Mixing pot transfer trolley and method based on SLAM technology and GNSS technology fusion positioning

Abstract

The invention provides a mixed pot transfer trolley and method based on SLAM (Simultaneous Localization and Mapping) technology and GNSS (Global Navigation Satellite System) technology fusion positioning, which comprises a laser radar, an IMU (Inertial Measurement Unit), a GNSS satellite positioning unit, a microprocessor and an embedded processor, an embedded underlying control system, an SLAM mapping and positioning system, an SLAM and GNSS fusion positioning system and a global path planning and trajectory tracking system are arranged in the microprocessor, the microprocessor is in communication connection with the embedded processor, and the embedded processor is in communication connection with the actuator. The relative position of the transfer trolley is determined in real time according to distance information acquired by a laser radar and prior information of a laser speedometer and IMU data fused by an EKF algorithm through an SLAM mapping and positioning subsystem, and a point cloud environment map is constructed; the GNSS positioning system provides an initial position of SLAM positioning and real-time correction, and the trajectory tracking subsystem calculates the advancing linear speed and the steering angle of the transfer trolley in each control period in real time; therefore, the transfer trolley can track the preset walking path.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics intelligent equipment, and in particular to a hybrid pot transfer vehicle and method based on fusion positioning of SLAM technology and GNSS technology. Background Art

[0002] With the development of artificial intelligence technology and the increasing application of robots, the application of "intelligent logistics" in the logistics field is increasing. Major logistics companies, led by a certain e-commerce company, are using cutting-edge technologies such as robots, the Internet of Things, and unmanned driving to reduce the amount of manual work in the logistics process, improve machine efficiency and maximum working hours, so as to speed up delivery and reduce wage expenditures, thereby improving economic benefits. It is foreseeable that as the influence of "people" in the logistics process gradually decreases, "unmanned logistics transfer" will replace the current "intelligent logistics." The logistics system with the Internet and industrial robots as the aid, and "people" as the main participating factor, will be upgraded to an unmanned logistics system dominated by artificial intelligence and robots, and "people" only perform maintenance. This is "unmanned logistics." SLAM technology (simultaneous localization and mapping) is simultaneous positioning and mapping. This technology allows the robot to perceive the surrounding environment in an unknown environment through the range-finding sensors and other devices it carries, determine its relative position in real time, and achieve high-precision positioning and mapping. However, SLAM technology will encounter various complex practical technical problems when used in complex environments, such as the matching of the carrier's posture with the environment, the rationality of the carrier's path, etc., which are all issues that need to be reasonably considered and resolved. Summary of the invention

[0003] The present invention provides a hybrid boiler transfer vehicle and method based on SLAM technology and GNSS technology fusion positioning, which ensures that the transfer task can be completed autonomously and efficiently without the need for manual driving.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is: A hybrid pot transfer vehicle based on the fusion positioning of SLAM technology and GNSS technology includes a laser radar, an inertial measurement unit IMU, a GNSS satellite positioning unit, a microprocessor and an embedded processor installed on a transfer carrier. The laser radar is used to scan the surrounding environment of the transfer carrier, the inertial measurement unit IMU is used to calculate the posture of the transfer carrier, and the GNSS satellite positioning unit is used to position the transfer carrier. The laser radar, the inertial measurement unit IMU and the GNSS satellite positioning unit are electrically connected to the input end of the microprocessor. The microprocessor is equipped with an embedded underlying control system, a SLAM mapping and positioning system, a SLAM and GNSS fusion positioning system and a global path planning and trajectory tracking system. The microprocessor is communicatively connected to the embedded processor, and the embedded processor is communicatively connected to the actuator. The actuator is used to drive and execute the movement of the transfer carrier.

[0005] The above-mentioned embedded bottom-level control system is used for the interaction of the control signals of the transport carrier actuator between the microprocessor and the embedded processor; The above-mentioned SLAM mapping and positioning system is used to construct a point cloud map of the surrounding environment of the transport carrier and calculate and confirm the position and posture of the transport carrier; The above-mentioned SLAM and GNSS fusion positioning system is used to perform point cloud registration correction during the movement of the transport carrier; The above-mentioned global path planning and trajectory tracking system is used to track the trajectory sampling of the preset path, publish the expected tracking trajectory points, and calculate the expected linear speed and expected angle of the transport carrier in real time.

[0006] The above-mentioned laser radar measures distance based on the TOF principle, senses the surrounding environment information, and provides real-time feedback on the distance information of surrounding obstacles; The above-mentioned inertial measurement unit IMU measures the attitude information of the transport vehicle, including pitch angle, roll angle and heading angle; The GNSS satellite positioning unit is used to locate the transport carrier and determine the position, movement speed and direction of the transport carrier; The above-mentioned embedded processor is used to receive the linear speed and angle calculated by the microprocessor, and solve the analog or digital value for controlling the movement of the transfer carrier, and send it to the actuator of the steering and power drive system on the transfer carrier through the communication protocol, thereby completing the tracking of the preset trajectory.

[0007] The above-mentioned laser radars are arranged in plurality around the transport carrier.

[0008] The above-mentioned transport carrier is also provided with a camera for visual detection of the surrounding environment.

[0009] The method of using the above-mentioned hybrid pot transfer vehicle based on the fusion positioning of SLAM technology and GNSS technology includes using the SLAM mapping and positioning system to construct a point cloud map of the surrounding environment based on the NDT algorithm according to the data of the laser radar input to the microprocessor and the angle information input by the inertial measurement unit IMU, and then based on the constructed environmental map and combined with the data of the current frame laser radar, a point cloud registration method is used to determine the position and posture of the transfer vehicle in real time.

[0010] The process of point cloud registration correction by the above-mentioned SLAM and GNSS fusion positioning system is as follows: First, the positioning data of the Beidou satellite, that is, the longitude and latitude data, is obtained from the RTK positioning data of the GNSS satellite positioning unit. Then, the longitude and latitude data in the WGS coordinate system are converted to the ENU plane coordinate system. Finally, the ENU coordinate system is aligned with the SLAM coordinate system, and the data after GNSS conversion is used to provide initial posture information and real-time correction for SLAM positioning.

[0011] The specific process of the above-mentioned global path planning and trajectory tracking system tracking trajectory sampling and calculating the expected linear speed and expected angle of the transport carrier is as follows: When the transport carrier is started, while the SLAM mapping and positioning system builds the environmental map based on the NDT algorithm, the initial position of the transport carrier is located via GNSS, so that SLAM obtains the position of the transport carrier in the environmental map; At the same time, the laser radar calculates the mileage data of the transport carrier's movement according to the RFO laser mileage calculation method, and the inertial measurement unit IMU also accumulates the mileage and direction of the transport carrier's movement. The data of the two are fused with the positioning information of the initial posture after being fused through the EKF algorithm to obtain the real-time posture of the transport carrier; According to the preset path, the tracking trajectory points are sampled on the preset path, and the expected tracking trajectory points after sampling are released; the expected tracking trajectory points are combined with the real-time posture positioning data of the transport carrier to calculate the expected linear speed and expected angle of the transfer carrier.

[0012] The transport process of the above-mentioned transport carrier is: S1, the transport carrier is started, the microprocessor starts the laser radar, inertial measurement unit IMU and GNSS satellite positioning unit and receives their data, and starts the embedded underlying control system and embedded processor; S2: The microprocessor starts the mapping program in the SLAM mapping and positioning system, and builds the surrounding environment information as the transport carrier continues to move. S3, the positioning program in the SLAM mapping and positioning system, performs point cloud registration based on the constructed environment map and the data of the current lidar frame to determine the position of the transport carrier in the environment; S4. When the transport carrier is started, the SLAM and GNSS fusion positioning system provides initial posture information according to the value of the current point cloud registration and performs real-time correction during the movement of the transport carrier; S5, the microprocessor starts the global path planning and trajectory tracking system. The global path planning and trajectory tracking system automatically plans the corresponding route according to the position instruction issued by the upper scheduling. The trajectory tracking algorithm samples the tracking trajectory points of the path of the global path planning and outputs the expected tracking trajectory points. Then the trajectory tracking system calculates the expected linear speed and angle in real time according to the current positioning information; S6. The embedded underlying control system receives the expected linear speed and angle calculated by the trajectory tracking system, calculates the expected rotation speed and analog angle value according to the kinematic equation of the transfer vehicle, and transmits the calculated values ​​to the embedded processor through the serial port. The embedded processor then transmits them to the corresponding actuator through CAN communication, thereby completing the motion control of the transfer vehicle.

[0013] The present invention provides a hybrid boiler transfer vehicle and method based on the fusion positioning of SLAM technology and GNSS technology. Through the equipment carried by the transfer vehicle, the SLAM mapping and positioning subsystem uses the distance information obtained by the laser radar and the prior information of the laser odometer and IMU data fused by the EKF algorithm to determine the relative position of the transfer vehicle in real time, and build a point cloud environment map through the continuous autonomous movement of the transfer vehicle; the GNSS positioning system provides the initial position and real-time correction of SLAM positioning, and uses the global path planning subsystem to pre-plan the walking route of the transfer vehicle on the display device according to the actual environment on site, and the trajectory tracking subsystem then solves the forward linear speed and steering angle of the transfer vehicle in each control cycle in real time according to the route planned by the global path planning subsystem and the positioning data of the SLAM mapping and positioning subsystem; the embedded bottom-level control subsystem receives the data solved by the trajectory tracking subsystem, controls the hydraulic drive actuator of the transfer vehicle, and thus realizes the tracking of the preset walking path by the transfer vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The present invention will be further described below in conjunction with the accompanying drawings and embodiments: Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the path planning and trajectory tracking principle of the present invention; Figure 3 It is a schematic diagram of the specific process of EKF algorithm fusion; Figure 4 This is a schematic diagram of the construction process of the point cloud environment map; Figure 5A schematic diagram of the flow chart of the desired linear velocity and angular velocity of the transport carrier; Figure 6 A schematic diagram of a specific method flow of an embodiment of the present invention; Figure 7 Schematic diagram of the structure of the transport carrier according to an embodiment of the present invention.

[0015] In the figure: laser radar 1, inertial measurement unit IMU 2, GNSS satellite positioning unit 3, microprocessor 4, embedded processor 5, actuator 6, display device 7. DETAILED DESCRIPTION

[0016] In order to make the purpose, technical solutions and advantages of the present invention clearer, the following content will systematically and completely describe the specific technical solutions of the present invention in combination with the drawings provided according to the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0017] Embodiment 1: like Figure 1 As shown in the figure, a hybrid pot transfer vehicle based on the fusion positioning of SLAM technology and GNSS technology includes a laser radar 1, an inertial measurement unit IMU2, a GNSS satellite positioning unit 3, a microprocessor 4 and an embedded processor 5 installed on a transfer carrier. The laser radar 1 is used to scan the surrounding environment of the transfer carrier, the inertial measurement unit IMU2 is used to calculate the posture of the transfer carrier, and the GNSS satellite positioning unit 3 is used to position the transfer carrier. The laser radar 1, the inertial measurement unit IMU2 and the GNSS satellite positioning unit 3 are electrically connected to the input end of the microprocessor 4. The microprocessor 4 is provided with an embedded underlying control system, a SLAM mapping and positioning system, a SLAM and GNSS fusion positioning system and a global path planning and trajectory tracking system. The microprocessor 4 is communicatively connected to the embedded processor 5, and the embedded processor 5 is communicatively connected to the actuator 6. The actuator 6 is used to drive and execute the movement of the transfer carrier.

[0018] In actual use, the actuator 6 is usually a hydraulically driven actuator, such as a hydraulic servo-driven valve and a hydraulic cylinder.

[0019] The above-mentioned embedded bottom-level control system is used for the interaction of control signals of the transport carrier actuator 6 between the microprocessor 4 and the embedded processor 5; The above-mentioned SLAM mapping and positioning system is used to construct a point cloud map of the surrounding environment of the transport carrier and calculate and confirm the position and posture of the transport carrier; The above-mentioned SLAM and GNSS fusion positioning system is used to perform point cloud registration correction during the movement of the transport carrier; The above-mentioned global path planning and trajectory tracking system is used to track the trajectory sampling of the preset path, publish the expected tracking trajectory points, and calculate the expected linear speed and expected angle of the transport carrier in real time.

[0020] The above-mentioned laser radar 1 measures distance based on the TOF principle, senses the surrounding environment information, and feeds back the distance information of surrounding obstacles in real time; The above-mentioned inertial measurement unit IMU2 measures the attitude information of the transport vehicle, including pitch angle, roll angle and heading angle; The GNSS satellite positioning unit 3 is used to locate the transport carrier and determine the position, movement speed and direction of the transport carrier; The above-mentioned embedded processor 5 is used to receive the linear speed and angle calculated by the microprocessor 4, and solve the analog or digital value for controlling the movement of the transport carrier, and send it to the actuator of the steering and power drive system on the transport carrier through the communication protocol, thereby completing the tracking of the preset trajectory.

[0021] The above-mentioned laser radar 1 is arranged in plurality around the transport carrier.

[0022] like Figure 7 As shown in the figure, the laser radar 1 arranged on the transport carrier includes an obstacle avoidance laser radar, a millimeter wave laser radar, a navigation laser radar, etc.

[0023] The above-mentioned transport carrier is also provided with a camera for visual detection of the surrounding environment.

[0024] like Figure 7 As shown in , the camera includes a visible light camera and an RGBD camera.

[0025] The method of using the above-mentioned hybrid pot transfer vehicle based on the fusion positioning of SLAM technology and GNSS technology includes using the SLAM mapping and positioning system to construct a point cloud map of the surrounding environment based on the NDT algorithm according to the data of the laser radar 1 input to the microprocessor 4 and the angle information input by the inertial measurement unit IMU2, and then based on the constructed environmental map and combined with the data of the current frame laser radar, a point cloud registration method is used to determine the position and posture of the transfer vehicle in real time.

[0026] like Figure 4 As shown in the figure, it is the specific process of constructing the environmental point cloud map of the transport vehicle in actual operation. The map is continuously updated according to the initial posture, mileage information and lidar information to form positioning information and a global map.

[0027] The process of point cloud registration correction by the above-mentioned SLAM and GNSS fusion positioning system is as follows: First, the positioning data of the Beidou satellite, that is, the longitude and latitude data, is obtained from the RTK positioning data of the GNSS satellite positioning unit 3. Then, the longitude and latitude data in the WGS84 coordinate system are converted to the ENU plane coordinate system. Finally, the ENU coordinate system is aligned with the SLAM coordinate system. The data after GNSS conversion is used to provide initial posture information and real-time correction for SLAM positioning to ensure the stability of positioning during the operation of the transfer vehicle.

[0028] like Figure 2 and 5 As shown in , the specific process of the above-mentioned global path planning and trajectory tracking system tracking trajectory sampling and calculating the expected linear speed and expected angle of the transport carrier is: When the transport carrier is started, while the SLAM mapping and positioning system builds the environmental map based on the NDT algorithm, the initial position of the transport carrier is located via GNSS, so that SLAM obtains the position of the transport carrier in the environmental map; At the same time, the laser radar 1 calculates the mileage data of the transport carrier's movement according to the RF2O laser mileage calculation method, and the inertial measurement unit IMU2 also accumulates the mileage and direction of the transport carrier's movement. The data of the two are fused with the positioning information of the initial posture after being fused through the EKF algorithm to obtain the real-time posture of the transport carrier; According to the preset path, the tracking trajectory points are sampled on the preset path, and the expected tracking trajectory points after sampling are released; the expected tracking trajectory points are combined with the real-time posture positioning data of the transport carrier to calculate the expected linear speed and expected angle of the transfer carrier.

[0029] like Figure 3 As shown in the figure, it is a specific schematic diagram of the EKF algorithm fusion. The mileage information is updated in real time by continuously iterating and comparing the variance of the lidar mileage and the inertial measurement unit.

[0030] The microprocessor 4 of the above-mentioned transport carrier is also electrically connected to the display device 7.

[0031] like Figure 6 As shown in , it is a transfer vehicle of this embodiment, in which the inertial measurement unit is not marked inside the vehicle body, and the display device is not marked on the other side.

[0032] like Figure 7 As shown in FIG. 1 , it is a schematic diagram of a transfer process including a display device 7, which has six steps in total. However, the path setting of the display device is omitted in the following process, which has five steps in total. The transfer process of the transfer carrier is as follows: S1, the transport carrier is started, the microprocessor 4 starts the laser radar 1, the inertial measurement unit IMU 2 and the GNSS satellite positioning unit 3 and receives their data, and starts the embedded underlying control system and the embedded processor 5; S2, microprocessor 4 starts the mapping program in the SLAM mapping and positioning system, and builds the surrounding environment information as the transport carrier continues to move S3, the positioning program in the SLAM mapping and positioning system, performs point cloud registration based on the constructed environment map and the data of the current lidar frame to determine the position of the transport carrier in the environment; S4. When the transport carrier is started, the SLAM and GNSS fusion positioning system provides initial posture information according to the value of the current point cloud registration and performs real-time correction during the movement of the transport carrier; S5, the microprocessor 4 starts the global path planning and trajectory tracking system. The global path planning and trajectory tracking system automatically plans the corresponding route according to the position instruction issued by the upper scheduling. The trajectory tracking algorithm samples the tracking trajectory points of the path of the global path planning and outputs the expected tracking trajectory points. Then the trajectory tracking system calculates the expected linear speed and angle in real time according to the current positioning information; S6, the embedded underlying control system receives the expected linear speed and angle calculated by the trajectory tracking system, calculates the expected rotation speed and analog angle value according to the kinematic equation of the transfer vehicle, and transmits the calculated values ​​to the embedded processor 5 through the serial port. The embedded processor 5 then transmits them to the corresponding actuator 6 through CAN communication, thereby completing the motion control of the transfer vehicle.

Claims

1. The hybrid pot transfer vehicle based on SLAM technology and GNSS technology fusion positioning is characterized by: The invention comprises a laser radar (1), an inertial measurement unit (IMU) (2), a GNSS satellite positioning unit (3), a microprocessor (4) and an embedded processor (5) installed on a transport carrier, wherein the laser radar (1) is used to scan the surrounding environment of the transport carrier, the inertial measurement unit (IMU) (2) is used to calculate the posture of the transport carrier, and the GNSS satellite positioning unit (3) is used to locate the transport carrier. The laser radar (1), the inertial measurement unit (IMU) (2) and the GNSS satellite positioning unit (3) are electrically connected to the input end of the microprocessor (4), and the microprocessor (4) is provided with an embedded bottom control system, a SLAM mapping and positioning system, a SLAM and GNSS fusion positioning system and a global path planning and trajectory tracking system. The microprocessor (4) is communicatively connected to the embedded processor (5), and the embedded processor (5) is communicatively connected to an actuator (6), and the actuator (6) is used to drive and execute the movement of the transport carrier.

2. The hybrid boiler transfer vehicle based on SLAM technology and GNSS technology fusion positioning according to claim 1 is characterized in that: The embedded bottom-level control system is used for the interaction of control signals of the transport carrier actuator (6) between the microprocessor (4) and the embedded processor (5); The SLAM mapping and positioning system is used to construct a point cloud map of the surrounding environment of the transport carrier and calculate and confirm the position and posture of the transport carrier; The SLAM and GNSS fusion positioning system is used to perform point cloud registration correction during the movement of the transport carrier; The global path planning and trajectory tracking system is used to track the trajectory sampling of the preset path, publish the expected tracking trajectory points, and calculate the expected linear speed and expected angle of the transport carrier in real time.

3. The hybrid boiler transfer vehicle based on SLAM technology and GNSS technology fusion positioning according to claim 2 is characterized in that: The laser radar (1) measures distance based on the TOF principle, senses the surrounding environment information, and provides real-time feedback on the distance information of surrounding obstacles; The inertial measurement unit IMU (2) measures the attitude information of the transport vehicle, including pitch angle, roll angle and heading angle; The GNSS satellite positioning unit (3) is used to locate the transport carrier and determine the position, movement speed and direction of the transport carrier; The embedded processor (5) is used to receive the linear speed and angle calculated by the microprocessor (4), and to calculate the analog or digital value for controlling the movement of the transport carrier, and to send it to the actuator of the steering and power drive system on the transport carrier through a communication protocol, thereby completing the tracking of the preset trajectory.

4. The hybrid boiler transfer vehicle based on SLAM technology and GNSS technology fusion positioning according to claim 3 is characterized in that: A plurality of the laser radars (1) are arranged around the transport carrier.

5. The hybrid boiler transfer vehicle based on SLAM technology and GNSS technology fusion positioning according to claim 4 is characterized in that: The transfer carrier is also provided with a camera for visual detection of the surrounding environment.

6. The method of using the hybrid pot transfer vehicle based on SLAM technology and GNSS technology fusion positioning as described in claim 5 is characterized in that: The method comprises: using a SLAM mapping and positioning system, according to the data of a laser radar (1) input into a microprocessor (4) and the angle information input by an inertial measurement unit IMU (2), constructing a point cloud map of the surrounding environment based on an NDT algorithm, and then based on the constructed environment map, combined with the data of the current frame laser radar, using a point cloud registration method to determine the position and posture of the transfer vehicle in real time.

7. The method for positioning a hybrid boiler transfer vehicle based on the fusion of SLAM technology and GNSS technology according to claim 6, characterized in that: The process of point cloud registration correction by the SLAM and GNSS fusion positioning system is as follows: First, the positioning data of the Beidou satellite, i.e., the latitude, longitude and height data, is obtained from the RTK positioning data of the GNSS satellite positioning unit (3). Then, the latitude, longitude and height data in the WGS84 coordinate system are converted to the ENU plane coordinate system. Finally, the ENU coordinate system is aligned with the SLAM coordinate system. The data after GNSS conversion is used to provide initial pose information and real-time correction for SLAM positioning.

8. The method for positioning a hybrid boiler transfer vehicle based on the fusion of SLAM technology and GNSS technology according to claim 7, characterized in that: The specific process of the global path planning and trajectory tracking system tracking trajectory sampling and calculating the expected linear speed and expected angle of the transport carrier is as follows: When the transport carrier is started, while the SLAM mapping and positioning system builds the environmental map based on the NDT algorithm, the initial position of the transport carrier is located via GNSS, so that SLAM obtains the position of the transport carrier in the environmental map; At the same time, the laser radar (1) calculates the mileage data of the transport carrier's movement according to the RF2O laser mileage calculation method, and the inertial measurement unit IMU (2) also accumulates the mileage and direction of the transport carrier's movement. The data of the two are fused with the positioning information of the initial posture after being fused through the EKF algorithm to obtain the real-time posture of the transport carrier; According to the preset path, sampling of tracking trajectory points is performed on the preset path, and the expected tracking trajectory points after sampling are published; The expected tracking trajectory points are combined with the real-time position and orientation data of the transport carrier to calculate the expected linear speed and expected angle of the transport carrier.

9. The method for positioning a hybrid boiler transfer vehicle based on the fusion of SLAM technology and GNSS technology according to claim 8, characterized in that: The transport process of the transport carrier is: S1, the transport carrier is started, the microprocessor (4) starts the laser radar (1), the inertial measurement unit IMU (2) and the GNSS satellite positioning unit (3) and receives their data, and starts the embedded underlying control system and the embedded processor (5); S2, the microprocessor (4) starts the mapping program in the SLAM mapping and positioning system, and constructs the surrounding environment information as the transport carrier continues to move. S3, the positioning program in the SLAM mapping and positioning system, performs point cloud registration based on the constructed environment map and the data of the current lidar frame to determine the position of the transport carrier in the environment; S4. When the transport carrier is started, the SLAM and GNSS fusion positioning system provides initial posture information according to the value of the current point cloud registration and performs real-time correction during the movement of the transport carrier; S5, the microprocessor (4) starts the global path planning and trajectory tracking system. The global path planning and trajectory tracking system automatically plans the corresponding route according to the position instruction issued by the upper scheduling. The trajectory tracking algorithm samples the tracking trajectory points of the path of the global path planning and outputs the expected tracking trajectory points. Then, the trajectory tracking system calculates the expected linear speed and angle in real time according to the current positioning information; S6, the embedded underlying control system receives the expected linear speed and angle calculated by the trajectory tracking system, calculates the expected rotation speed and analog angle value according to the kinematic equation of the transfer vehicle, and transmits the calculated values ​​to the embedded processor (5) through the serial port. The embedded processor (5) then transmits the values ​​to the corresponding actuator (6) through CAN communication, thereby completing the motion control of the transfer vehicle.

Images