AGV automatic loading method

Abstract

The invention discloses an AGV automatic loading method, and the method comprises the steps that an AGVS scheduling system schedules an AGV provided with scanning equipment to surround a truck compartment for a circle, an instruction is issued to a three-dimensional scene reconstruction module, and the three-dimensional scene reconstruction module reconstructs a three-dimensional scene of the compartment; after the three-dimensional scene graph is collected, the three-dimensional scene reconstruction module transmits the point cloud data to the target object type detection module; the target object type detection module identifies the type of goods in a compartment, judges whether the goods can be stacked or not, calculates stacking information, packages the stacking information and sends the stacking information to the task management system WMS; and after the task management system WMS receives the stacking information, cargo carrying or loading and unloading tasks are distributed to the stacking type AGVs. The workload of manual loading and unloading is reduced, the problem of confusion of goods stacking types is solved, meanwhile, goods information can be obtained for unified management, automatic carrying is achieved, and the carrying efficiency is improved.

Description

technical field [0001] The invention belongs to the field of AGV automation, and relates to an AGV automatic loading method. Background technique [0002] Automatic loading and handling is the last process of AGV automation. At present, when AGV transports goods, it needs to know in advance the world coordinate system where the goods are located or the coordinates of the target point corresponding to the goods that need to be transported. The type of goods is not clear, and the position of the goods in the carriage is not fixed. Therefore, at present, the container loading at the terminal still uses traditional forklifts driven by humans to deliver the goods into the containers. The stacked goods are easy to be confused, and it is difficult to enter the cargo information into the system for unified management, and it is difficult to achieve 24-hour uninterrupted operation by manual forklifts, and it is difficult for enterprises to achieve fully automated processes. Content...

AI Technical Summary

Problems solved by technology

[0002] Automatic loading and handling is the last process of AGV automation. At present, when AGV transports goods, it needs to know in advance the world coordinate system where the goods are located or the coordinates of the target point corresponding to the goods. However, because the parking position of the truck is not accurate, the cargo box The type of goods is not clear, the position of the goods in the compartment is not fixed, etc., so at present, the container loading at the terminal still uses the traditional forklift to deliver the goods to the container, but often this way of handling will be due to human subjective factors. The stacked goods are easy to confuse, and it is difficult to enter the goods information into the system for unified management, and it is difficult to achieve 24-hour uninterrupted operation with manual forklift handling, and it is difficult for enterprises to realize fully automated processes

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