Intelligent storage inventory method based on SLAM

Abstract

The invention discloses an intelligent storage inventory method based on SLAM, and the method employs a visual SLAM and laser SLAM fusion method, and enables a storage robot to achieve the autonomousnavigation and positioning and to efficiently complete the operation. The visual SLAM processes image information acquired by a camera to generate 3D sparse point cloud, and generates a 2D grid map through projection. Then, the laser SLAM is fused to improve the observation area, robustness and fault tolerance of the whole map. Laser radar obtains a surrounding environment distance value, and a local map is constructed through laser SLAM particle filtering and a Gmapping algorithm. The grid map and the local map are enabled to be mutually filled to achieve global mapping; a Dijkstra algorithmis adopted for global navigation of coordinates and end point coordinates, and a DWA algorithm is adopted in a local area for planning a local optimal path, so that the robot accurately reaches a destination and performs target recognition through a trained network to complete detection, and high efficiency and accuracy are ensured.

Description

technical field [0001] The invention belongs to the field of computer vision and mobile robot navigation, and relates to an intelligent warehouse inventory method based on SLAM. Background technique [0002] Simultaneous Localization and Mapping (SLAM) is an important research field for autonomous robot navigation. The robot builds a map of the environment while moving in an unfamiliar environment through the sensors on board, and can plan its own movement based on the generated map. SLAM technology enables the robot to plan the shortest path to complete the inventory while avoiding obstacles in real time after obtaining the map. [0003] At present, the warehouse inventory in the market is mainly through the manual way to register, store, inventory and deliver the goods. This management mode not only requires huge human resources, but also has low efficiency, and manual storage planning is not the best solution. And due to the untimely data update, information loss and r...

AI Technical Summary

Problems solved by technology

This management mode not only requires a lot of human resources, but also has low efficiency, and manual storage planning is not the best solution

And due to the untimely data update, information loss and retrieval difficulties, it brings great inconvenience to the warehouse operation of the enterprise.

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