

Optionally, the angle and distance determining unit includes:

the position information determining subunit is used for determining position coordinate information corresponding to each angular point of the stacker crane and stacker crane central axis position information corresponding to the central axis of the stacker crane under a sensor coordinate system according to the installation position information of the laser radar sensor and the stacker crane size information;

the central axis information determining subunit is used for determining the container central axis position information corresponding to the central axis of the container in the sensor coordinate system according to the current characteristic straight line information and the container size information;

the offset distance determining subunit is used for taking the distance between the central point of the installation position of the laser radar sensor on the central axis of the stacker crane and the central axis of the container as the current offset distance according to the position information of the central axis of the container;

the offset angle determining subunit is used for determining the current offset angle between the central axis of the stacker crane and the central axis of the container according to the central axis position information of the stacker crane and the central axis position information of the container;

and the relative distance determining subunit is used for determining the current relative distance between each corner point of the stacker crane and each container surface of the container according to the current characteristic straight line information and the position coordinate information corresponding to each corner point.

Optionally, the speed determining module 530 includes:

the speed ratio determining unit is used for determining the speed ratio between the current left driving speed corresponding to the left driving mechanism and the current right driving speed corresponding to the right driving mechanism in the stacker crane according to the current offset distance and the current offset angle based on a fuzzy control algorithm;

and the speed determining unit is used for determining the current left driving speed and the current right driving speed according to the speed ratio and the preset basic speed.

Optionally, the apparatus further comprises:

and the reverse movement control module is used for controlling the stacker crane to move reversely if the current collision condition is met according to the current relative distance, and when the reverse movement distance of the stacker crane is the preset distance, returning to execute the operation of controlling the laser radar sensor on the stacker crane to acquire the current environmental information around the stacker crane in the container.

Optionally, the reverse movement control module includes:

the negation operation unit is used for negation operation on the current offset distance, and determining a current left driving speed corresponding to a left driving mechanism and a current right driving speed corresponding to a right driving mechanism in the stacker crane based on the current offset distance and the current offset angle obtained after the negation operation;

and the reverse movement control unit is used for controlling the left driving mechanism based on the current left driving speed and controlling the right driving mechanism based on the current right driving speed so as to reversely move the stacker crane.

Optionally, the apparatus further comprises:

the current position information module is used for acquiring current position information of the stacker crane;

the error range detection module is used for detecting whether the current offset distance and the current offset angle between the central axis of the stacker crane and the central axis of the container are both within a preset error range or not if the stacker crane is determined to move to the target stacking position based on the current position information;

a movement ending mode, which is used for ending the movement operation of the stacker crane if the movement ending mode is positive;

and the reverse movement control module is also used for controlling the stacker crane to move reversely if the stacker crane does not move reversely, and when the reverse movement distance of the stacker crane is a preset distance, the reverse movement control module returns to execute the operation of acquiring the current environment information around the stacker crane in the container by the laser radar sensor on the manufactured stacker crane.

The intelligent navigation device provided by the embodiment of the invention can execute the intelligent navigation method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the intelligent navigation method.

It should be noted that, in the embodiment of the intelligent navigation device, the units and modules included in the embodiment are only divided according to the functional logic, but are not limited to the above division as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.

EXAMPLE six

Fig. 6 is a schematic structural diagram of a stacker crane according to a sixth embodiment of the present invention, and as shown in fig. 6, the stacker crane includes: a laser radar sensor 610 for acquiring current environmental information around a palletizer located within a container; the left driving mechanism and the right driving mechanism 620 are used for driving the stacker crane to move; and a controller 630 for implementing the intelligent navigation method provided in any embodiment of the present invention.

Specifically, the controller is composed of a program counter, an instruction register, an instruction decoder, a timing generator and an operation controller, and is a 'decision mechanism' for issuing commands, namely, the controller is used for coordinating and commanding the operation of the whole computer system. The controller may implement any of the intelligent navigation methods described in embodiments of the present invention.

In the stacker crane in this embodiment, when receiving the navigation start instruction, the controller may control the lidar sensor on the stacker crane to acquire current environment information around the stacker crane located in the container, and determine a current offset distance between a reference position point on the central axis of the stacker crane and the central axis of the container, a current offset angle between the central axis of the stacker crane and the central axis of the container, and a current relative distance between each corner point of the stacker crane and each box surface of the container according to the current environment information, the stacker crane size information, the container size information, and the installation position information of the lidar sensor. If detect unsatisfied preset collision condition at present according to current relative distance, can determine the driving speed about the hacking machine according to current offset distance and current skew angle, and control driving mechanism about controlling respectively, so that the hacking machine moves forward, thereby the work efficiency who has solved current manual navigation mode existence is low, the problem that the cost of labor is high, the automatic navigation of hacking machine in the container has been realized, make the hacking machine can reach the goods pile position fast, the efficiency of goods pile is improved, and need not artifical the participation, the cost of labor is reduced.

EXAMPLE seven

The present embodiment provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the steps of the intelligent navigation method according to any embodiment of the present invention, the method comprising:

if a navigation starting instruction is received, controlling a laser radar sensor on the stacker crane to acquire current environmental information around the stacker crane in the container;

determining the current offset distance between a reference position point on the central axis of the stacker crane and the central axis of the container, the current offset angle between the central axis of the stacker crane and the central axis of the container and the current relative distance between each angular point of the stacker crane and each box surface of the container according to the current environment information, the size information of the stacker crane, the size information of the container and the installation position information of a laser radar sensor;

controlling the left drive mechanism based on the current left drive speed and controlling the right drive mechanism based on the current right drive speed to move the palletizer.

Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer-readable storage medium may be, for example but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.

Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

It will be understood by those skilled in the art that the modules or steps of the invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of computing devices, and optionally they may be implemented by program code executable by a computing device, such that it may be stored in a memory device and executed by a computing device, or it may be separately fabricated into various integrated circuit modules, or it may be fabricated by fabricating a plurality of modules or steps thereof into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. An intelligent navigation method, comprising:

2. The method of claim 1, wherein determining a current offset distance of a reference location point on a central axis of a palletizer from a central axis of a container, a current offset angle between the central axis of the palletizer and the central axis of the container, and a current relative distance between each corner point of the palletizer and each box face of the container from the current environmental information, the stacker size information, the container size information, and the installation location information of the lidar sensor comprises:

determining current characteristic straight line information corresponding to each container surface of the container in a sensor coordinate system according to the current environment information;

and determining the current offset distance between the central point of the installation position of the laser radar sensor on the central axis of the stacker crane and the central axis of the container, the current offset angle between the central axis of the stacker crane and the central axis of the container and the current relative distance between each angular point of the stacker crane and each container surface of the container under a sensor coordinate system according to the current characteristic straight line information, the stacker crane size information, the container size information and the installation position information of the laser radar sensor.

3. The method of claim 2, wherein determining current characteristic line information corresponding to each of the faces of the container in the sensor coordinate system based on the current environmental information comprises:

converting the current environment information to obtain each position coordinate point corresponding to the container in a sensor coordinate system;

filtering, clustering and segmenting the position coordinate points to determine a target position coordinate point corresponding to each container surface of the container;

and determining the current characteristic straight line information corresponding to each box surface according to the target position coordinate point corresponding to each box surface.

4. The method of claim 2, wherein determining a current offset distance of a laser radar sensor mounting position center point on a stacker central axis from a container central axis, a current offset angle between the stacker central axis and the container central axis, and a current relative distance between each corner point of the stacker and each box face of the container in a sensor coordinate system from the current characteristic line information, stacker size information, container size information, and mounting position information of the laser radar sensor comprises:

according to the installation position information of the laser radar sensor and the size information of the stacker crane, determining position coordinate information corresponding to each corner point of the stacker crane and stacker crane central axis position information corresponding to a stacker crane central axis in a sensor coordinate system;

determining container central axis position information corresponding to the central axis of the container in a sensor coordinate system according to the current characteristic straight line information and the container size information;

according to the position information of the central axis in the container, taking the distance between the central point of the installation position of the laser radar sensor on the central axis of the stacker crane and the central axis of the container as the current offset distance;

determining a current offset angle between the central axis of the stacker crane and the central axis of the container according to the central axis position information of the stacker crane and the central axis position information of the container;

and determining the current relative distance between each corner point of the stacker crane and each container surface of the container according to the current characteristic straight line information and the position coordinate information corresponding to each corner point.

5. The method of claim 1, wherein determining a current left drive speed corresponding to a left drive mechanism and a current right drive speed corresponding to a right drive mechanism in the palletizer based on the current offset distance and the current offset angle comprises:

based on a fuzzy control algorithm, determining a speed ratio between a current left driving speed corresponding to a left driving mechanism and a current right driving speed corresponding to a right driving mechanism in the stacker crane according to the current offset distance and the current offset angle;

and determining the current left driving speed and the current right driving speed according to the speed ratio and a preset basic speed.

6. The method of claim 1, further comprising:

and if the current relative distance meets the preset collision condition, controlling the stacker crane to move reversely, and returning to execute the operation of controlling a laser radar sensor on the stacker crane to acquire the current environmental information around the stacker crane in the container when the reverse movement distance of the stacker crane is the preset distance.

7. The method of claim 6, wherein controlling the stacker to move in reverse comprises:

performing negation operation on the current offset distance, and determining a current left driving speed corresponding to a left driving mechanism and a current right driving speed corresponding to a right driving mechanism in the stacker crane based on the current offset distance and the current offset angle obtained after negation operation;

controlling the left drive mechanism based on the current left drive speed and controlling the right drive mechanism based on the current right drive speed to move the stacker in reverse.

8. The method according to any one of claims 1 to 7, wherein before determining that the preset collision condition is not currently satisfied according to the current relative distance, further comprising:

acquiring current position information of the stacker crane;

if the stacker crane is determined to move to the target stacking position based on the current position information, detecting whether the current offset distance and the current offset angle between the central axis of the stacker crane and the central axis of the container are both within a preset error range;

if so, ending the moving operation of the stacker crane;

if not, controlling the stacker crane to move reversely, and returning to execute the operation of controlling a laser radar sensor on the stacker crane to acquire the current environmental information around the stacker crane in the container when the reverse movement distance of the stacker crane is a preset distance.

9. An intelligent navigation device, comprising:

10. A palletizer, comprising:

a controller for implementing the intelligent navigation method as claimed in any one of claims 1-8.

11. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the intelligent navigation method according to any one of claims 1 to 8.