Multi-warehouse AGV tracking method based on global vision

Abstract

The invention discloses a multi-warehouse AGV tracking method based on global vision, and the method comprises the following steps: 1), photographing a global image of a warehouse, and transmitting the global image to a control center; 2) processing the global image, enabling the tracking system to use a target detection algorithm to identify the plurality of AGVs in the first frame, and determining the ID and pose of each AGV according to the AprilTag code at the top of the AGV; 3) dividing the warehouse into a plurality of areas, and performing path planning of each AGV by using a hierarchical planning algorithm after the scheduling system acquires AGV pose information sent by the control center; 4) combining the path information of each AGV with a multi-AGV tracking algorithm, predicting the positions of the AGVs, selecting an area where the AGVs are located by using a boundary frame, and determining the information of each AGV; and 5) enabling the control center to send the speed instruction converted from the path information to the AGV, and controlling the AGV to complete a cargo sorting task.

Description

Technical field[0001]The invention relates to the field of warehousing logistics that assists in cargo sorting, in particular to a multi-storage AGV tracking method based on global vision.Background technique[0002]Nowadays, online shopping has become a trend, and along with e-commerce, there is also the logistics industry. However, the logistics industry is also facing many challenges while it is advancing. For example, the large throughput of the logistics warehousing system makes the sorting and transportation work in the warehouse. It has become a problem, but a large amount of labor cost investment has not been able to properly solve the problems of low sorting efficiency and high error rate, and even violent sorting phenomenon. It can be seen that manpower alone cannot handle the logistics warehouse. Heavy work, so automated storage systems are gradually emerging. The intelligent warehousing system uses flexible intelligent navigation vehicles (AGV) instead of manual cargo sort...

AI Technical Summary

Problems solved by technology

[0002] Nowadays, online shopping has become a trend, and the logistics industry is prospering along with e-commerce. However, the logistics industry is also facing many challenges. For example, the large throughput of goods in the logistics storage system makes the sorting and transportation work in the warehouse It has become a difficult problem, but a large amount of human cost investment has not been able to properly solve the problem of low sorting efficiency and high error rate, and even the phenomenon of violent sorting. It can be seen that manpower alone cannot cope well with today's logistics warehouse Heavy work, so automated warehousing systems are gradually emerging

The intelligent warehousing system uses flexible intelligent navigation vehicles (AGV) instead of manual sorting and transportation of goods, which not only saves manpower and other resources, but also improves sorting efficiency and reduces error rates. However, most current intelligent navigation vehicles need to be equipped with cameras or Expensive sensors such as lidar collect information and communicate with the control system separately, and the warehouse also needs to be equipped with magnetic nail tapes and other devices accordingly, which has problems such as high cost, complex configuration, and limited control efficiency (Lynch L, Newe T, Clifford J ,et al.Automated Ground Vehicle(AGV)andSensor Technologies-A Review[C] / / 2018 12th International Conference onSensing Technology(ICST).2018.)

Some intelligent warehousing systems use global visual monitoring (CN201911046869.9) to track and dispatch by identifying AGV feature marks, but there are still problems such as high resolution or illumination requirements for feature marks, low fault tolerance, and small amount of information storage. , while traditional detection and tracking methods are less efficient (Dnmez E, Kocamaz AF, Dirik M.A Vision-Based Real-Time Mobile RobotController Design Based on Gaussian Function for Indoor Environment[J]. Arabian Journal for ence&Engineering, 2017(4): 1 -16.), so the intelligent warehousing system based on global vision also needs to be improved in terms of identification and tracking

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