Carrying system, method and system, terminal and storage medium

Abstract

The invention belongs to the technical field of vehicle part transportation, and particularly relates to a carrying system, method and system, a terminal and a storage medium. The carrying system comprises a carrying tray, a mass sensor is installed in the center of the bottom of the carrying tray, and path detection assemblies are installed on the periphery of the carrying tray; a plurality of transverse baffle assemblies and a plurality of longitudinal baffle assemblies are installed at the top end of the carrying tray. A controller is arranged in the carrying tray, and the controller specifies a carrying path according to information fed back by the mass sensor and the path detection assembly and drives the transverse baffle assembly and the longitudinal baffle assembly to fix the articles. Through the mass sensor and the electric baffle assembly, automatic weighing, size measurement and stable clamping of objects are achieved, and errors and potential safety hazards caused by manual operation are avoided; a path planning strategy is formulated based on a preset algorithm, a smooth obstacle avoidance path can be generated in real time in combination with multi-sensor environment perception, and an intelligent and high-reliability solution is provided for laboratory testing.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle component transportation, and in particular relates to a transportation system, method, system, terminal and storage medium. Background Art

[0002] In recent years, with the increasing prominence of global energy security issues and the continuous escalation of environmental protection needs, the new energy vehicle industry, as a key area for achieving green transportation transformation, has shown explosive growth. According to statistics, as of now, the number of new energy vehicles has exceeded 20 million, marking that the industry has officially entered the stage of large-scale development. However, behind this booming development, the R&D and testing of core components of new energy vehicles faces many technical challenges, especially the handling problem in the laboratory environment, which has become a major bottleneck restricting the improvement of R&D efficiency.

[0003] The core components of new energy vehicles, such as power battery packs and drive motors, are often bulky and have concentrated mass. When conducting performance tests in the laboratory, these components need to frequently move in and out of different test benches in a limited space. The transportation solutions currently commonly used in laboratories are still at the traditional stage, such as forklifts in conjunction with crane hoisting, or laying fixed tracks in specific areas. This type of method not only takes up a lot of space resources, but also leads to the solidification of the transportation path and the inability to flexibly adapt to the needs of multiple bench tests. In addition, transportation by forklift is not only limited by the complex spatial layout and narrow passages of the laboratory, but also the need to adjust the position of the forklift multiple times. It is not only inefficient, but also increases the risk of collision, resulting in high incidence of sample damage and test equipment failure.

[0004] Although the existing intelligent handling system has achieved certain applications in the field of industrial production, its technical solutions have obvious defects in laboratory scenarios. Although the system based on visual recognition can achieve basic positioning, it has a lag in responding to dynamic obstacles; although the robotic arm solution is highly flexible, it is limited by the operating radius and load capacity and cannot meet the needs of handling large parts; more importantly, these systems generally have the problem of single function, which can only achieve point-to-point transportation and lack intelligent functions such as automatic obstacle avoidance and real-time weighing. Summary of the invention

[0005] In view of the defects in the prior art that the traditional transportation of new energy vehicle parts relies on forklifts and cranes for lifting, or the laying of fixed tracks in specific areas, which not only takes up a lot of space resources, but also leads to the rigidification of the transportation path and the inability to flexibly adapt to the requirements of multiple test benches, the present invention provides a transportation system, method, system, terminal and storage medium to solve the above technical problems.

[0006] In a first aspect, the present invention provides a handling system, including a handling tray. A number of driving wheels are installed at the bottom of the handling tray. A mass sensor is installed at the central position of the bottom of the handling tray. A path detection component is installed around the handling tray. A number of transverse baffle components and a number of longitudinal baffle components are installed at the top of the handling tray. The transverse baffle components and the longitudinal baffle components are vertically arranged. The transverse baffle components and the longitudinal baffle components are both slidably connected to the handling tray. An article fixing space is formed between the transverse baffle components and the longitudinal baffle components. A controller is arranged inside the handling tray. The path detection component and the mass sensor are both connected to the input end of the controller. The controller designates a handling path according to the information fed back by the mass sensor and the path detection component, drives the transverse baffle components and the longitudinal baffle components to fix the article, and drives the driving wheels to drive the handling tray to handle the article.

[0007] A further improvement of this technical solution is that there are two parallel transverse baffle components and two parallel longitudinal baffle components. The transverse baffle component includes a transverse baffle and first support rods arranged at both ends of the transverse baffle. The first support rods are vertically arranged on the handling tray. A first sliding unit is arranged at the bottom end of the first support rod. The longitudinal baffle component includes a longitudinal baffle and second support rods arranged at both ends of the longitudinal baffle. The second support rods are vertically arranged on the handling tray. A second sliding unit is arranged at the bottom end of the second support rod. The first sliding unit and the second sliding unit are both connected to the output end of the controller.

[0008] A further improvement of this technical solution is that the installation height of the longitudinal baffle is higher than that of the transverse baffle.

[0009] A further improvement of this technical solution is that the path detection component includes a camera and a ranging radar. The camera and the ranging radar are both connected to the input end of the controller.

[0010] In a second aspect, the present invention provides a handling method based on the handling system described in any one of the above, including: Judging whether an article is placed on the handling tray according to the information fed back by the mass sensor; If so, driving the transverse baffle and the longitudinal baffle to move towards the article until the transverse baffle and the longitudinal baffle jointly apply force to clamp the article, and feeding back the moving distance to the controller; The controller calculates the size information of the article according to the fed-back moving distance, and stores the mass information and size information of the article; The controller starts the camera and the ranging radar to detect the environment around the handling tray; Formulating a handling path according to the detected environmental information based on a pre-stored path planning algorithm; The controller drives the driving wheels to move the handling tray according to the handling path, and judges whether there are obstacles around the handling tray according to the environmental information real-time feedback by the ranging radar during the movement of the handling tray; If so, an audible and visual alarm is given, and the handling path is adjusted according to the received environmental information.

[0011] A further improvement of this technical solution is that the handling path is formulated according to the detected environmental information based on a pre-stored path planning algorithm, and the method includes: Construct a grid map including passable areas and obstacles according to the detected environmental information; Obstacles include static obstacles and dynamic obstacles; The constructed grid map is updated in real time through the pre-stored SLAM algorithm; Define the current position point of the handling tray and the target handling point of the handling tray; Starting from the starting point, traverse all reachable nodes, calculate the shortest distance from each node to the starting point, and generate multiple candidate paths; The controller calculates the score of each candidate path according to the evaluation function in the pre-stored path planning algorithm, and takes the candidate path with the highest evaluation score as the optimal path.

[0012] A further improvement of this technical solution is that the expression of the evaluation function of the pre-stored path planning algorithm is: ; Among them, is the normalization coefficient; is the azimuth evaluation function; is the azimuth weight; is the distance evaluation function; is the distance weight; is the speed evaluation function; is the speed weight; is the linear velocity; is the angular velocity.

[0013] A further improvement of this technical solution is that the azimuth evaluation function The expression of is: ; Among them, is the direction angle of the target handling point; is the direction angle of the end of the current planned path; is the attitude adjustment amount, calculated through the angular velocity, , among which, is the acceleration, , is the time; The distance evaluation function The expression is: ; Among them, is the environmental complexity coefficient, that is, the proportion of static obstacles; is the shortest distance from the current handling tray to the static obstacle; is the shortest distance from the current handling tray to the dynamic obstacle; Speed evaluation function The expression is: ; Among them, is the maximum linear speed; is the maximum angular speed.

[0014] Thirdly, the present invention provides a terminal, including: A processor and a memory, among which, the memory is used to store a computer program, the processor is used to call and run the computer program from the memory, so that the terminal executes the method of the above-mentioned terminal.

[0015] Fourthly, the present invention provides a computer storage medium, and instructions are stored in the computer-readable storage medium. When it runs on a computer, the computer is enabled to execute the methods described in the above aspects.

[0016] The beneficial effects of the present invention are as follows. The intelligent handling system provided by the present invention through the collaborative innovation of multi-sensor fusion and dynamic path planning algorithm significantly improves the handling efficiency and safety of the core components of new energy vehicles in the laboratory environment. The quality sensor and electric baffle assembly integrated in the system realize automatic weighing, size measurement and stable clamping of items, avoiding errors and safety hazards of manual operation; based on the preset algorithm to formulate a path planning strategy, combined with multi-sensor environmental perception, a smooth obstacle avoidance path can be generated in real time to effectively cope with dynamic obstacles and narrow passage scenarios; the dynamic weight adjustment mechanism adaptively optimizes the path strategy according to the environmental complexity and power status, balancing safety and efficiency; the multiple alarm and emergency braking system constructs a redundant safety system to reduce the collision risk; the modular design supports the handling of different specifications of samples, and the remote control function reduces the need for personnel intervention. The system successfully solves the problems of fixed paths, low efficiency and single function of traditional handling methods, and provides an intelligent and highly reliable solution for laboratory tests.

[0017] In addition, the design principle of the present invention is reliable and the structure is simple, having a very wide application prospect. Description of the Drawings

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0019] Figure 1 The upper right schematic diagram of the system according to an embodiment of the present invention.

[0020] Figure 2 The lower right schematic diagram of the system according to an embodiment of the present invention.

[0021] Figure 3 The schematic flowchart of the method according to an embodiment of the present invention.

[0022] Figure 4 The schematic structural diagram of a terminal provided by an embodiment of the present invention.

[0023] 110 is a handling tray, 120 is a driving wheel, 130 is a mass sensor, 140 is a path detection component, 150 is a lateral baffle component, and 160 is a longitudinal baffle component. Detailed implementation manners

[0024] To make the objectives, features, and advantages of the present invention more obvious and understandable, the following will clearly and completely describe the technical solutions in the present invention in conjunction with the accompanying drawings in the specific embodiments of the present invention. Obviously, the embodiments described below are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0026] Such as Figure 1 And Figure 2As shown in the figure, the present invention provides a handling system, which includes a handling tray. A number of drive wheels are installed at the bottom of the handling tray. A mass sensor is installed at the center position of the bottom of the handling tray. A path detection component is installed around the handling tray. A number of transverse baffle components and a number of longitudinal baffle components are installed at the top of the handling tray. The transverse baffle components and the longitudinal baffle components are vertically arranged. The transverse baffle components and the longitudinal baffle components are both slidably connected to the handling tray. An article fixing space is formed between the transverse baffle components and the longitudinal baffle components. A controller is arranged inside the handling tray. The path detection component and the mass sensor are both connected to the input end of the controller. The controller specifies a handling path according to the information fed back by the mass sensor and the path detection component, drives the transverse baffle components and the longitudinal baffle components to fix the article, and drives the drive wheels to drive the handling tray to handle the article.

[0027] Among them, the handling tray adopts a modular aluminum alloy frame, and an anti-slip rubber pad is laid on the bearing surface, which can be adapted to the power battery pack of new energy vehicles. A mass sensor (range 0 - 500 kg, accuracy ±0.1%) is embedded at the center position of the bottom of the tray for real-time monitoring of the load. 4 groups of omnidirectional Mecanum wheels (drive wheels) are installed at the bottom, and each group is equipped with an independent servo motor (power 200 W, speed 0 - 1500 rpm), supporting a linear velocity of ±2 m / s and an angular velocity of ±20 rad / s. The drive wheels are made of polyurethane-coated rubber and are suitable for various floors such as laboratory floor tiles and epoxy floors.

[0028] Specifically, two transverse baffle components are arranged in parallel, and two longitudinal baffle components are arranged in parallel. The transverse baffle component includes a transverse baffle and first support rods arranged at both ends of the transverse baffle. The first support rods are vertically arranged on the handling tray, and a first sliding unit is arranged at the bottom end of the first support rods. The longitudinal baffle component includes a longitudinal baffle and second support rods arranged at both ends of the longitudinal baffle. The second support rods are vertically arranged on the handling tray, and a second sliding unit is arranged at the bottom end of the second support rods. The first sliding unit and the second sliding unit are both connected to the output end of the controller. And the installation height of the longitudinal baffle is higher than the installation height of the transverse baffle.

[0029] Among them, the transverse baffle assembly is made of high-strength aluminum alloy. The inner surface of each transverse baffle is covered with an elastic rubber pad to increase friction. The first support rods at both ends of the transverse baffle are of telescopic structure and are vertically installed on the transverse guide rail of the handling tray. An electric slide table is equipped at the bottom end as the first sliding unit. The electric slide table uses ball screw drive and is driven by a servo motor (with a stroke of 0 - 1.2 meters and a positioning accuracy of ±0.5 mm), which can realize the in-phase or out-of-phase movement of the transverse baffle. The longitudinal baffle assembly is made of the same material as the transverse baffle. The installation height of each group of longitudinal baffles is 0.1 meters higher than that of the transverse baffle, forming a three-dimensional clamping space. The second support rod is also of telescopic structure and is vertically installed on the longitudinal guide rail of the handling tray. An electric slide table is equipped at the bottom end as the second sliding unit. The parameters of the electric slide table are the same as those of the transverse baffle to ensure the precise movement of the longitudinal baffle. Three groups of pressure sensors (with a measuring range of 0 - 500 N and an accuracy of ±1%) are embedded in the inner sides of the transverse baffle and the longitudinal baffle respectively, and are evenly distributed on the baffle contact surface to monitor the clamping force in real time and prevent damage to the items.

[0030] In addition, the path detection component includes a camera and a ranging radar. Both the camera and the ranging radar are connected to the input end of the controller. Among them, four groups of 16-line lidars (such as the lidar of model Hokuyo UTM-30LX) are selected for the ranging radar and are symmetrically installed on the four sides of the handling tray. The horizontal field of view angle is 360°, and the ranging accuracy is ±3 mm. Each group of radars is connected to the controller through an RS422 interface, and the data refresh rate is 10 Hz. The radar bracket for installing the ranging radar adopts a shock-absorbing design, and the handling vibration is isolated through rubber pads to ensure the measurement stability. Four groups of industrial-grade high-definition cameras (such as the camera of model Basler acA2040-90um) are selected for the camera and are installed on the four sides of the tray. A 12-mm wide-angle lens is equipped, the resolution is 1920×1080, and the frame rate is 30 fps. The camera adopts an IP67 protection level, adapts to the changes in temperature and humidity in the test room, and the lens surface is coated with an anti-scratch film to reduce wear during long-term use. In addition, the present invention also provides an ultrasonic blind area compensation system. Eight groups of waterproof ultrasonic sensors (such as the ultrasonic sensor of model Maxbotix MB7360) are selected for the ultrasonic blind area compensation system and are evenly distributed on the tray edge for blind area compensation of obstacles at a short distance (0 - 3 m). The detection range of the ultrasonic sensor is 0 - 3 m, and the blind area is <0.1 m. The ultrasonic sensor is connected to the controller through a GPIO interface, and the response time is <50 ms.

[0031] In addition, the main controller uses a high-performance industrial computer (Intel i7 processor, 8GB of memory), integrates a real-time operating system (RTX64), and supports multi-task parallel processing. In addition, the present invention further includes a wireless communication and a power supply module; among them, the wireless communication uses a wireless communication module (5G communication module) to achieve remote communication with the host computer, with a transmission rate ≥ 100Mbps and a delay < 5ms; the power supply module selects a 48V / 20Ah lithium-ion battery and is equipped with a power management module, and automatically returns to the charging point when the remaining power < 20%.

[0032] The working principle of the handling system is as follows: when the mass sensor detects a load change (threshold > 10kg), it triggers the baffle to act; the horizontal baffle and the vertical baffle move towards each other, the encoder records the moving distance, and calculates the size of the item (the length, width, and height parameters of the item, with an accuracy of ±2mm) based on the moving distance, and the clamping force is real-time fed back by the pressure sensor. When the preset pressure value is reached, both the horizontal baffle and the vertical baffle stop moving; if no pressure change is detected within 3 seconds, an alarm is triggered and the operation stops. Then, the controller specifies the handling path according to the information fed back by the mass sensor and the path detection component, and drives the horizontal baffle assembly and the vertical baffle assembly to fix the item, and drives the driving wheels to drive the handling tray to handle the item.

[0033] As Figure 3 shown, the present invention provides a handling method based on the handling system described in any one of the above, including: Step 310, according to the information fed back by the mass sensor, determine whether an item is placed on the handling tray; if so, go to step 320; Step 320, drive the horizontal baffle and the vertical baffle to move towards the item until the horizontal baffle and the vertical baffle jointly apply force to clamp the item, and feed back the moving distance to the controller; Step 330, the controller calculates the size information of the item according to the fed-back moving distance, and saves the mass information and size information of the item; Step 340, the controller starts the camera and the ranging radar to detect the environment around the handling tray; Step 350, formulate a handling path according to the detected environmental information based on the pre-stored path planning algorithm; Step 360, the controller drives the driving wheels to drive the handling tray to move according to the handling path, and judges whether there are obstacles around the handling tray according to the environmental information real-time fed back by the ranging radar during the movement of the handling tray; if so, go to step 370; Step 370, perform an audible and visual alarm, and adjust the handling path according to the received environmental information.

[0034] For the convenience of understanding the present invention, the principle of the handling method of the present invention will be described below in combination with the process of handling an item in an embodiment to further describe the handling method provided by the present invention.

[0035] S310. Determine whether an item is placed on the handling tray according to the information fed back by the mass sensor.

[0036] Specifically, when the handling system is in an idle state, the mass sensor outputs a stable reference value, which represents the weight of the empty tray itself. When a tester places the core components of a new energy vehicle (such as a power battery pack, a drive motor, etc.) on the tray, the sensor immediately senses the increase in weight and generates a corresponding change in the electrical signal. This change is amplified and processed by the circuit inside the sensor and then converted into a digital signal and transmitted to the controller inside the handling tray.

[0037] After receiving the feedback signal from the mass sensor, the controller first performs filtering processing on it to eliminate noise and interference and improve the accuracy of the data. Then, the controller compares the processed signal with a preset threshold. This threshold is determined jointly according to the weight of the empty tray and the minimum weight of the item that the system can handle. If the feedback signal is greater than the threshold, the controller determines that an item has been placed on the handling tray and is ready to perform subsequent handling operations; if the feedback signal is less than or equal to the threshold, it is determined that no item is placed on the tray, and the system remains in a standby state waiting for further instructions.

[0038] S320. Drive the transverse baffle and the longitudinal baffle to move towards the item until the transverse baffle and the longitudinal baffle apply force together to clamp the item, and feed back the moving distance to the controller.

[0039] When the handling system receives the instruction to clamp the item, or when the mass sensor detects a load change, the controller immediately starts the driving mechanism, drives the electric slide table through the servo motor, and makes the transverse baffle and the longitudinal baffle move towards the item. During the movement, the controller will real-time monitor the encoder signal of the electric slide table and accurately record the moving distance of the transverse baffle and the longitudinal baffle. These distance data are crucial for calculating the dimensions of the item (length, width, and height parameters, with an accuracy of ±2 mm) and determining whether the baffle has generated sufficient clamping force on the item subsequently.

[0040] As the horizontal baffle and the vertical baffle gradually approach, they will come into contact with the item and start applying a clamping force. Inside the baffle, we have embedded a pressure sensor to monitor the magnitude of the clamping force in real time. When the clamping force reaches the preset pressure value, the controller will receive the feedback signal from the pressure sensor and immediately stop driving the servo motor, causing the horizontal baffle and the vertical baffle to stop moving. At this time, the item is firmly clamped between the baffles and cannot slide or shift.

[0041] S330. The controller calculates the size information of the item based on the feedback moving distance and saves the quality information and size information of the item.

[0042] The controller also processes and analyzes the moving distance recorded by the encoder. Since the moving distances of the horizontal baffle and the vertical baffle directly reflect the size information of the item, the controller can calculate the length, width, and height parameters of the item based on this data, providing important reference information for subsequent handling path planning and dynamic obstacle avoidance. In addition, the controller also stores the data of the moving distance and the pressure sensor in the memory for subsequent analysis and use.

[0043] During the entire clamping process, if no change in the pressure sensor is detected within 3 seconds (i.e., the clamping force does not reach the preset value or is not stable), the controller will trigger an alarm and stop the operation to prevent damage to the item or handling accidents caused by unstable clamping. This intelligent feedback mechanism ensures the safety and reliability of the handling system.

[0044] S340. The controller activates the camera and the ranging radar to detect the environment around the handling tray.

[0045] When the handling system is ready to perform a handling operation, the controller will first activate the camera and the ranging radar to comprehensively detect the environment around the handling tray. The camera will capture real-time images around the tray. Through image processing algorithms, the controller can identify key information such as obstacles, channels, and marking lines. This information is crucial for judging the feasibility of the handling path, planning obstacle avoidance strategies, and monitoring environmental changes during the handling process.

[0046] At the same time, the ranging radar is constantly emitting and receiving laser signals to measure the distance to the objects around the tray. Due to the high precision and high resolution of lidar, it can accurately measure the distance between the object and the tray and can even detect some small obstacles that are difficult for the camera to capture. Combining these data with the image information of the camera provides the controller with more comprehensive and accurate surrounding environment information.

[0047] After detecting the environmental information, the controller will fuse and process this data. Through intelligent control algorithms, the controller can analyze key parameters such as the distribution of obstacles, the width of the passage, and the turning radius on the handling path, so as to formulate the optimal handling path. If an obstacle is detected blocking the handling path, the controller will promptly adjust the handling strategy, select an obstacle avoidance path or stop the handling operation to ensure the safety and reliability of the handling process.

[0048] In addition, the controller will also display the environmental information detected by the camera and the ranging radar in real time on the operation interface of the handling system for the operator's reference. The operator can understand the environmental conditions around the handling pallet at any time based on this information and monitor and adjust the handling process. This design of human-machine interaction not only improves the operability of the handling system but also enhances the operator's control ability over the handling process.

[0049] Specifically, according to the detected environmental information, a handling path is formulated based on a pre-stored path planning algorithm. The method includes: S351. Construct a grid map including passable areas and obstacles according to the detected environmental information; the obstacles include static obstacles and dynamic obstacles; S352. Update the constructed grid map in real time through the pre-stored SLAM algorithm; S353. Define the current position point of the handling pallet and the target handling point of the handling pallet; S354. Starting from the starting point, traverse all reachable nodes, calculate the shortest distance from each node to the starting point, and generate multiple candidate paths; S355. The controller calculates the score of each candidate path according to the evaluation function in the pre-stored path planning algorithm and takes the candidate path with the highest evaluation score as the optimal path.

[0050] S351. Construct a grid map including passable areas and obstacles according to the detected environmental information.

[0051] The first step of the system is to construct a 2D grid map of the laboratory. This task is mainly undertaken by the lidar. The lidar scans the surrounding environment in real time, generating high-precision point cloud data. These data are processed through the Gmapping algorithm, and finally a 2D grid map with a resolution of 0.05m / grid is constructed. On this map, the passable areas and obstacles are clearly marked. Obstacles are divided into two categories: static and dynamic. Static obstacles, such as test benches, walls, etc., are objects continuously detected by the lidar during continuous scanning. Their positions are relatively fixed and do not change within a short period of time. Dynamic obstacles, such as personnel, mobile devices, etc., are identified through cameras. The cameras use the YOLOv5 algorithm to detect dynamic obstacles in real time, with an identification accuracy rate as high as 98.7%. In this way, the system can accurately grasp the spatial layout and obstacle distribution in the laboratory, providing reliable basic data for subsequent path planning.

[0052] During the process of constructing the grid map, the system also needs to consider the existence of transparent obstacles. Transparent obstacles, such as glass partitions, may pose certain detection difficulties for lidars and cameras. Therefore, we introduce ultrasonic sensors to assist in detection. The ultrasonic sensors emit ultrasonic waves and receive the echoes, and judge the existence and position of transparent objects based on the echo intensity and time difference. Once a transparent obstacle is detected, the system will mark it at the corresponding position on the grid map and maintain a certain safety distance (such as 1.2m) during path planning to ensure safety during the handling process.

[0053] S352. The constructed grid map is updated in real time through a pre-stored SLAM algorithm.

[0054] After constructing the initial grid map, the system needs to update the map information in real time to cope with environmental changes. This task is achieved through a pre-stored SLAM (Simultaneous Localization and Mapping) algorithm. The SLAM algorithm can combine the data from lidars, cameras, and ultrasonic sensors to locate the position of the handling tray in real time and simultaneously update the grid map. The Extended Kalman Filter (EKF) algorithm plays an important role in this process. It fuses the data from different sensors and outputs information such as the position (x, y), speed, and confidence of the obstacles. These information are used to update the grid map in real time to ensure the accuracy and timeliness of the map.

[0055] The controller updates the path planning parameters every 50 ms. When a new obstacle is detected, the system will immediately trigger the local path replanning mechanism. The response time of this mechanism is less than 100 ms, which can quickly respond to environmental changes and ensure the real-time performance and feasibility of the handling path. For example, when the camera recognizes that a person suddenly enters the handling path, the system will immediately update the grid map and mark the obstacle at the new position of the person. Then, the system will trigger local path replanning and recalculate an optimal path to avoid the person.

[0056] S353. Define the current position point of the handling tray and the target handling point of the handling tray.

[0057] Before path planning, the system needs to clarify the current position point and the target handling point of the handling tray. The current position point is obtained by real-time positioning through the SLAM algorithm, while the target handling point is preset on the grid map according to the requirements of the handling task. When setting the target handling point, the system will consider factors such as the accessibility, safety, and handling efficiency of the target point. For example, the target point cannot be set on static obstacles or areas where dynamic obstacles frequently appear to ensure the smooth progress of the handling process.

[0058] S354. Starting from the starting point, traverse all reachable nodes, calculate the shortest distance from each node to the starting point, and generate multiple candidate paths.

[0059] After clarifying the current position point and the target handling point, the system starts path planning. First, the system starts from the starting point (i.e., the current position point of the handling tray) and traverses all reachable nodes. During the traversal process, the system will calculate the shortest distance from each node to the starting point and record it. This process is usually implemented through algorithms such as breadth-first search (BFS) or depth-first search (DFS). However, in practical applications, due to the large scale of the grid map, directly applying these algorithms may lead to low computational efficiency. Therefore, we adopt more efficient A* algorithm or Dijkstra algorithm to calculate the shortest distance.

[0060] Through traversal and calculation, the system will generate multiple candidate paths from the starting point to the target handling point. These paths may vary in length, number of turns, obstacle avoidance, etc. Therefore, the system needs to further evaluate and select these paths.

[0061] S355. The controller calculates the score of each candidate path according to the evaluation function in the pre-stored path planning algorithm and selects the candidate path with the highest evaluation score as the optimal path.

[0062] To select the optimal path, the system designs an evaluation function. This evaluation function comprehensively considers multiple factors such as the length, safety, and smoothness of the path. For example, the shorter the path, the higher the score; the stronger the ability of the path to avoid obstacles, the higher the score; the fewer the number of turns of the path, the better the smoothness, and the higher the score as well. The controller will score each candidate path according to this evaluation function. Finally, the candidate path with the highest score is selected as the optimal path.

[0063] In practical applications, the specific form of the evaluation function may vary depending on the task requirements and environmental characteristics. For example, in some scenarios with particularly high time requirements, the length of the path may occupy the main weight of the evaluation function; while in scenarios with particularly high safety requirements, the ability to avoid obstacles may become the key indicator of the evaluation function. By flexibly adjusting the form and weight of the evaluation function, the system can adapt to the path planning requirements in different scenarios.

[0064] Specifically, the expression of the evaluation function of the pre-stored path planning algorithm is: ; Among them, is the normalization coefficient; is the azimuth evaluation function; is the azimuth weight; is the distance evaluation function; is the distance weight; is the speed evaluation function; is the speed weight; is the linear velocity; is the angular velocity.

[0065] Furthermore, the expression of the azimuth evaluation function is: ; Among them, is the direction angle of the target handling point; is the direction angle of the end of the current planned path; is the attitude adjustment amount, calculated through the angular velocity, where, is the acceleration, , is the time. Calculate the difference between the direction angle of the end of the current planned path and the direction angle of the target handling point, and normalize it to the range of [0,1]. The smaller the difference, the closer the path is to the target in terms of azimuth, and the higher the evaluation score.

[0066] Furthermore, the expression of the distance evaluation function is: ; Wherein, is the environmental complexity coefficient, i.e., the proportion of static obstacles; is the closest distance from the current handling pallet to the static obstacle; is the closest distance from the current handling pallet to the dynamic obstacle. Calculate the closest distances from the handling pallet to the static and dynamic obstacles, and adjust the relative importance of the two in the evaluation function according to the environmental complexity coefficient . If there are more static obstacles in the environment, will increase correspondingly, so that the path can obtain a higher evaluation score in avoiding static obstacles. At the same time, we also consider the influence of dynamic obstacles to ensure the safety of the path in a dynamic environment.

[0067] Furthermore, the speed evaluation function has the following expression: ; Wherein, is the maximum linear velocity; is the maximum angular velocity. Calculate the linear velocity and angular velocity of the current path, and compare them with the maximum linear velocity and maximum angular velocity. The closer the linear velocity and angular velocity are to the maximum values, the better the path is in terms of speed and the higher the evaluation score. Such a design can encourage the path planning algorithm to select a faster and more efficient path.

[0068] Through comprehensively considering three key factors: azimuth angle, distance, and speed, the evaluation function of the present invention can more comprehensively evaluate the quality of the path, ensuring that the selected path is optimal in terms of direction, safety, and efficiency. The normalization coefficient and weight in the evaluation function of the present invention can be adjusted according to the actual scenario and requirements, enabling the path planning algorithm to adapt to different environmental and task requirements. By introducing the distance evaluation function and considering the influence of static and dynamic obstacles, the evaluation function of the present invention can ensure that the selected path has high safety in avoiding obstacles.

[0069] S360. The controller drives the driving wheels to drive the handling pallet to move according to the handling path, and judges whether there are obstacles around the handling pallet according to the environmental information real-time feedback by the ranging radar during the movement of the handling pallet.

[0070] When the handling pallet moves along a preset path, the ranging radar continuously emits and receives signals to monitor in real time whether there are obstacles around the handling pallet. Once the ranging radar detects an obstacle in the front or side, it immediately feeds back this information to the controller. After receiving the obstacle information, the controller quickly makes a judgment and adjusts the moving speed and direction of the handling pallet according to the position and distance of the obstacle. If the obstacle is relatively close, the controller will command the driving wheels to decelerate or stop to avoid colliding with the obstacle. At the same time, the controller will also re-plan the handling path according to the position and shape of the obstacle to ensure that the handling pallet can bypass the obstacle and continue to move forward to the destination position.

[0071] In addition, the system also has intelligent obstacle avoidance and path optimization functions. During the handling process, if it encounters dynamically changing obstacles, such as other handling equipment or pedestrians, the ranging radar can update the environmental information in real time and feed back these changes to the controller. The controller will dynamically adjust the handling path and speed according to the latest environmental information to ensure that the handling pallet can flexibly cope with various complex environments and complete the task safely and efficiently.

[0072] S370: Give an audible and visual alarm and adjust the handling path according to the received environmental information.

[0073] When the handling pallet moves along a preset path under the drive of the controller, the ranging radars installed around the handling pallet continuously scan the surrounding environment, capturing in real time key information such as the distance between the handling pallet, the shape, size, and movement trajectory of the object. Once the radar detects an obstacle in the front or side and the distance between these obstacles and the handling pallet has approached the safety threshold that may cause a collision, the system will immediately activate the audible and visual alarm mechanism.

[0074] The audible and visual alarm system consists of a flash lamp and an alarm sound. When an obstacle is detected, the flash lamp starts to flash rapidly to attract the attention of surrounding personnel and equipment. At the same time, an alarm sound also rings, and its volume and frequency are designed to be sufficient to arouse people's vigilance to ensure that it can be clearly heard in a noisy warehouse environment. Such an audible and visual alarm not only provides an immediate collision warning for the handling pallet but also gives sufficient reaction time to surrounding personnel and equipment, effectively avoiding potential safety accidents.

[0075] While activating the audible and visual alarm, the controller does not stop working but quickly makes an intelligent adjustment to the handling path according to the environmental information fed back by the ranging radar. The path planning algorithm built into the controller will analyze the position, shape, and movement trajectory of the obstacle in real time and then calculate an optimal path that can bypass the obstacle. This new path will be immediately transmitted to the driving wheels, and the driving wheels will then adjust the rotation direction and speed so that the handling pallet can flexibly change its movement trajectory, avoid the obstacle, and continue to move forward to the destination position.

[0076] Figure 4 FIG. 400 is a schematic structural diagram of a terminal 400 provided by an embodiment of the present invention. The terminal 400 can be used to execute the handling method of the handling system based on any one of the above-mentioned embodiments of the present invention.

[0077] Among them, the terminal 400 may include: a processor 410, a memory 420, and a communication module 430. These components communicate through one or more buses. Those skilled in the art can understand that the structure of the server shown in the figure does not constitute a limitation to the present invention. It can be a bus structure, a star structure, and may also include more or fewer components than shown in the figure, or combine some components, or have different component arrangements.

[0078] Among them, the memory 420 can be used to store the execution instructions of the processor 410. The memory 420 can be implemented by any type of volatile or non-volatile storage terminal or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. When the execution instructions in the memory 420 are executed by the processor 410, the terminal 400 can execute some or all of the steps in the above-mentioned method embodiments.

[0079] The processor 410 is the control center of the storage terminal. It uses various interfaces and lines to connect all parts of the entire electronic terminal. By running or executing software programs and / or modules stored in the memory 420, and calling data stored in the memory, it executes various functions of the electronic terminal and / or processes data. The processor can be composed of an integrated circuit (IC). For example, it can be composed of a single packaged IC, or composed of multiple packaged ICs with the same or different functions connected together. For example, the processor 410 may only include a central processing unit (CPU). In the embodiment of the present invention, the CPU can be a single operation core or include multiple operation cores.

[0080] The communication module 430 is used to establish a communication channel, so that the storage terminal can communicate with other terminals. Receive user data sent by other terminals or send user data to other terminals.

[0081] The present invention also provides a computer storage medium. The computer storage medium can store a program, and when the program is executed, it may include some or all of the steps in the various embodiments provided by the present invention. The storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), or the like.

[0082] Those skilled in the art can clearly understand that the technology in the embodiments of the present invention can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution in the embodiments of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product is stored in a storage medium such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, etc., which can store program codes, and includes several instructions to enable a computer terminal (which may be a personal computer, a server, or a second terminal, a network terminal, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention.

[0083] For the same or similar parts among the various embodiments in this specification, reference can be made to each other. In particular, for the terminal embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the descriptions in the method embodiments.

[0084] In several embodiments provided by the present invention, it should be understood that the disclosed system and method can be implemented in other ways. For example, the system embodiments described above are merely illustrative. For example, the division of the modules is only a logical function division. In actual implementation, there may be other division methods. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of the system or module can be in an electrical, mechanical, or other form.

[0085] The modules described as separate components may or may not be physically separated. The components displayed as modules may or may not be physical modules, that is, they may be located in one place, or may be distributed to multiple network modules. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0086] In addition, in each embodiment of the present invention, each functional module can be integrated into one processing module, or each module can exist physically alone, or two or more modules can be integrated into one module.

[0087] Although the present invention has been described in detail by referring to the accompanying drawings and in combination with the preferred embodiments, the present invention is not limited thereto. Without departing from the spirit and essence of the present invention, those of ordinary skill in the art can make various equivalent modifications or substitutions to the embodiments of the present invention, and these modifications or substitutions should all be within the scope of the present invention. / Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered by the protection scope of the present invention.

Claims

1. A handling system, characterized in that, It includes a handling tray. A number of driving wheels are installed at the bottom of the handling tray. A mass sensor is installed at the center position of the bottom of the handling tray. A path detection component is installed around the handling tray. A number of transverse baffle components and a number of longitudinal baffle components are installed at the top of the handling tray. The transverse baffle components and the longitudinal baffle components are vertically arranged. The transverse baffle components and the longitudinal baffle components are both slidably connected to the handling tray. An article fixing space is formed between the transverse baffle components and the longitudinal baffle components. A controller is arranged inside the handling tray. The path detection component and the mass sensor are both connected to the input end of the controller. The controller specifies a handling path according to the information fed back by the mass sensor and the path detection component, drives the transverse baffle components and the longitudinal baffle components to fix the article, and drives the driving wheels to drive the handling tray to carry the article.

2. The handling system according to claim 1, wherein There are two transverse baffle components arranged in parallel and two longitudinal baffle components arranged in parallel. The transverse baffle component includes a transverse baffle and first support rods arranged at both ends of the transverse baffle. The first support rods are vertically arranged on the handling tray. A first sliding unit is arranged at the bottom end of the first support rod. The longitudinal baffle component includes a longitudinal baffle and second support rods arranged at both ends of the longitudinal baffle. The second support rods are vertically arranged on the handling tray. A second sliding unit is arranged at the bottom end of the second support rod. The first sliding unit and the second sliding unit are both connected to the output end of the controller.

3. The handling system according to claim 2, characterized in that The installation height of the longitudinal baffle is higher than that of the transverse baffle.

4. The handling system according to claim 1, characterized in that, The path detection component includes a camera and a ranging radar. The camera and the ranging radar are both connected to the input end of the controller.

5. A handling method for a handling system according to any one of claims 1-4, characterized in that, It includes: Judge whether an article is placed on the handling tray according to the information fed back by the mass sensor; If so, drive the transverse baffle and the longitudinal baffle to move towards the article until the transverse baffle and the longitudinal baffle jointly apply force to clamp the article, and feed back the moving distance to the controller; The controller calculates the size information of the article according to the fed-back moving distance, and saves the mass information and size information of the article; The controller starts the camera and the ranging radar to detect the environment around the handling tray; Formulate a handling path according to the detected environmental information based on a pre-stored path planning algorithm; The controller drives the driving wheels to drive the handling tray to move according to the handling path, and judges whether there are obstacles around the handling tray according to the environmental information fed back by the ranging radar in real time during the movement of the handling tray; If so, give an audible and visual alarm, and adjust the handling path according to the received environmental information.

6. The handling method according to claim 5, characterized in that, Formulate a handling path according to the detected environmental information based on a pre-stored path planning algorithm. The method includes: Construct a grid map including passable areas and obstacles according to the detected environmental information; the obstacles include static obstacles and dynamic obstacles; Update the constructed grid map in real time through a pre-stored SLAM algorithm; Define the current position point of the handling tray and the target handling point of the handling tray; Starting from the starting point, traverse all reachable nodes, calculate the shortest distance from each node to the starting point, and generate multiple candidate paths; The controller calculates the score of each candidate path according to the evaluation function in the pre-stored path planning algorithm, and takes the candidate path with the highest evaluation score as the optimal path.

7. The handling method according to claim 6, wherein The expression of the evaluation function of the pre-stored path planning algorithm is as follows: ； Among them, is the normalization coefficient; is the azimuth evaluation function; is the azimuth weight; is the distance evaluation function; is the distance weight; is the velocity evaluation function; is the velocity weight; is the linear velocity; is the angular velocity.

8. The handling method according to claim 7, characterized in that Azimuth evaluation function The expression is as follows: ； Among them, is the direction angle of the target handling point; is the direction angle of the end of the currently planned path; is the attitude adjustment amount, obtained by calculating the angular velocity, , where, is the acceleration, , is the time; Distance evaluation function The expression is as follows: ； Among them, is the environmental complexity coefficient, that is, the proportion of static obstacles; is the closest distance from the current handling pallet to the static obstacle; is the closest distance from the current handling pallet to the dynamic obstacle; Speed evaluation function The expression is as follows: ； Among them, is the maximum linear velocity; is the maximum angular velocity.

9. A terminal, characterized in that, Including: A processor; A memory for storing the execution instructions of the processor; Wherein, the processor is configured to execute the method according to any one of claims 5-8.

10. A computer-readable storage medium storing a computer program, characterized in that, When the program is executed by the processor, it implements the method according to any one of claims 5-8.

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