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CN-121981139-A - Grid warehouse shielding material dynamic scanning and accurate rechecking positioning system based on quadruped robot

CN121981139ACN 121981139 ACN121981139 ACN 121981139ACN-121981139-A

Abstract

The invention discloses a four-legged robot-based dynamic scanning and accurate rechecking positioning system for shielding materials of a power grid warehouse, and relates to the technical fields of intelligent storage management, robot control, laser radar point cloud processing and RFID identification. Aiming at the problems of blocked penetration of RFID signals, high inventory leakage scanning rate, low efficiency of checking differential materials and the like caused by stacking of materials and equipment shielding of a national power grid warehouse, the system multiplexes the existing four-legged robot, laser radar and RFID equipment, and realizes active recognition of shielding scenes, dynamic optimization of a scanning strategy, three-dimensional accurate positioning of the differential materials and shortest path guidance by adding a shielding state recognition module, a dynamic scanning strategy adjustment module and an accurate checking positioning module. According to the invention, the identification rate of the RFID tag in the shielding area is improved to more than 95%, the leakage scanning rate is reduced to less than 5%, the single-piece difference material rechecking time is shortened to within 5 minutes, the new hardware cost is not required, the method is suitable for multi-type shielding scenes of a power distribution network warehouse, and the inventory integrity and the operation and maintenance efficiency are remarkably improved.

Inventors

  • LIANG FENG
  • ZHAO YU
  • CHU LI
  • CHEN LIN
  • LIU DONGFENG
  • YAO FULAI

Assignees

  • 国网安徽省电力有限公司淮北供电公司

Dates

Publication Date
20260505
Application Date
20260129

Claims (10)

  1. 1. The utility model provides a grid warehouse shielding material dynamic scanning and accurate rechecking positioning system based on four-legged robot, which is characterized by comprising a four-legged robot hardware platform, three major core software modules and a docking unit with a grid management system; the four-foot robot hardware platform comprises a four-foot robot, sensing equipment and RFID equipment, wherein the four-foot robot supports adjustment of a trunk pitch angle of +/-30 degrees and a roll angle of +/-20 degrees, and joint torque is 5-20N seed m; the sensing equipment comprises a 16-line laser radar and a six-axis inertial navigation module, wherein the detection distance of the 16-line laser radar is 0.1-20m, the point cloud density is more than or equal to 10 ten thousand points/second, the attitude precision of the six-axis inertial navigation module is +/-0.1 degrees, the RFID equipment comprises an ultrahigh frequency RFID card reader and a 4-channel antenna array, the emission power of the ultrahigh frequency RFID card reader is 30-40dBm and is adjustable, the gain of the 4-channel antenna array is 12dBi, the three-core software module comprises a shielding state identification module, a dynamic scanning strategy adjustment module and an accurate rechecking positioning module, the shielding state identification module is used for identifying shielding types, areas and signal attenuation amplitude based on laser radar point cloud data, the dynamic scanning strategy adjustment module is used for optimizing RFID parameters and robot attitudes according to shielding identification results, the accurate rechecking positioning module is used for generating three-dimensional coordinates and rechecking paths for inventory difference materials, and the interfacing unit is used for realizing data interaction with an ERP/WMS system through an MQTT protocol.
  2. 2. The system of claim 1, wherein the implementation logic of the shielding state identification module comprises a, point cloud preprocessing, namely filtering noise through Gaussian filtering, extracting contour point clouds of a goods shelf and materials, b, shielding judgment, namely, enabling the overlapping degree of the set point clouds to be more than or equal to 60%, enabling the complete proportion of the contours of the materials to be less than 80% to be a shielding judgment threshold value, distinguishing stacked shielding from equipment shielding, c, performing attenuation pre-judgment, namely, pre-judging the attenuation amplitude of RFID signals, enabling metal shielding to attenuate by 40% -60% and enabling nonmetal attenuation to attenuate by 10% -20% based on the material and the thickness of shielding materials.
  3. 3. The system of claim 1, wherein the key technology of the dynamic scanning strategy adjustment module comprises d. Power self-adaptive adjustment, namely adjusting RFID transmitting power according to signal attenuation amplitude, wherein the adjustment range is 30-40dBm, and the adjustment range does not exceed the upper limit of compliance, e. Robot gesture refinement control, namely issuing a command to adjust the trunk side inclination angle of the quadruped robot to +/-20 degrees, the pitch angle of the quadruped robot to +/-30 degrees, or moving the quadruped robot to the side/top of a shelter, f. Multi-antenna time-sharing scanning, namely enabling 4-path antenna time-sharing scanning in a severe shelter area, wherein each path of scanning is 3 seconds, and the interval is 50ms.
  4. 4. The system of claim 2, wherein the obstruction thickness is calculated from a lidar point cloud distance difference.
  5. 5. A system according to claim 3, wherein the heavy occlusion region is defined as a region having a point cloud overlap of 80% or more.
  6. 6. The system of claim 1, wherein the logic for implementing the accurate review positioning module comprises g. three-dimensional coordinate calibration, wherein the robot scanning position calibrated by combining laser radar shelf coordinates and inertial navigation module is used for calculating three-dimensional coordinates of different materials with accuracy of 0.1m, h. Review path planning, wherein the three-dimensional coordinates of different materials are calculated based on a warehouse digital map through A And i, visually guiding, namely synchronizing the three-dimensional coordinates and the paths to a power grid WMS system, and supporting the mobile terminal to check or the robot to point by an LED lamp.
  7. 7. The system of claim 1, wherein the cooperative logic of the three core software modules and the hardware platform is that the sensing device transmits the point cloud data and the gesture data to the shielding state identification module in real time, the dynamic scanning strategy adjustment module issues control instructions to the quadruped robot and the RFID device, and the accurate rechecking positioning module outputs the result to the power grid management system.
  8. 8. The system of claim 3, wherein the RFID transmit power adjustment is based on signal attenuation magnitude, the transmit power increasing from 32dBm to 38dBm when metallic shielding results in a 40% signal attenuation.
  9. 9. A system according to claim 3, wherein the robot pose adjustment, when the scene is occluded for the cable stack, the robot climbs to the side of the stack, the roll angle being adjusted to +15° to be close to the unobstructed area.
  10. 10. The system of claim 6, wherein the key index points include shelf area, tier number and relative position information, specifically designated "third shelf left 3 tier of C-zone aisle".

Description

Grid warehouse shielding material dynamic scanning and accurate rechecking positioning system based on quadruped robot Technical Field The invention relates to the technical fields of intelligent warehouse management, robot control, laser radar point cloud processing and RFID identification intersection, in particular to a four-legged robot-based dynamic scanning and accurate rechecking positioning system for shielding materials of a power grid warehouse. Background The materials such as cable reels (diameter 1-2 m) and transformers (volume 3m multiplied by 2 m) stored in a national power grid warehouse are often stacked, or large-scale equipment is shielded, so that RFID signals are prevented from penetrating, and particularly, the signal attenuation is more than 40% when metal materials are shielded. The prior inventory technology has obvious limitation under the shielding scene, and the efficiency of the differential material rechecking link is low, so the prior inventory technology becomes a key pain point for restricting inventory integrity and operation and maintenance efficiency. The prior related technology mainly comprises three types, wherein a scheme 1 is an original four-legged robot inventory scheme of a target patent, is not designed aiming at a shielding scene, only triggers passive rescanning when the RFID recognition rate is less than 80%, does not actively recognize the shielding type and position, and the shielding area recognition rate is only 60% -70%, a scheme 2 is an AGV+RFID inventory system (CN 114547823A), has no shielding processing mechanism, only pauses for waiting when encountering shielding objects, cannot scan shielding area materials, and has no rechecking positioning function, and a scheme 3 is general storage RFID inventory software (CN 113849876B), only supports conventional shielding scene scanning, only marks storage shelf partitions for different materials, and has no accurate position guidance. The method has four main core defects that firstly, shielding treatment is passive and low in efficiency, shielding states are not actively identified, the method only depends on passive logic of low identification rate and re-scanning, the leakage scanning rate of a shielding area is high (more than or equal to 30 percent), secondly, RFID scanning parameters are fixed, power self-adaptive adjustment is not carried out on shielding objects with different materials and thicknesses, signal penetrating capability is insufficient, thirdly, rechecking positioning is fuzzy, different materials only mark shelf partitions, manual layer-by-layer searching is needed, single-piece rechecking takes more than 30 minutes, efficiency is extremely low, fourthly, robot gesture adjustment is limited, and the original scheme only supports trunk pitch angle adjustment and cannot adapt to complex scenes such as side shielding, stacking top shielding and the like. Therefore, a system capable of actively identifying a shielding scene, dynamically optimizing a scanning strategy and realizing accurate rechecking and positioning of differential materials is needed to solve the defects in the prior art. Disclosure of Invention The present invention is directed to a solution to the above-mentioned problems. In order to achieve the above purpose, the present invention provides the following technical solutions: A four-legged robot-based dynamic scanning and accurate rechecking positioning system for shielding materials of a power grid warehouse comprises a four-legged robot hardware platform, three large core software modules and a docking unit with a power grid management system, wherein the four-legged robot hardware platform comprises a four-legged robot, a sensing device and an RFID device, the four-legged robot supports adjustment of a trunk pitch angle +/-30 degrees and a roll angle +/-20 degrees, joint torque is 5-20N m, the sensing device comprises a 16-line laser radar and a six-axis inertial navigation module, the detection distance of the 16-line laser radar is 0.1-20m, the point cloud density is more than or equal to 10 ten thousand points/second, the gesture precision of the six-axis inertial navigation module is +/-0.1 degree, the RFID device comprises an ultrahigh frequency RFID card reader and a 4-channel antenna array, the gain of the 4-channel antenna array is 12dBi, the three large core software modules comprise a dynamic scanning strategy adjustment module and an accurate rechecking positioning module, the shielding state identification module is based on a radar shielding state identification point and a six-axis inertial navigation module, the coordinate of the three-dimensional coordinate system is different from a coordinate system, and the coordinate of the three-dimensional coordinate system is optimized according to the data of the shielding point cloud, and the coordinate of the coordinate system is different from the coordinate system. The implementation logic of the shielding