Warehouse navigation intelligent vehicle scheduling method based on global vision

Abstract

The invention discloses a warehouse navigation intelligent vehicle scheduling method based on global vision. The warehouse navigation intelligent vehicle scheduling method comprises the steps of: 1) shooting a global image by using a top camera on a ceiling of a warehouse; 2) processing the global image to track intelligent vehicles in the warehouse, and identifying a number of each AGV by using convolutional neural network identification; 3) dividing the warehouse into a plurality of regions, and sending instructions to control the AGVs by using a global controller, so that the AGVs operate according to routes; 4) performing regional path planning by using an improved A* algorithm to obtain an optimal passing region set of the AGVs from a current region to a target region; 5) utilizing atime window algorithm to plan routes in the region so that the AGV can safely exit the current region; 6) and utilizing a segmented PID control algorithm to enable the AGVs to complete scheduled transportation tasks along the planned routes. The warehouse navigation intelligent vehicle scheduling method fully allocates AGV passage tasks to all the regions, and improves the operation efficiency ofan 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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