CN111301259B - Automatic docking and loading system and method for transport vehicle and truck, and computer storage medium - Google Patents
Automatic docking and loading system and method for transport vehicle and truck, and computer storage medium Download PDFInfo
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- CN111301259B CN111301259B CN202010280933.6A CN202010280933A CN111301259B CN 111301259 B CN111301259 B CN 111301259B CN 202010280933 A CN202010280933 A CN 202010280933A CN 111301259 B CN111301259 B CN 111301259B
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000011068 loading method Methods 0.000 title claims description 25
- 238000003032 molecular docking Methods 0.000 title claims description 22
- 238000001514 detection method Methods 0.000 claims abstract description 39
- 238000012544 monitoring process Methods 0.000 claims abstract description 30
- 238000007499 fusion processing Methods 0.000 claims description 18
- 238000012545 processing Methods 0.000 claims description 9
- 238000004364 calculation method Methods 0.000 claims description 7
- 239000000284 extract Substances 0.000 claims description 6
- 238000004590 computer program Methods 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims description 3
- 230000003595 spectral effect Effects 0.000 claims description 3
- 210000001503 joint Anatomy 0.000 description 6
- 238000003384 imaging method Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
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- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
- B60P1/54—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading using cranes for self-loading or self-unloading
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
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- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to the field of vehicle driving, and provides an automatic butt-joint filling system, method and computer storage medium of a transport vehicle and a truck, wherein the system comprises a parking guide detection subsystem, a hoisting module positioning detection subsystem and a control subsystem for controlling a manipulator of a crane, the parking guide detection subsystem comprises a monitoring camera, a processor, a display, a 16-line laser radar for acquiring three-dimensional contour data of a vehicle body of the transport vehicle and a first near-infrared camera for acquiring an image of the transport vehicle, the hoisting module positioning detection subsystem comprises a second near-infrared camera, a near-infrared light source, a laser ranging sensor, a hoisting module target and a vehicle target, and the control subsystem controls the manipulator to load and unload a hoisting module according to the data of the parking guide detection subsystem and the hoisting module positioning detection subsystem. The invention can realize the auxiliary parking guidance and the hoisting module positioning detection and the automatic operation control of the truck.
Description
Technical Field
The invention relates to the field of vehicle driving, in particular to an automatic butt-joint filling system and method for a transport vehicle and a truck and a computer storage medium.
Background
Along with the continuous improvement of manpower cost, vehicle logistics enterprises are urgently required to strengthen innovation and reform at the positions of reducing operation cost, improving operation efficiency, relieving labor intensity of personnel and the like. However, at present, the butt joint loading of the transport vehicle and the truck generally adopts a manual operation mode, so that the automatic butt joint loading and unloading of the goods cannot be realized, the labor cost is high, and the labor intensity of personnel is high.
Disclosure of Invention
In view of the above, the present invention provides an automatic docking loading system, method and computer storage medium for a transport vehicle and a truck.
The aim of the invention is realized by adopting the following technical scheme:
The embodiment of the first aspect of the invention provides an automatic docking and filling system for a transport vehicle and a truck, wherein lifting modules are arranged on the transport vehicle and the truck, a crane is further arranged on the truck, the system comprises a parking guidance detection subsystem, a lifting module positioning detection subsystem and a control subsystem for controlling a manipulator of the crane, the parking guidance detection subsystem comprises a monitoring camera, a processor, a display, a 16-line laser radar for acquiring three-dimensional contour data of the vehicle body of the transport vehicle and a first near infrared camera for acquiring images of the transport vehicle, and the 16-line laser radar, the first near infrared camera, the monitoring camera and the display are all connected with the processor;
The processor performs data fusion processing on the three-dimensional contour data of the vehicle body and the transport vehicle image acquired by the first near infrared camera to obtain real-time azimuth and distance information of the transport vehicle relative to the truck, determines guide data according to the real-time azimuth and distance information, combines the guide data with the monitoring real-time image acquired by the monitoring camera, and sends the combined guide data and the monitoring real-time image to the display for displaying, so that the transport vehicle is guided to stop in a specified range of the truck;
The processor acquires current position and distance information of the transport vehicle relative to the truck according to current three-dimensional contour data of the vehicle body and a current transport vehicle image when the transport vehicle is parked in a specified range of the truck, and sends the current position and distance information to the control subsystem;
the hoisting module positioning detection subsystem comprises a second near infrared camera, a near infrared light source, a laser ranging sensor, a hoisting module target and a vehicle target, wherein the second near infrared camera and the laser ranging sensor are connected with the control subsystem;
the second near infrared camera is used for shooting the hoisting module, the hoisting module target and the vehicle target to obtain shooting images;
and the control subsystem calculates and analyzes the real-time position information of the hoisting module according to the shot image, and controls the manipulator to assemble and disassemble the hoisting module according to the current azimuth and distance information, the sensing information of the laser ranging sensor and the real-time position information.
According to one implementation manner of the first aspect of the present invention, the data fusion processing is performed on the three-dimensional contour data of the vehicle body and the vehicle image acquired by the first near infrared camera, so as to obtain real-time azimuth and distance information of the vehicle relative to the truck, which specifically includes:
filtering an interference background of the three-dimensional contour data of the vehicle body;
Extracting a region of interest of a transport vehicle image acquired by a first near infrared camera, and extracting three-dimensional point cloud data corresponding to 16-line laser radar scanning in the region of interest;
And carrying out data fusion processing on the three-dimensional point cloud data and the three-dimensional contour data of the vehicle body.
According to one implementation manner of the first aspect of the present invention, the second near infrared camera, the near infrared light source, and the laser ranging sensor are arranged at the end of the crane in an integral module form, and the controlling the manipulator loading and unloading hoisting module includes:
controlling the manipulator to take a hoisting module on the transport vehicle;
controlling the manipulator to put the hoisting module on the transport vehicle to a truck;
Controlling the manipulator to take a hoisting module on the truck;
And controlling the manipulator to put the hoisting module on the truck to the transport vehicle.
According to one implementation manner of the first aspect of the present invention, the controlling the manipulator to take the lifting module on the transport vehicle specifically performs:
calculating the positioning photographing position coordinates of a hoisting module on the transport vehicle according to the current azimuth and the distance information, and controlling the crane to move to a position corresponding to the positioning photographing position coordinates of the hoisting module;
Controlling the second near infrared camera to take a picture to obtain an image, and obtaining the actual position of the hoisting module on the transport vehicle through image processing calculation;
and controlling the crane to move to the actual position, receiving the relative distance information of each point on the lifting module on the transport vehicle, which is measured by the laser ranging sensor, calculating the inclination angle of the lifting module on the transport vehicle according to the plane relative position of each point, and positioning and butting the manipulator and the lifting module on the transport vehicle according to the inclination angle.
According to the implementation manner of the first aspect of the invention, the control of the manipulator to take the lifting module on the transport vehicle is further specifically performed, namely, after positioning and docking, the control display displays prompt information for prompting that the lifting module is automatically positioned.
According to one implementation manner of the first aspect of the present invention, the first near infrared camera and the second near infrared camera are near infrared cameras with a spectrum of 850 nm.
The second aspect of the invention provides an automatic butt-joint filling method for a transport vehicle and a truck, wherein the transport vehicle and the truck are both provided with a hoisting module, the truck is also provided with a crane, the tail end of the crane is provided with a second near infrared camera, a near infrared light source, a laser ranging sensor, a hoisting module target and a vehicle target,
The method comprises the following steps:
The control subsystem receives current azimuth and distance information sent by a processor, wherein the processor receives vehicle body three-dimensional outline data of a transport vehicle acquired by a 16-line laser radar and transport vehicle image data acquired by a first near infrared camera, the processor carries out data fusion processing on the vehicle body three-dimensional outline data and the transport vehicle image data to obtain real-time azimuth and distance information of the transport vehicle relative to a truck, and the processor determines guide data according to the real-time azimuth and distance information, combines the guide data with a monitoring real-time image acquired by a monitoring camera and sends the guide data to the display for display;
The control subsystem calculates the positioning photographing position coordinates of the hoisting module on the transport vehicle according to the current azimuth and the distance information, and controls the crane to move to a position corresponding to the positioning photographing position coordinates of the hoisting module;
The control subsystem controls a second near infrared camera to shoot the hoisting module, the hoisting module target and the vehicle target, a shot image is obtained, and the actual position of the hoisting module on the transport vehicle is obtained through image processing calculation;
The control subsystem controls the crane to move to the actual position, receives the relative distance information of each point on the lifting module on the transport vehicle, which is measured by the laser ranging sensor, calculates the inclination angle of the lifting module on the transport vehicle according to the plane relative position of each point, and controls the manipulator to be positioned and butted with the lifting module on the transport vehicle according to the inclination angle.
According to one implementation manner of the second aspect of the present invention, the processor performs data fusion processing on the three-dimensional contour data of the vehicle body and the image data of the transport vehicle, and specifically includes:
The processor filters the interference background of the three-dimensional contour data of the vehicle body;
The processor extracts a region of interest of a transport vehicle image acquired by a first near infrared camera, and extracts three-dimensional point cloud data corresponding to 16-line laser radar scanning in the region of interest;
and the processor performs data fusion processing on the three-dimensional point cloud data and the three-dimensional contour data of the vehicle body.
According to one manner in which the second aspect of the invention can be implemented, the method further comprises the steps of:
The control subsystem controls the crane with the hoisting module to move above the truck;
the control subsystem shoots a vehicle target image of the truck through the second near infrared camera, and calculates the plane positioning position of the hoisting module by utilizing the interrelation of targets;
the control subsystem controls the crane to move to the position above the plane positioning position of the hoisting module;
the control subsystem controls the manipulator of the crane to place the hoisting module on the plane positioning position of the hoisting module.
A third aspect of the present invention provides a computer storage medium having stored thereon a computer program which, when executed by a processor, performs the method of automatic docking loading of a truck with a van as described above.
The invention has the beneficial effects that the butt joint loading system of the transport vehicle and the truck is formed by the parking guide detection subsystem, the hoisting module positioning detection subsystem and the control subsystem for controlling the manipulator of the crane, and the auxiliary parking guide, the hoisting module positioning detection and the automatic operation control of the truck can be realized. The system and the method for butt-joint loading of the transport vehicle and the truck have the advantages of all-weather operation, quick positioning, high-precision detection and automatic butt joint.
Drawings
The invention will be further described with reference to the accompanying drawings, in which embodiments do not constitute any limitation of the invention, and other drawings can be obtained by one of ordinary skill in the art without inventive effort from the following drawings.
FIG. 1 is a schematic illustration of the structural connection of an automatic docking loading system for a truck and a van in accordance with an exemplary embodiment of the present invention;
FIG. 2 is a schematic diagram of the installation location of a parking guidance detection subsystem according to an exemplary embodiment of the present invention;
FIG. 3 is a schematic illustration of the detection range of a park-guide detection subsystem according to an exemplary embodiment of the invention;
FIG. 4 is a schematic diagram of the installation location of a hoist module position detection subsystem according to an exemplary embodiment of the present invention;
fig. 5 is a flow chart of an automatic docking loading method for a truck and a van according to an exemplary embodiment of the present invention.
Reference numerals:
parking guidance detection subsystem 1, hoist and mount module location detection subsystem 2, control subsystem 3.
Detailed Description
The invention will be further described with reference to the following examples.
Referring to fig. 1 to 4, an embodiment of a first aspect of the present invention provides an automatic docking and loading system for a truck and a van, where both the truck and the van are provided with hoisting modules, and the van is further provided with a crane. According to the hoisting radius of the crane, the length, width and height of the transport truck, the length, width and height of the truck, two hoisting modules are symmetrically arranged on two sides of the tail of the transport truck, and the crane is arranged on the tail of the truck.
The system comprises a parking guide detection subsystem 1, a hoisting module positioning detection subsystem 2 and a control subsystem 3 for controlling a manipulator of the crane, wherein the parking guide detection subsystem 1 comprises a monitoring camera, a processor, a display, a 16-line laser radar for acquiring three-dimensional contour data of a vehicle body of a transport vehicle and a first near infrared camera for acquiring an image of the transport vehicle, and the 16-line laser radar, the first near infrared camera, the monitoring camera and the display are all connected with the processor;
The processor performs data fusion processing on the three-dimensional contour data of the vehicle body and the transport vehicle image acquired by the first near infrared camera to obtain real-time azimuth and distance information of the transport vehicle relative to the truck, determines guide data according to the real-time azimuth and distance information, combines the guide data with the monitoring real-time image acquired by the monitoring camera, and sends the combined guide data and the monitoring real-time image to the display for displaying, so that the transport vehicle is guided to stop in a specified range of the truck;
The processor acquires current position and distance information of the transport vehicle relative to the truck according to current three-dimensional contour data of the vehicle body and a current transport vehicle image when the transport vehicle is parked in a specified range of the truck, and sends the current position and distance information to the control subsystem 3;
The hoisting module positioning detection subsystem 2 comprises a second near infrared camera, a near infrared light source, a laser ranging sensor, a hoisting module target and a vehicle target, wherein the second near infrared camera and the laser ranging sensor are connected with the control subsystem 3;
the second near infrared camera is used for shooting the hoisting module, the hoisting module target and the vehicle target to obtain shooting images;
the control subsystem 3 calculates and analyzes the real-time position information of the hoisting module according to the shot image, and controls the manipulator to assemble and disassemble the hoisting module according to the current azimuth and distance information, the sensing information of the laser ranging sensor and the real-time position information.
In this embodiment, the rear portion of the transport vehicle is rugged, so that the volume is relatively large, and the external feature information of the transport vehicle may be changed over time. In order to ensure that the automatic butt-joint filling system continuously and stably operates, is not interfered by external environments, and reduces hardware cost, the parking guidance detection subsystem 1 in the embodiment adopts a combination of a 16-line laser radar, a first near infrared camera and a monitoring camera, and can meet the working requirements of all weather and possible changes of a vehicle body.
In this embodiment, the lifting modules are both arranged on the transport vehicle and the truck, wherein the lifting modules of the transport vehicle have no cargo, and the lifting modules of the truck have cargo, and because the lifting modules have a certain height difference, the heights photographed by the near infrared cameras are different, so that the lifting modules, the vehicle targets and the lifting module targets on the transport vehicle and the truck need to be photographed and identified, and the position parameters of the lifting modules in the manipulator coordinate system are obtained through calculation of an image identification algorithm.
In one implementation manner, the data fusion processing is performed on the three-dimensional contour data of the vehicle body and the vehicle image acquired by the first near infrared camera to obtain real-time azimuth and distance information of the vehicle relative to the truck, and the method specifically comprises the following steps:
filtering an interference background of the three-dimensional contour data of the vehicle body;
Extracting a region of interest of a transport vehicle image acquired by a first near infrared camera, and extracting three-dimensional point cloud data corresponding to 16-line laser radar scanning in the region of interest;
And carrying out data fusion processing on the three-dimensional point cloud data and the three-dimensional contour data of the vehicle body.
The method comprises the steps of acquiring an image of a transport vehicle by utilizing a vehicle body three-dimensional data outline obtained by a 16-line laser radar and a near-infrared camera to perform data fusion, firstly, calibrating the near-infrared camera, then calibrating the 16-line laser radar and calibrating the near-infrared camera in a combined mode to obtain calibration parameters and mutual position relation of the two, and then acquiring data fusion by utilizing the two.
In one implementation manner, as shown in fig. 4, the second near infrared camera, the near infrared light source, and the laser ranging sensor are arranged at the tail end of the crane in a form of integral module, and the controlling the manipulator loading and unloading and lifting module includes:
controlling the manipulator to take a hoisting module on the transport vehicle;
controlling the manipulator to put the hoisting module on the transport vehicle to a truck;
Controlling the manipulator to take a hoisting module on the truck;
And controlling the manipulator to put the hoisting module on the truck to the transport vehicle.
Wherein, the control manipulator gets hoist and mount module on the transport vechicle, concretely carries out:
calculating the positioning photographing position coordinates of a hoisting module on the transport vehicle according to the current azimuth and the distance information, and controlling the crane to move to a position corresponding to the positioning photographing position coordinates of the hoisting module;
Controlling the second near infrared camera to take a picture to obtain an image, and obtaining the actual position of the hoisting module on the transport vehicle through image processing calculation;
and controlling the crane to move to the actual position, receiving the relative distance information of each point on the lifting module on the transport vehicle, which is measured by the laser ranging sensor, calculating the inclination angle of the lifting module on the transport vehicle according to the plane relative position of each point, and positioning and butting the manipulator and the lifting module on the transport vehicle according to the inclination angle.
Further, the control of the manipulator to take the hoisting module on the transport vehicle is specifically performed, namely, after positioning and docking, a display is controlled to display prompt information for prompting that the automatic positioning of the hoisting module is completed.
The operation of placing the hoisting module to the truck is as follows, firstly, the placing hoisting position of the hoisting module is obtained, the position of the hoisting module of the truck is fixed, which hoisting module is taken away, and which hoisting module is left is known, so the hoisting position of the hoisting module is obtained from the control subsystem 3. The lifting modules on the transport vehicle are taken away in the process of taking the lifting modules, the positioning positions of the lifting modules can be obtained, and then the control subsystem 3 is informed to execute crane motion control, so that a crane with the lifting modules is moved to the position above the carrying vehicle. And shooting a vehicle target image through a near infrared camera below the crane, calculating the plane positioning position of the hoisting module by utilizing the correlation between targets, and if the calculated precision is not satisfied, repeatedly moving the crane position, and shooting and calculating through the camera. And after the precision meets the requirement, outputting the automatic positioning of the hoisting module at the display control interface, and manually confirming whether the alignment is accurate or not. And after the accurate alignment is confirmed, carrying out automatic lifting module placement actions.
The lifting module of the truck has articles and needs to be carried out. The operation of positioning the lifting module on the truck is similar to the operation of positioning the lifting module on the transport vehicle, except that the position data of the lifting module is obtained differently. Firstly, position data of a hoisting module of a truck are acquired, positioning and photographing position coordinates of the hoisting module are calculated according to the data, the control subsystem 3 is informed to control the crane to move to the corresponding photographing position, then a near infrared camera is adopted to photograph and acquire an image, the accurate position of the hoisting module is calculated through image processing, the control subsystem 3 is informed to control the crane to move to the corresponding position again, the position is also the working position of a laser ranging sensor, the relative distance information of each point on the hoisting module is measured through the laser ranging sensor, the inclination angle of the hoisting module is calculated according to the plane relative position of each point, the control subsystem 3 is informed to control the crane to move to the corresponding position again, at this time, the whole automatic butt joint process is completed, the automatic positioning of the hoisting module is output at a display control interface, and whether the alignment is accurate or not is required to be confirmed manually. And after the accurate alignment is confirmed, carrying out automatic lifting module placement actions.
The operation of controlling the manipulator to put the hoisting module on the truck to the transport vehicle is similar to the operation of putting the hoisting module on the truck, and the difference is that the sources of the hoisting position data of the hoisting module are different, and the avoidance position compensation operation is required due to the limitation of the placement position of the hoisting module on the transport vehicle. Firstly, the material taking and lifting position of the lifting module is obtained, the lifting module is taken away in the process of taking the lifting module on the transport vehicle, and the inclination angle position of the material taking and lifting can be obtained. The inclination angle position is used for guiding and adjusting the posture of the camera, so that the camera and the photographed surface are kept horizontal, and the position accuracy obtained by processing the camera image is ensured. Due to the limitation of the placement position of the hoisting module on the transport vehicle, the target is arranged below the hoisting module, and when the alignment action on the physical installation is completed, the hoisting module shields the target. Therefore, in order to avoid the problem in actual processing, a software assisted bias positioning mode is adopted, firstly, the alignment is carried out to a set bias position, and finally, the alignment during the placement of the hoisting module is completed through compensating the bias value.
In one implementation, the first near infrared camera and the second near infrared camera both employ near infrared cameras having a spectral range of 850 nm. The near infrared light source adopts 850nm near infrared band light supplementing.
Because the visible light camera needs to be irradiated by a visible light source at night, the irradiation of the light source by a plurality of transport vehicles can cause the confusion of the irradiation of the light source. The infrared camera is identified according to infrared imaging at night, the imaging precision of the transport vehicle is not high, the image contour is unclear, and accurate positioning cannot be achieved. The imaging quality precision of the low-light imaging camera is not high, and the full black scene cannot be worked and accurately positioned. The embodiment adopts a near infrared camera with the spectral band of 850nm, so that the imaging is clear under visible light, and meanwhile, the imaging can be clear at night through the near infrared light source of 850nm near infrared band light supplement, and the image can be shot in the daytime and the night by adopting the configuration.
The 16 laser radar adopts a TOF full-waveform scheme, and can scan and detect 360-degree surrounding environment. When the model of the 16 laser radar is selected, according to the vehicle parking positioning measurement precision, the technical indexes to be considered include a scanning angle, a scanning radius, the measurement precision, an angle resolution, a measurement frequency and a communication mode.
The 16-line laser radar, the first near infrared camera and the monitoring camera are arranged on the tail side of the truck, the installation direction is a horizontal head-up view direction, a rear view image can be captured, and the position of the parking guidance detection subsystem 1 is shown in fig. 2. The 16-line laser radar, the near infrared camera and the monitoring camera are required to be capable of shooting the whole transport vehicle and can work in all weather fields.
Further, each part of the parking guidance detection subsystem 1 can be assembled into a component, and a protective shell is installed outside to reduce the interference of environmental temperature, sewage and impurities in the running process of the truck and improve the environmental adaptability of the parking guidance detection subsystem 1. In order to ensure that the 16-line laser radar and the near infrared camera can work normally in a low-temperature environment, a local heating module can be arranged in the parking guidance detection subsystem 1, so that the environment temperature in the parking guidance detection subsystem 1 is increased.
In one implementation manner, the monitoring camera adopts a day-night full-color monitoring camera, so that 24-hour all-weather color monitoring camera can be used for displaying color images even in a low-light environment, and automatic light supplementing operation can be realized under the condition of insufficient illumination or no illumination, so that real-time shooting of color monitoring dynamic images can be realized. The full-color monitoring camera can be selected according to the types of color classification, definition, effective distance, lens size and focal length.
Wherein, hoist and mount module target is the target of setting on hoist and mount module, and the vehicle target is the target of setting on transport vechicle, truck. In one implementation, the targets are round patterns, are circulated at intervals of 90 degrees in black and red, have diameters of 2cm, ensure sufficient recognition rate and recognition accuracy, and are fixedly mounted on the hoisting modules, trucks and transport vehicles in a printing mode. In order to ensure the positioning accuracy, two targets are arranged on one side of each hoisting module. The target positions on the trucks and the transport vehicles are arranged on the same side with the target points on the hoisting modules by taking the mounting holes of the hoisting modules as references.
As shown in fig. 5, a second aspect of the present invention provides an automatic docking loading method for a truck and a van, which relies on the automatic docking loading system for a truck and a van.
Wherein the transport vehicle and the truck are provided with hoisting modules, the truck is also provided with a crane, the tail end of the crane is provided with a second near infrared camera, a near infrared light source, a laser ranging sensor, a hoisting module target and a vehicle target,
The method comprises the following steps:
The system comprises a control subsystem, a processor, a display, a control subsystem, a display and a display, wherein the control subsystem receives current azimuth and distance information sent by the processor, the processor receives three-dimensional contour data of a vehicle body of a transport vehicle acquired by a 16-line laser radar and transport vehicle image data acquired by a first near infrared camera, the processor performs data fusion processing on the three-dimensional contour data of the vehicle body and the transport vehicle image data to obtain real-time azimuth and distance information of the transport vehicle relative to a truck, the processor determines guide data according to the real-time azimuth and distance information, combines the guide data with a monitoring real-time image acquired by the monitoring camera and sends the guide data to the display for display, and the processor sends the current azimuth and distance information to the control subsystem when the current real-time azimuth and distance information is consistent with the real-time azimuth and distance information acquired at the previous time;
S2, the control subsystem calculates the positioning photographing position coordinates of the hoisting module on the transport vehicle according to the current azimuth and the distance information, and controls the crane to move to a position corresponding to the positioning photographing position coordinates of the hoisting module;
S3, the control subsystem controls a second near infrared camera to shoot the hoisting module, the hoisting module target and the vehicle target, a shooting image is obtained, and the actual position of the hoisting module on the transport vehicle is obtained through image processing calculation;
S4, the control subsystem controls the crane to move to the actual position, receives the relative distance information of each point on the lifting module on the transport vehicle, which is measured by the laser ranging sensor, calculates the inclination angle of the lifting module on the transport vehicle according to the plane relative position of each point, and controls the manipulator to be positioned and butted with the lifting module on the transport vehicle according to the inclination angle.
In one implementation manner, the processor performs data fusion processing on the three-dimensional contour data of the vehicle body and the image data of the transport vehicle, and specifically includes:
The processor filters the interference background of the three-dimensional contour data of the vehicle body;
The processor extracts a region of interest of a transport vehicle image acquired by a first near infrared camera, and extracts three-dimensional point cloud data corresponding to 16-line laser radar scanning in the region of interest;
and the processor performs data fusion processing on the three-dimensional point cloud data and the three-dimensional contour data of the vehicle body.
Further, the method comprises the following steps:
The control subsystem controls the crane with the hoisting module to move above the truck;
the control subsystem shoots a vehicle target image of the truck through the second near infrared camera, and calculates the plane positioning position of the hoisting module by utilizing the interrelation of targets;
the control subsystem controls the crane to move to the position above the plane positioning position of the hoisting module;
the control subsystem controls the manipulator of the crane to place the hoisting module on the plane positioning position of the hoisting module.
A third aspect of the present invention provides a computer storage medium having stored thereon a computer program which, when executed by a processor, performs the method of automatic docking loading of a truck with a van as described above.
The invention comprises a parking guide detection subsystem, a hoisting module positioning detection subsystem and a control subsystem for controlling a manipulator of the crane, wherein the control subsystem is used for controlling the docking loading system of the transport vehicle and the truck, and can realize auxiliary parking guide, hoisting module positioning detection and automatic operation control of the truck. The system and the method for butt-joint loading of the transport vehicle and the truck have the advantages of all-weather operation, quick positioning, high-precision detection and automatic butt joint.
Finally, it should be noted that the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the scope of the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made to the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention.
Claims (9)
1. The automatic butt-joint filling system for the transport vehicle and the truck is characterized in that the system comprises a parking guide detection subsystem, a hoisting module positioning detection subsystem and a control subsystem for controlling a manipulator of the crane, wherein the parking guide detection subsystem comprises a monitoring camera, a processor, a display, a 16-line laser radar for acquiring three-dimensional contour data of a vehicle body of the transport vehicle and a first near infrared camera for acquiring images of the transport vehicle, and the 16-line laser radar, the first near infrared camera, the monitoring camera and the display are all connected with the processor;
The processor performs data fusion processing on the three-dimensional contour data of the vehicle body and the transport vehicle image acquired by the first near infrared camera to obtain real-time azimuth and distance information of the transport vehicle relative to the truck, determines guide data according to the real-time azimuth and distance information, combines the guide data with the monitoring real-time image acquired by the monitoring camera, and sends the combined guide data and the monitoring real-time image to the display for displaying, so that the transport vehicle is guided to stop in a specified range of the truck;
The processor acquires current position and distance information of the transport vehicle relative to the truck according to current three-dimensional contour data of the vehicle body and a current transport vehicle image when the transport vehicle is parked in a specified range of the truck, and sends the current position and distance information to the control subsystem;
the hoisting module positioning detection subsystem comprises a second near infrared camera, a near infrared light source, a laser ranging sensor, a hoisting module target and a vehicle target, wherein the second near infrared camera and the laser ranging sensor are connected with the control subsystem;
the second near infrared camera is used for shooting the hoisting module, the hoisting module target and the vehicle target to obtain shooting images;
The control subsystem calculates and analyzes the real-time position information of the hoisting module according to the shot image, and controls the manipulator to assemble and disassemble the hoisting module according to the current azimuth and distance information, the sensing information of the laser ranging sensor and the real-time position information;
The three-dimensional contour data of the vehicle body and the transport vehicle image acquired by the first near infrared camera are subjected to data fusion processing to obtain real-time azimuth and distance information of the transport vehicle relative to the truck, and the method specifically comprises the following steps:
filtering an interference background of the three-dimensional contour data of the vehicle body;
Extracting a region of interest of a transport vehicle image acquired by a first near infrared camera, and extracting three-dimensional point cloud data corresponding to 16-line laser radar scanning in the region of interest;
And carrying out data fusion processing on the three-dimensional point cloud data and the three-dimensional contour data of the vehicle body.
2. The automatic docking and loading system of a truck and a van according to claim 1, wherein the second near infrared camera, the near infrared light source, and the laser ranging sensor are arranged at the end of the crane in a form of an integral module, and the controlling the manipulator loading and unloading and lifting module comprises:
controlling the manipulator to take a hoisting module on the transport vehicle;
controlling the manipulator to put the hoisting module on the transport vehicle to a truck;
Controlling the manipulator to take a hoisting module on the truck;
And controlling the manipulator to put the hoisting module on the truck to the transport vehicle.
3. The automatic docking and loading system of a truck and a van according to claim 2, wherein the controlling the manipulator to take the lifting module on the truck specifically performs:
calculating the positioning photographing position coordinates of a hoisting module on the transport vehicle according to the current azimuth and the distance information, and controlling the crane to move to a position corresponding to the positioning photographing position coordinates of the hoisting module;
Controlling the second near infrared camera to take a picture to obtain an image, and obtaining the actual position of the hoisting module on the transport vehicle through image processing calculation;
and controlling the crane to move to the actual position, receiving the relative distance information of each point on the lifting module on the transport vehicle, which is measured by the laser ranging sensor, calculating the inclination angle of the lifting module on the transport vehicle according to the plane relative position of each point, and positioning and butting the manipulator and the lifting module on the transport vehicle according to the inclination angle.
4. The automatic docking and loading system for a transport vehicle and a truck according to claim 3, wherein the control of the manipulator to take the lifting module on the transport vehicle is further specifically performed by controlling a display to display prompt information for prompting completion of automatic positioning of the lifting module after positioning and docking.
5. The automated docking loading system of claim 1, wherein the first near infrared camera and the second near infrared camera are near infrared cameras having a spectral range of 850 nm.
6. The automatic butt-joint filling method for the transport vehicle and the truck is characterized in that a second near infrared camera, a near infrared light source, a laser ranging sensor, a hoisting module target and a vehicle target are arranged at the tail end of the crane,
The method comprises the following steps:
The control subsystem receives current azimuth and distance information sent by a processor, wherein the processor receives three-dimensional contour data of a vehicle body of a transport vehicle acquired by a 16-line laser radar and transport vehicle image data acquired by a first near infrared camera, the processor performs data fusion processing on the three-dimensional contour data of the vehicle body and the transport vehicle image data to obtain real-time azimuth and distance information of the transport vehicle relative to a truck, the processor determines guide data according to the real-time azimuth and distance information, combines the guide data with a monitoring real-time image acquired by a monitoring camera and sends the guide data to a display for display, and the processor sends the current azimuth and distance information to the control subsystem when the current real-time azimuth and distance information is consistent with the real-time azimuth and distance information acquired at the previous time;
The control subsystem calculates the positioning photographing position coordinates of the hoisting module on the transport vehicle according to the current azimuth and the distance information, and controls the crane to move to a position corresponding to the positioning photographing position coordinates of the hoisting module;
The control subsystem controls a second near infrared camera to shoot the hoisting module, the hoisting module target and the vehicle target, a shot image is obtained, and the actual position of the hoisting module on the transport vehicle is obtained through image processing calculation;
The control subsystem controls the crane to move to the actual position, receives the relative distance information of each point on the lifting module on the transport vehicle, which is measured by the laser ranging sensor, calculates the inclination angle of the lifting module on the transport vehicle according to the plane relative position of each point, and controls the manipulator to be positioned and butted with the lifting module on the transport vehicle according to the inclination angle.
7. The automatic docking and loading method of a truck and a van according to claim 6, wherein the processor performs data fusion processing on the three-dimensional contour data of the vehicle body and the image data of the truck, and specifically comprises:
The processor filters the interference background of the three-dimensional contour data of the vehicle body;
The processor extracts a region of interest of a transport vehicle image acquired by a first near infrared camera, and extracts three-dimensional point cloud data corresponding to 16-line laser radar scanning in the region of interest;
and the processor performs data fusion processing on the three-dimensional point cloud data and the three-dimensional contour data of the vehicle body.
8. The method of automated docking loading of a truck to a van of claim 6, further comprising the steps of:
The control subsystem controls the crane with the hoisting module to move above the truck;
the control subsystem shoots a vehicle target image of the truck through the second near infrared camera, and calculates the plane positioning position of the hoisting module by utilizing the interrelation of targets;
the control subsystem controls the crane to move to the position above the plane positioning position of the hoisting module;
the control subsystem controls the manipulator of the crane to place the hoisting module on the plane positioning position of the hoisting module.
9. A computer storage medium having stored thereon a computer program which, when executed by a processor, performs the method of automatic docking loading of a truck with a van according to any one of claims 6-8.
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| CN112363510A (en) * | 2020-11-23 | 2021-02-12 | 西南交通大学 | Automatic driving marshalling vehicle automatic butt joint method |
| CN112363130B (en) * | 2020-11-30 | 2023-11-14 | 东风汽车有限公司 | Vehicle-mounted sensor calibration method, storage medium and system |
| CN113029124B (en) * | 2021-03-03 | 2024-01-16 | 吉林大学 | Three-dimensional attitude position measurement device based on infrared visual guidance and laser ranging |
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| CN119409076B (en) * | 2024-10-30 | 2025-04-29 | 中国人民解放军军事航天部队航天工程大学士官学校 | Intelligent hoisting transfer system and method for high-density quick-response small carrier rocket |
| CN119904518A (en) * | 2024-12-31 | 2025-04-29 | 江苏君昱合流体设备科技有限公司 | A crane pipe automatic alignment system and alignment method based on image analysis |
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