AGV transportation method and AGV transportation system based on three-dimensional codes

Abstract

The invention relates to the technical field of logistics management, in particular to an AGV transportation method and system based on a three-dimensional code. A two-dimensional code and a radio frequency code are associated and integrated on the same physical label, and a unified three-dimensional code is obtained by scanning the two-dimensional code and the radio frequency code. Since the two-dimensional code obtained by scanning and the radio frequency code can form the corresponding three-dimensional code only after verification matching, when the radio frequency code obtained by the three-dimensional code scanning module is not the radio frequency code corresponding to the goods and cannot be matched with the two-dimensional code obtained by scanning, scanning is required again to obtain the correct two-dimensional code and radio frequency code, and the corresponding three-dimensional code is obtained. By using the three-dimensional code to store and verify the cargo information, the problems that the capacity of information stored by a two-dimensional code is limited and the information is easily tampered or forged can be effectively avoided, and the problem that a radio frequency code is interfered by factors such as electromagnetism and multiple paths in a complex warehouse environment is also avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics management, and in particular to an AGV transportation method and an AGV transportation system based on a three-dimensional code. Background Art

[0002] With the development of science and technology and the popularization of the Internet, the cable industry has flourished in recent years. In order to improve the production quality of cables and the management efficiency of cable warehouses, QR code technology is usually used to store cable information, and AGV (Automated Guided Vehicle) automatic guided vehicles are used to achieve unmanned automated handling. AGV technology and QR code technology are both important components of modern automation and intelligent solutions. AGV technology uses advanced navigation and sensor technology to achieve unmanned material transportation and automated operations. It is widely used in the fields of industry and logistics, improving transportation efficiency and operational safety. QR code technology is a convenient information identification and transmission tool. It uses the data stored in the QR code to achieve fast scanning and information access. It is widely used in product traceability, inventory management and other applications. These two technologies complement each other and jointly promote the intelligent development of production and logistics, providing enterprises with more efficient, accurate and reliable operation solutions. However, the intelligent management technology of unmanned automated warehouses is not yet mature, and there are many problems:

[0003] (1) AGV technology has limited adaptability to dynamically changing or complex warehouse environments, and requires additional planning and adjustments to handle new obstacles and changes in workflow caused by environmental changes.

[0004] (2) The information storage capacity of the QR code is limited and can be easily tampered with or forged, which in turn leads to a series of security issues. Other technologies such as RFID radio frequency code will be interfered by electromagnetic and multipath factors in complex warehouse environments, affecting their accuracy and reliability.

[0005] Therefore, how to design a safe, stable and efficient AGV transportation method is a technical problem that needs to be solved in the field of logistics management. Summary of the invention

[0006] The purpose of this application is to provide an AGV transportation method and an AGV transportation system based on a three-dimensional code to realize intelligent, automated, stable and efficient logistics management.

[0007] In order to solve the above technical problems, the present application provides an AGV transportation method based on a three-dimensional code, comprising:

[0008] When the AGV arrives at the cargo location, it scans the QR code and radio frequency code corresponding to the cargo, wherein the QR code information includes the static information of the cargo, and the radio frequency code information includes the dynamic information of the cargo, and generates a 3D code corresponding to the cargo based on the QR code and radio frequency code, and confirms the transportation target according to the 3D code information;

[0009] Obtain the coordinates of the starting point and the end point of cargo transportation, and plan the optimal movement path of the AGV based on the coordinate information;

[0010] When the AGV arrives at the destination coordinates of the cargo transportation, it updates the dynamic information corresponding to the radio frequency code and the corresponding three-dimensional code information.

[0011] Optionally, the QR code and the radio frequency code are integrated into the same label, wherein the label has a QR code area at the center, and the QR code area is surrounded by an antenna of a radio frequency chip corresponding to the radio frequency code.

[0012] Optionally, the cargo yard is provided with a plurality of position signal transmitting devices, and during the transportation operation of the AGV, the radio frequency chip corresponding to the radio frequency code obtains the position information transmitted by different position signal transmitting devices, and updates the dynamic information corresponding to the radio frequency code.

[0013] Optionally, when scanning the QR code and radio frequency code corresponding to the goods, the obtained QR code identifier and the radio frequency code identifier do not match, rescan the QR code and radio frequency code corresponding to the goods until the obtained QR code identifier and the radio frequency code identifier match, and generate a 3D code corresponding to the goods.

[0014] Optionally, the specific steps of generating a QR code corresponding to the goods include:

[0015] Get the QR code corresponding to the goods and the RF code information corresponding to the RF code;

[0016] A multi-layer two-dimensional code stacking structure with a spatial structure is generated by stacking the two-dimensional codes;

[0017] The radio frequency code information is used to adjust the number of layers of the two-dimensional code stacking structure in different areas of the two-dimensional code to generate a three-dimensional code corresponding to the goods, so that the two-dimensional code information is determined by the coordinates of the three-dimensional code on the x and y axes, and the radio frequency code information is determined by the position of the two-dimensional code layer on the z axis.

[0018] Optionally, the steps for confirming the transport destination include:

[0019] After obtaining the QR code information, convert the data content into JSON format, and parse the JSON format data into a string form through the MQTT protocol;

[0020] Use the try-catch exception handling mechanism to catch potential parsing exceptions. If an exception is caught, log the error information returned to handle the exception.

[0021] After decoding and restoring the information content, upload it to the mobile terminal software and check the cargo information according to the visual display interface of the mobile terminal software;

[0022] If the information of the QR code corresponding to the goods after scanning and parsing matches the goods information, the transportation operation is executed; if it does not match, the transportation operation is suspended.

[0023] Optionally, the step of planning the optimal moving path includes planning the optimal moving path by using an A-star algorithm, wherein the comprehensive evaluation function f(m) is a total cost estimate of node m, f(m)=g(m)+h(m)

[0024] g(m) is the actual path cost from the starting point to any node m; h(m) is the estimated cost from node m to the target; f(m) is the total cost estimate of node m, which is the comprehensive priority of the node, and specifically includes the following steps:

[0025] Add the start node to the open list, and initialize f(m) to the heuristic function value h(start) and g(m) to 0;

[0026] When the open list is not empty, select the node n with the smallest f(m) from the list for expansion. If node n is the target node, the path search is completed. If not, move node n into the closed list.

[0027] Traverse the neighbor nodes, for each neighbor node m of n. If m is in the closed list, ignore it; if m is not in the open list, add m to the open list, set its parent node to n, and calculate the actual path cost from the starting point through n to m, and update g(m) and f(m) = g(m) + h(m).

[0028] If the path from node n to m is shorter than the currently recorded path, that is, g(m) is smaller, then update the parent node of m to n, update g(m) and recalculate f(m).

[0029] The embodiment of the present invention further provides an AGV transportation system based on a three-dimensional code, comprising:

[0030] A 3D code scanning module is used to scan the QR code and radio frequency code corresponding to the goods when the AGV arrives at the goods location, wherein the QR code information includes the static information of the goods, and the radio frequency code information includes the dynamic information of the goods, and is used to generate a 3D code corresponding to the goods based on the QR code and radio frequency code, and confirm the transportation target according to the 3D code information;

[0031] The path planning module is used to obtain the coordinates of the starting point and the end point of cargo transportation, and plan the optimal movement path of the AGV based on the coordinate information;

[0032] The 3D code update module is used to update the dynamic information corresponding to the radio frequency code and the corresponding 3D code information when the AGV arrives at the coordinates of the cargo transportation destination.

[0033] Optionally, the three-dimensional code scanning module scans by a three-dimensional code scanning device developed based on a single-chip microcomputer, or scans by integrating a two-dimensional code scanning device and a radio frequency code scanning device.

[0034] Optionally, the QR code and the radio frequency code are integrated into the same label, wherein the label has a QR code area at the center, and the QR code area is surrounded by an antenna of a radio frequency chip corresponding to the radio frequency code.

[0035] Beneficial effects:

[0036] The present application provides an AGV transportation method and an AGV transportation system based on a three-dimensional code, by associating and integrating the two-dimensional code and the radio frequency code into the same physical label, scanning the two-dimensional code and the radio frequency code to obtain a unified three-dimensional code. Since the two-dimensional code and the radio frequency code obtained by scanning need to be verified and matched before a corresponding three-dimensional code can be formed, when the radio frequency code obtained by the three-dimensional code scanning module is not the radio frequency code corresponding to the goods, and cannot match the two-dimensional code obtained by scanning, it will be required to scan again to obtain the correct two-dimensional code and radio frequency code, so as to obtain the corresponding three-dimensional code, and use the three-dimensional code to store and verify the goods information, which can effectively avoid the problem that the information capacity stored in the two-dimensional code is limited and it is easy to be tampered with or forged, and also avoid the problem that the radio frequency code will be interfered by electromagnetic, multi-path and other factors in a complex warehouse environment.

[0037] The present invention manages the transportation of AGV by forming a three-dimensional code technology with large storage capacity and strong anti-interference ability, while improving the recognition speed and accuracy, and can adapt to various complex environments and needs, thereby improving security and anti-counterfeiting capabilities. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0039] Figure 1 A schematic flow chart of a three-dimensional code-based AGV transportation method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0041] In today's logistics management field, AGV, as a necessary automated handling and loading and unloading means to connect and adjust discrete logistics management systems to make their operations continuous, has greatly improved production flexibility and corporate competitiveness, and its application scope and technical level have developed rapidly. At the same time, the three-dimensional code has a larger information capacity, the same ease of identification and better security, which has attracted the attention of a wide range of technicians.

[0042] The core of this application is to provide an AGV transportation method based on a three-dimensional code, which can improve the safety, stability and efficiency of logistics management, solve the problem that AGV technology has limited adaptability to dynamic changes or complex warehouse environments, and that radio frequency identification technology is interfered with by electromagnetic, multipath and other factors in complex warehouse environments, affecting its accuracy and reliability.

[0043] The 3D code can help integrate different types of information, obtain basic information of the cable, current location information and operating status, and provide a more comprehensive and real-time data view. This application combines 3D code technology with AGV technology, such as Figure 1 As shown, it is a schematic flow chart of a three-dimensional code-based AGV transportation method provided in an embodiment of the present application.

[0044] This embodiment provides an AGV transportation method based on a three-dimensional code, taking the transportation of cables stored in a warehouse as a reference, including:

[0045] Step S10, when the AGV arrives at the cargo location, it scans the QR code and radio frequency code corresponding to the cargo, wherein the QR code information includes static information of the cargo, and the radio frequency code information includes dynamic information of the cargo, generates a 3D code corresponding to the cargo based on the QR code and radio frequency code, and confirms the transportation target according to the 3D code information;

[0046] Step S20, obtaining the coordinates of the cargo transportation starting point and the cargo transportation end point, and planning the optimal moving path of the AGV according to the coordinate information;

[0047] Step S30, when the AGV arrives at the cargo transportation destination coordinates, it updates the dynamic information corresponding to the radio frequency code and updates the corresponding three-dimensional code information.

[0048] Specifically, each cargo has a corresponding label, and the label is on the cargo, and may also be located on a transfer box corresponding to the cargo, and the label is located on the cargo or the transfer box and is in a position suitable for AGV scanning and reading.

[0049] In this embodiment, the two-dimensional code and the radio frequency code are integrated into the same label, and the two-dimensional code area and the radio frequency chip area are clearly marked on one label;

[0050] The center of the tag has a two-dimensional code area, and the area around the two-dimensional code is surrounded by the antenna of the radio frequency chip corresponding to the radio frequency code.

[0051] In other embodiments, the QR code area and the radio frequency chip area may also be set at other locations of the label.

[0052] In the prior art, there are a series of drawbacks that cannot be ignored in using only radio frequency codes as information technology for identifying goods. When the volume of the goods is small or the radio frequency identification tags of different goods are too close due to stacking, the radio frequency codes of multiple different goods will be obtained at the same time, or the obtained radio frequency code is not the radio frequency code of the transportation target. Therefore, the present application can simultaneously obtain the QR code and radio frequency code on the physical label corresponding to the same goods, and after confirming that the obtained QR code and radio frequency code match through information processing, the three-dimensional code is obtained to obtain relevant information and then continue the transportation operation. This design is convenient for identification and scanning, and can be read and managed using the same device. It comprehensively utilizes the different characteristics of QR codes and radio frequency codes to provide more comprehensive, real-time, and adaptable information management and identification solutions, which is conducive to meeting the needs of information collection and information management in complex application scenarios.

[0053] In this embodiment, the AGV has a three-dimensional code scanning device developed based on a single chip microcomputer to scan the label, and obtain the three-dimensional code after obtaining the two-dimensional code information and the radio frequency code information.

[0054] In other embodiments, the AGV may also obtain the corresponding three-dimensional code by integrating the existing two-dimensional code scanning device and the radio frequency code scanning device to scan and obtain the two-dimensional code information and the radio frequency code information.

[0055] In this embodiment, the QR code information includes static information of the goods, such as product serial number, product description, batch number, production date, etc., and the radio frequency code information includes dynamic information of the goods, such as product serial number, implementation location, process status update, temperature, humidity and other environmental conditions, etc. When the goods move or change frequently, the radio frequency code is used to provide timely data updates to reflect the real-time status.

[0056] Among them, the QR code information and radio frequency code information corresponding to the same goods usually contain a unique identifier, such as a product serial number or ID. The QR code and the radio frequency code are matched using the unique identifier to ensure that the system database can track and manage information based on the unique identifier. When the QR code and radio frequency code corresponding to the goods are scanned, if the obtained QR code identifier and the radio frequency code identifier do not match, the QR code and the radio frequency code corresponding to the goods need to be rescanned until the obtained QR code identifier and the radio frequency code identifier match to generate a three-dimensional code corresponding to the goods.

[0057] In this embodiment, the specific steps of generating a three-dimensional code corresponding to the goods include:

[0058] Obtain the QR code corresponding to the goods and the RF code information corresponding to the RF code;

[0059] A multi-layer two-dimensional code stacking structure with a spatial structure is generated by stacking the two-dimensional codes;

[0060] The radio frequency code information is used to adjust the number of layers of the two-dimensional code stacking structure in different areas of the two-dimensional code to generate a three-dimensional code corresponding to the goods, so that the two-dimensional code information is determined by the coordinates of the three-dimensional code on the x and y axes, and the radio frequency code information is determined by the position of the two-dimensional code layer on the z axis.

[0061] In this embodiment, the principle of forming the three-dimensional code is as follows: the planar pixel points of the two-dimensional code are stacked to form a structure with spatial depth, and the radio frequency code information is added to each pixel point, so as to embed more information therein. The three-dimensional code is formed by superimposing multiple two-dimensional code layers, and each two-dimensional code layer represents a position or identification on a two-dimensional plane. The two-dimensional code is a traditional QR code, and the two-dimensional code of each layer determines its position on the x and y axes. The radio frequency code information of the z axis is added on the basis of each two-dimensional code layer, so that each position of the three-dimensional code can not only be accurately located on the two-dimensional plane, but also can be uniquely identified and communicated on the z axis through the radio frequency code information, so that the two-dimensional code information is determined by the coordinates of the three-dimensional code on the x and y axes, and the radio frequency code information is determined by the position of the two-dimensional code layer on the z axis.

[0062] Among them, by matching the identifier of the QR code with the identifier of the RF code, the accurate alignment and position of the QR code image and the RF code data in the three-dimensional space are ensured to ensure that the data can be accurately read and parsed when scanning.

[0063] After obtaining the QR code, the specific steps to confirm the transportation target include:

[0064] After obtaining the QR code information, convert the data content into JSON format, and parse the JSON format data into a string form through the MQTT protocol;

[0065] Use the try-catch exception handling mechanism to catch potential parsing exceptions. If an exception is caught, log the error information returned to handle the exception.

[0066] After decoding and restoring the information content, upload it to the mobile terminal software and check the cargo information according to the visual display interface of the mobile terminal software;

[0067] If the information of the QR code corresponding to the goods after scanning and parsing matches the goods information, the transportation operation is executed; if it does not match, the transportation operation is suspended.

[0068] When the information of the 3D code corresponding to the goods is matched with the goods information after scanning and parsing, the coordinates of the starting point and the end point of the goods transportation are obtained, and the optimal moving path of the AGV is planned according to the coordinate information.

[0069] Specifically, this embodiment plans the optimal mobile path through the A-star algorithm, where the comprehensive evaluation function f(m) is the total cost estimate of node m.

[0070] f(m)=g(m)+h(m)

[0071] g(m) is the actual path cost from the starting point to any node m; h(m) is the estimated cost from node m to the target; f(m) is the total cost estimate of node m, which is the comprehensive priority of the node, and specifically includes the following steps:

[0072] Add the start node to the open list, and initialize f(m) to the heuristic function value h(start) and g(m) to 0;

[0073] When the open list is not empty, select the node n with the smallest f(m) from the list for expansion. If node n is the target node, the path search is completed. If not, move node n into the closed list.

[0074] Traverse the neighbor nodes, for each neighbor node m of n. If m is in the closed list, ignore it; if m is not in the open list, add m to the open list, set its parent node to n, and calculate the actual path cost from the starting point through n to m, and update g(m) and f(m) = g(m) + h(m).

[0075] If the path from node n to m is shorter than the currently recorded path, that is, g(m) is smaller, then update the parent node of m to n, update g(m) and recalculate f(m).

[0076] Among them, the nodes corresponding to the transportation coordinates refer to the environment of the cable storage warehouse and use laser radar to scan the AGV map formed inside the current environment, including cargo locations, all paths, storage area information, etc.

[0077] When the AGV uses the optimal moving path to reach the coordinates of the cargo transportation destination, it updates the dynamic information corresponding to the radio frequency code in the tag, updates the coordinates of the cargo transportation destination in the dynamic information corresponding to the radio frequency code, and updates the corresponding three-dimensional code information in the background system.

[0078] In other embodiments, the entire cargo yard is provided with a plurality of position signal transmitting devices, and they are arranged on the side of the AGV driving channel. When the AGV performs a transportation operation, the radio frequency chip corresponding to the radio frequency code obtains the position information transmitted by different position signal transmitting devices, and updates the dynamic information corresponding to the radio frequency code in real time, so as to achieve the purpose of real-time viewing of cargo movement information and transportation progress.

[0079] This application uses three-dimensional codes to confirm transportation target information, which is conducive to simplifying system design and management, providing a unified identification and data interface, facilitating information exchange between different systems and improving interoperability; in the process of confirming transportation target information, in order to effectively solve the problem of errors in collected data, this application strictly implements data matching and verification algorithms in the information processing backend to ensure that the acquired information is consistent, and ensures consistency through product serial number identifiers; the backend can detect abnormal situations in data collection, such as when the two-dimensional code scan fails or the radio frequency chip is not read correctly, the backend can promptly issue an alarm and perform corresponding exception processing and re-collect.

[0080] The embodiment of the present invention further provides an AGV transportation system based on a three-dimensional code, comprising:

[0081] A 3D code scanning module is used to scan the QR code and radio frequency code corresponding to the goods when the AGV arrives at the goods location, wherein the QR code information includes the static information of the goods, and the radio frequency code information includes the dynamic information of the goods, and is used to generate a 3D code corresponding to the goods based on the QR code and radio frequency code, and confirm the transportation target according to the 3D code information;

[0082] The path planning module is used to obtain the coordinates of the starting point and the end point of cargo transportation, and plan the optimal movement path of the AGV based on the coordinate information;

[0083] The 3D code update module is used to update the dynamic information corresponding to the radio frequency code and the corresponding 3D code information when the AGV arrives at the coordinates of the cargo transportation destination.

[0084] Optionally, the three-dimensional code scanning module scans by a three-dimensional code scanning device developed based on a single-chip microcomputer, or scans by integrating a two-dimensional code scanning device and a radio frequency code scanning device.

[0085] Optionally, the two-dimensional code and the radio frequency code are integrated into the same label to form a three-dimensional code, wherein the label has a two-dimensional code area at the center, and the two-dimensional code area is surrounded by the antenna of the radio frequency chip corresponding to the radio frequency code.

[0086] The above is a detailed introduction to the AGV transportation method and AGV transportation system based on three-dimensional code provided by the present application. The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referred to each other. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of this application, several improvements and modifications can be made to this application, and these improvements and modifications also fall within the scope of protection of the claims of this application.

Claims

1. An AGV transportation method based on a three-dimensional code, characterized in that: include: When the AGV arrives at the cargo location, it scans the QR code and radio frequency code corresponding to the cargo, wherein the QR code information includes the static information of the cargo, and the radio frequency code information includes the dynamic information of the cargo, and generates a 3D code corresponding to the cargo based on the QR code and radio frequency code, and confirms the transportation target according to the 3D code information; Obtain the coordinates of the starting point and the end point of cargo transportation, and plan the optimal movement path of the AGV based on the coordinate information; When the AGV arrives at the destination coordinates of the cargo transportation, it updates the dynamic information corresponding to the radio frequency code and the corresponding three-dimensional code information.

2. The AGV transportation method based on three-dimensional code according to claim 1 is characterized in that: The two-dimensional code and the radio frequency code are integrated into the same label, wherein the center of the label has a two-dimensional code area, and the two-dimensional code area is surrounded by the antenna of the radio frequency chip corresponding to the radio frequency code.

3. The AGV transportation method based on three-dimensional code according to claim 1 is characterized in that: The cargo yard is provided with a plurality of position signal transmitting devices. During the transportation operation of the AGV, the radio frequency chip corresponding to the radio frequency code obtains the position information transmitted by different position signal transmitting devices and updates the dynamic information corresponding to the radio frequency code.

4. The AGV transportation method based on three-dimensional code according to claim 1 is characterized in that: When scanning the QR code and radio frequency code corresponding to the goods, the obtained QR code identifier does not match the radio frequency code identifier, rescan the QR code and radio frequency code corresponding to the goods until the obtained QR code identifier matches the radio frequency code identifier, and generate the three-dimensional code corresponding to the goods.

5. The AGV transportation method based on three-dimensional code according to claim 1 is characterized in that: The specific steps to generate the QR code corresponding to the goods include: Obtain the QR code corresponding to the goods and the RF code information corresponding to the RF code; A multi-layer two-dimensional code stacking structure with a spatial structure is generated by stacking the two-dimensional codes; The radio frequency code information is used to adjust the number of layers of the two-dimensional code stacking structure in different areas of the two-dimensional code to generate a three-dimensional code corresponding to the goods, so that the two-dimensional code information is determined by the coordinates of the three-dimensional code on the x and y axes, and the radio frequency code information is determined by the position of the two-dimensional code layer on the z axis.

6. The AGV transportation method based on three-dimensional code according to claim 1 is characterized in that: The steps to identify your shipping destination include: After obtaining the QR code information, convert the data content into JSON format, and parse the JSON format data into a string form through the MQTT protocol; Use the try-catch exception handling mechanism to catch potential parsing exceptions. If an exception is caught, log the error information returned to handle the exception. After decoding and restoring the information content, upload it to the mobile terminal software and check the cargo information according to the visual display interface of the mobile terminal software; If the information of the QR code corresponding to the goods after scanning and parsing matches the goods information, the transportation operation is executed; if it does not match, the transportation operation is suspended.

7. The AGV transportation method based on three-dimensional code according to claim 1 is characterized in that: The step of planning the optimal moving path includes planning the optimal moving path by using the A-star algorithm, wherein the comprehensive evaluation function f(m) is the total cost estimate of the node m, f(m)=g(m)+h(m) g(m) is the actual path cost from the starting point to any node m; h(m) is the estimated cost from node m to the target; f(m) is the total cost estimate of node m, which is the comprehensive priority of the node, and specifically includes the following steps: Add the start node to the open list, and initialize f(m) to the heuristic function value h(start) and g(m) to 0; When the open list is not empty, select the node n with the smallest f(m) from the list for expansion. If node n is the target node, the path search is completed. If not, move node n into the closed list. Traverse the neighbor nodes, for each neighbor node m of n. If m is in the closed list, ignore it; if m is not in the open list, add m to the open list, set its parent node to n, and calculate the actual path cost from the starting point through n to m, and update g(m) and f(m) = g(m) + h(m). If the path from node n to m is shorter than the currently recorded path, that is, g(m) is smaller, then update the parent node of m to n, update g(m) and recalculate f(m).

8. An AGV transportation system based on a three-dimensional code, characterized in that: include: A 3D code scanning module is used to scan the QR code and radio frequency code corresponding to the goods when the AGV arrives at the goods location, wherein the QR code information includes the static information of the goods, and the radio frequency code information includes the dynamic information of the goods, and is used to generate a 3D code corresponding to the goods based on the QR code and radio frequency code, and confirm the transportation target according to the 3D code information; The path planning module is used to obtain the coordinates of the starting point and the end point of cargo transportation, and plan the optimal movement path of the AGV based on the coordinate information; The 3D code update module is used to update the dynamic information corresponding to the radio frequency code and the corresponding 3D code information when the AGV arrives at the coordinates of the cargo transportation destination.

9. The AGV transportation system based on three-dimensional code according to claim 8, characterized in that: The three-dimensional code scanning module performs scanning by a three-dimensional code scanning device developed based on a single chip microcomputer, or performs scanning by integrating a two-dimensional code scanning device and a radio frequency code scanning device.

10. The AGV transportation system based on three-dimensional code according to claim 8, characterized in that: The two-dimensional code and the radio frequency code are integrated into the same label, wherein the center of the label has a two-dimensional code area, and the two-dimensional code area is surrounded by the antenna of the radio frequency chip corresponding to the radio frequency code.

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