A smart car scheduling method for warehouse navigation based on global vision

Abstract

The invention discloses a warehouse navigation smart car dispatching method based on global vision, comprising the following steps: 1) using a top camera on the warehouse ceiling to take a global image; 2) processing the global image to track the smart car in the warehouse and using Convolutional neural network recognition to identify the number of each AGV; 3) Divide the warehouse into several areas, use the global controller to send instructions to control the AGV, so that the AGV runs according to the route; 4) Use the improved A* algorithm for regional path planning, Obtain the optimal path area set for the AGV to reach the target area from the current area; 5) use the time window algorithm to plan the path in the area, so that the AGV can safely drive out of the current area; 6) use the segmented PID control algorithm to enable the AGV to Complete the scheduled transportation tasks along the planned route. The invention fully distributes the AGV passing tasks to each area, and improves the operating efficiency of the AGV storage system.

Description

technical field [0001] The invention relates to the logistics field of auxiliary goods sorting, in particular to a global vision-based storage navigation intelligent vehicle (AGV) scheduling method. Background technique [0002] In recent years, my country's e-commerce industry has developed rapidly, and online shopping has become an indispensable part of people's daily life. The time-consuming link of picking accounts for more than 40% of the entire logistics task. Therefore, in order to reduce the logistics time and give consumers a better online shopping experience, it is very important to improve the sorting efficiency in the logistics process. [0003] At present, most of the logistics sorting methods in my country are still manual sorting. Not only the error rate is high, the sorting efficiency is low, but also a lot of labor costs are required, which cannot adapt to the heavy sorting and transportation work in the current logistics warehouse. Therefore, the automation ...

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Problems solved by technology

[0008] In the existing literature Zhang Chenbeixi, Huang Zhiqiu, ZHANG Chenbeixi, et al. A review of the development of automatic guided vehicles (AGV) [J]. Mechanical Design and Manufacturing Engineering, 2010,39(1):53-59. Although the storage AGV has a certain The characteristics of high picking efficiency and strong flexibility, but the configuration of the entire storage system is relatively difficult, and devices such as QR codes, magnetic nails, and tapes need to be set in advance

In addition, each AGV separately collects its position and posture information and then feeds it back to the central control system. This requires each AGV to be equipped with sensors such as cameras or laser radars, which increases the configuration cost of the storage system, and the low control efficiency is not conducive to the overall planning

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