AGV simulation system based on AR augmented reality

Abstract

An AGV simulation system based on AR augmented reality comprises a model creation unit, a model selection unit, a mobile augmented reality unit, an AGV simulation control unit and a display unit, the model creation unit is used for collecting AGV data, creating a three-dimensional model of an AGV, obtaining AGV models of different AGVs, and storing the different AGV models in an AGV model library; the model selection unit selects a target AGV model from the AGV models according to the simulation task, or modifies the AGV models in an AGV model library; the mobile augmented reality unit realizes simulation operation of the AGV model in a warehouse environment through an unreal engine, and the simulation operation is displayed through the display unit; and the AGV simulation control unit is used for controlling operation of a target AGV model in the augmented reality scene. According to the invention, the adaptability of the AGV model to the environment change is enhanced, the maintenance cost is reduced, and the experience feeling of AGV operation is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of modern logistics simulation systems, and more specifically, to an AGV simulation system based on AR augmented reality. Background Art

[0002] Automated Guided Vehicle (AGV), also known as automatic guided transport vehicle or automatic guided transport vehicle, plays an important role in modern logistics and manufacturing, but there are some challenges in its deployment and testing process.

[0003] First, the initial investment cost of AGV is high, including hardware, software, and its installation and configuration. Secondly, AGV has limited adaptability to environmental changes. Once the working environment changes, it may need to be reprogrammed, which increases the difficulty and cost of maintenance. In addition, if the obstacle avoidance system of AGV is not accurate enough, it may cause safety accidents. Technical limitations may also cause AGV to perform poorly in complex path planning or multi-vehicle coordination. Finally, AGV relies on pre-made maps, which limits its ability to be quickly deployed in new environments.

[0004] Therefore, the problems existing in the prior art need to be further improved and developed. Summary of the invention

[0005] (I) Purpose of the invention: In order to solve the problems existing in the above-mentioned prior art, the purpose of the present invention is to provide an AGV simulation system involving augmented reality, robot navigation, automatic control, computer simulation and human-computer interaction.

[0006] (II) Technical solution: In order to solve the above technical problems, the present technical solution provides an AGV simulation system based on AR augmented reality, including a model creation unit, a model selection unit, a mobile augmented reality unit, an AGV simulation control unit and a display unit. The model creation unit, the model selection unit, the AGV simulation control unit and the display unit are respectively connected to the mobile augmented reality unit. The model creation unit is used to collect AGV data, create a three-dimensional model of the AGV, obtain AGV models of different AGVs, and store different AGV models in an AGV model library; the model selection unit selects a target AGV model in the AGV model according to the simulation task, or modifies the AGV model in the AGV model library; the mobile augmented reality unit realizes the simulation operation of the AGV model in the warehouse environment through the Unreal Engine, and displays it through the display unit; the AGV simulation control unit is used to control the operation of the target AGV model in the augmented reality scene.

[0007] The model creation unit includes a high-precision photographing device and a modeling device. The high-precision photographing device takes a photo of each AGV prototype to obtain image data of each AGV prototype; the modeling device creates a corresponding AGV model according to the image data of each AGV prototype.

[0008] Among them, after the modeling device completes the creation of the AGV model, the model creation unit optimizes the details of the AGV model. The specific process is that first, the model creation unit creates an AGV white model according to the image data of the AGV that needs to create the model; then the image data of the AGV is combined with the AGV white model to obtain a refined AGV model.

[0009] Each AGV model in the AGV model library corresponds to carrying information, and the carrying information includes the maximum carrying capacity of different item names; The model selection unit selects a target AGV model from the AGV model library according to the simulation task. Specifically, when the simulation task includes a specified AGV model, the model selection unit obtains the AGV model specified in the simulation task, and the model selection unit retrieves the specified AGV model from the AGV model library as the target AGV model; when the simulation task does not include a specified AGV model, the model selection unit selects, according to the name and quantity information of the incoming items in the simulation task, all AGV models that can carry the names and quantities of the incoming / outgoing items in the simulation task from the carrying information of each AGV model pair. At this time, all AGV models that can carry the names and quantities of the incoming / outgoing items in the simulation task constitute a set of candidate models, and the model selection unit selects any one AGV model from the set of candidate models as the target AGV model.

[0010] Wherein, when the model selection unit selects the AGV model from the set of candidate models, the selection is made in the following manner: The model selection unit sorts all AGV models in the candidate model set according to the maximum load capacity, arranges them in order from small to large maximum load capacity, or arranges them in order from large to small maximum load capacity; the model selection unit selects the AGV model with the smallest maximum load capacity as the target AGV model according to the sorting order of the maximum load capacity.

[0011] The mobile augmented reality unit includes an information collection device and an augmented reality support module. The mobile augmented reality unit implements the simulation operation of the AGV model in the warehouse environment through the Unreal Engine, specifically including: The information acquisition device acquires environmental images of the space of automated logistics simulation to obtain a three-dimensional simulation space, and sends the obtained three-dimensional simulation space to the augmented reality support module; the augmented reality support module obtains the target AGV model selected by the model selection unit, and combines the target AGV model with the three-dimensional simulation space to obtain an augmented reality scene; the augmented reality scene is rendered by the virtual engine of the augmented reality support module and then displayed on the display unit; the augmented reality support module controls the target AGV model to perform simulation tasks in the augmented reality scene according to the AGV simulation control command.

[0012] The augmented reality support module is also used to accurately position the target AGV model in the three-dimensional simulation space: accurately place the target AGV model in the augmented reality scene, and track the target AGV model in real time.

[0013] The augmented reality support module accurately places the target AGV model in the augmented reality scene, and the specific implementation process includes: The information acquisition device acquires the environmental image of the automated logistics simulation space in real time to obtain a three-dimensional simulation space; when acquiring the three-dimensional simulation space, the information acquisition device acquires the dimension data of the three-dimensional simulation space corresponding to the real scene to obtain the scene dimension data; The information acquisition device measures the dimension data of the three-dimensional simulation space to obtain simulation dimension data; The augmented reality support module calculates a scaling ratio between the scene size and the simulation size; The augmented reality support module adjusts the size of the target AGV model according to the scaling ratio of the scene size and the simulation size, and the prototype size of the target AGV model, to obtain an adjusted target AGV model; The augmented reality support module obtains a simulated position according to the target position of the target AGV model in the space of the automated logistics simulation and the scaling ratio of the scene size and the simulation size, corresponding to the position of the target AGV model in the three-dimensional simulation space; The augmented reality support module adjusts the target AGV model and places it at a simulated position in the three-dimensional simulation space to obtain an augmented reality scene.

[0014] The augmented reality support module tracks the target AGV model in real time according to the real scene, specifically including: Matching the collected environmental image of the automated logistics simulation space with the corresponding position of the three-dimensional simulation space, that is, the augmented reality support module collects the environmental image of the automated logistics simulation space in real time according to the real scene, and the information collection device determines the position and direction of the environmental image in the real scene; The target AGV model is tracked in the augmented reality scene to obtain the position of the target AGV model; the augmented reality support module is provided with a positioning image, and the augmented reality support module determines the real-time position of the target AGV model by identifying the positioning image included in the real-time augmented reality scene.

[0015] Among them, the mobile augmented reality unit includes an environmental image of a preset automated logistics simulation space. When the augmented reality support module matches the collected environmental image of the automated logistics simulation space with the corresponding position of the three-dimensional simulation space, the augmented reality support module compares the matched new three-dimensional simulation space with the environmental image of the preset automated logistics simulation space. When the similarity reaches a specified threshold, the matching of the environmental image and the three-dimensional simulation space is completed, and the updated three-dimensional simulation space is obtained.

[0016] (III) Beneficial effects: The present invention provides an AGV simulation system based on AR augmented reality, which enhances the adaptability of the AGV model to environmental changes and improves the safety of the AGV. In addition, users can identify and solve problems more intuitively, which reduces maintenance costs and improves the experience of AGV operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of an AGV simulation system based on AR augmented reality in the present invention. DETAILED DESCRIPTION

[0018] The present invention is further described in detail below in conjunction with preferred embodiments. More details are elaborated in the following description to facilitate a full understanding of the present invention. However, the present invention can obviously be implemented in a variety of other ways different from the description. Those skilled in the art can make similar generalizations and deductions based on actual application situations without violating the connotation of the present invention. Therefore, the protection scope of the present invention should not be limited by the content of this specific embodiment.

[0019] The accompanying drawings are schematic diagrams of embodiments of the present invention. It should be noted that the drawings are only examples and are not drawn to scale, and should not be used to limit the actual protection scope of the present invention.

[0020] An AGV simulation system based on AR augmented reality simulates the movement and operation of AGV in a warehouse environment in an augmented reality environment, so that the AGV simulation system makes the user experience intuitive and efficient during use.

[0021] like Figure 1As shown, an AGV simulation system based on AR augmented reality includes a model creation unit, a model selection unit, a mobile augmented reality unit, an AGV simulation control unit and a display unit, wherein the model creation unit, the model selection unit, the AGV simulation control unit and the display unit are respectively connected to the mobile augmented reality unit.

[0022] The model creation unit is used to collect AGV data, create a three-dimensional model of the AGV, obtain AGV models of different AGVs (automatic guided vehicles), and store different AGV models in the AGV model library. The model selection unit selects the target AGV model in the AGV model according to the simulation task, or modifies the AGV model in the AGV model library. The mobile augmented reality unit realizes the simulation operation of the AGV model in the warehouse environment through the Unreal Engine and displays it through the display unit. The AGV simulation control unit is used to control the operation of the target AGV model in the augmented reality scene.

[0023] The model creation unit includes a high-precision shooting device and a modeling device. The high-precision shooting device takes a picture of each AGV prototype to obtain image data of each AGV prototype. When the high-precision shooting device takes a picture of each AGV prototype, it takes a 360-degree full-angle picture. The image data of each AGV prototype includes at least the size, shape and material data of the AGV prototype. The modeling device creates an AGV model according to the image data of each AGV prototype. The mobile augmented reality unit includes an AGV model library. After the modeling device completes the creation of the AGV model, the AGV model is stored in the AGV model library of the mobile augmented reality unit. The modeling device can be a modeling software, such as SolidWorks, AutoCAD, etc.

[0024] After the modeling device completes the creation of the AGV model, the model creation unit can also optimize the details of the AGV model to ensure that the details such as size, shape and texture of the AGV model are accurate, so as to improve the presentation quality of the AGV model in AR augmented reality.

[0025] The specific process of optimizing the details of the AGV model by the model creation unit is as follows: first, the model creation unit creates an AGV white model according to the image data of the AGV of the model as needed; then, the image data of the AGV is combined with the AGV white model to obtain a refined AGV model. The AGV model stored in the AGV model library is a refined AGV model.

[0026] The simulation task at least includes the name and quantity of the in / out items, and may include a specified AGV model.

[0027] Each AGV model in the AGV model library corresponds to load information, and the load information includes a maximum load capacity of different item names.

[0028] The model selection unit selects a target AGV model from the AGV model library according to the simulation task. Specifically, when the simulation task includes a specified AGV model, the model selection unit obtains the AGV model specified in the simulation task, and the model selection unit retrieves the specified AGV model from the AGV model library as the target AGV model; when the simulation task does not include a specified AGV model, the model selection unit selects all AGV models that can carry the names and quantities of the corresponding inbound / outbound items in the simulation task from the carrying information of each AGV model pair according to the names and quantity information of the inbound / outbound items in the simulation task. At this time, all AGV models that can carry the names and quantities of the corresponding inbound / outbound items in the simulation task constitute a set of models to be selected, and the model selection unit selects any one AGV model from the set of models to be selected as the target AGV model.

[0029] When the model selection unit selects the AGV model from the set of candidate models, it may be selected in the following manner: The model selection unit sorts all AGV models in the set of candidate models according to their maximum carrying capacity, which may be arranged in order from small to large maximum carrying capacity, or in order from large to small maximum carrying capacity; the model selection unit selects the AGV model with the smallest maximum carrying capacity as the target AGV model according to the sorting order of the maximum carrying capacity.

[0030] The model selection unit also includes a selection matching module, which can confirm the target AGV model according to the selection of the first selection interface, and can also modify the AGV model in the AGV model library according to the selection of the color, material and size of the AGV model on the first selection interface. The first selection interface of the selection matching module is displayed on the display unit.

[0031] The model selection unit modifies the AGV model in the AGV model library, including modifying the color, material, size, etc. of the AGV model.

[0032] The mobile augmented reality unit realizes the simulation operation of the AGV model in the warehouse environment through the Unreal Engine, specifically including: the mobile augmented reality unit collects environmental images of the space of automated logistics simulation to obtain a three-dimensional simulation space, and combines the target AGV model selected by the model selection unit with the three-dimensional simulation space to obtain an augmented reality scene; according to the AGV simulation control command, the target AGV model is controlled in the augmented reality scene to perform the simulation task.

[0033] The mobile augmented reality unit includes an information acquisition device and an augmented reality support module, wherein the information acquisition device is used to acquire environmental images of the space of automated logistics simulation to obtain a three-dimensional simulation space, and send the obtained three-dimensional simulation space to the augmented reality support module. The augmented reality support module obtains the target AGV model selected by the model selection unit, and combines the target AGV model with the three-dimensional simulation space to obtain an augmented reality scene. The augmented reality scene is rendered by the virtual engine of the augmented reality support module and then displayed on the display unit. The augmented reality support module is also used to accurately position the target AGV model in the three-dimensional simulation space, thereby ensuring the matching of the target AGV model with the simulation task.

[0034] When the augmented reality support module is installed in the mobile augmented reality unit, it needs to be packaged in Android, which specifically includes the following steps: Install Android SDK: install multiple versions of Android SDK, including Android 7.0-13.0, in the mobile augmented reality unit to adapt to different Android devices of users and ensure the integrity of development tools; SDK refers to software development kit, and its full name in English is Software Development Kit; Turning on the developer mode: Turning on the developer mode on the mobile augmented reality unit to enable debugging and testing of the application; Augmented Reality Support Module Packaging: Use the Augmented Reality Support Module to package the project as an application for the Android platform.

[0035] The augmented reality support module accurately positions the target AGV model in the three-dimensional simulation space, including accurately placing the target AGV model in the augmented reality scene and tracking the target AGV model in real time.

[0036] The augmented reality support module accurately places the target AGV model in the augmented reality scene. The specific implementation process includes: The information acquisition device acquires the environmental image of the automated logistics simulation space in real time to obtain a three-dimensional simulation space; when acquiring the three-dimensional simulation space, the information acquisition device acquires the dimension data of the three-dimensional simulation space corresponding to the real scene to obtain the scene dimension data; The information acquisition device measures the dimension data of the three-dimensional simulation space to obtain simulation dimension data; The augmented reality support module calculates a scaling ratio between the scene size and the simulation size; The augmented reality support module adjusts the size of the target AGV model according to the scaling ratio of the scene size and the simulation size, and the prototype size of the target AGV model, to obtain an adjusted target AGV model; The augmented reality support module obtains a simulated position according to the target position of the target AGV model in the space of the automated logistics simulation and the scaling ratio of the scene size and the simulation size, corresponding to the position of the target AGV model in the three-dimensional simulation space; The augmented reality support module adjusts the target AGV model and places it at a simulated position in the three-dimensional simulation space to obtain an augmented reality scene.

[0037] The augmented reality support module identifies the marks or features of the space of the automated logistics simulation based on the collected environmental images, and matches the simulated position of the target AGV model in real time. Specifically, the augmented reality support module is provided with a definition image. When the definition image is included in the three-dimensional simulation space, the augmented reality support module places the target AGV model on the definition image, thereby achieving accurate placement of the target AGV model in the augmented reality scene. The definition image can be a red painted road surface, or other images, such as a painted road surface of other colors. This principle is not specifically limited. It should be noted that the definition image can be adjusted, and the color of the road surface can be adjusted through RGBA values.

[0038] The mobile augmented reality unit includes the size of each AGV model corresponding to the AGV. The target position of the target AGV model in the space of the automated logistics simulation can be included in the automated simulation solution.

[0039] The augmented reality support module tracks the target AGV model in real time according to the real scene. The specific implementation process includes: The environmental image of the automated logistics simulation space is matched with the corresponding position of the three-dimensional simulation space, so as to ensure the matching degree between the three-dimensional simulation space and the real scene; the augmented reality support module collects the environmental image of the automated logistics simulation space in real time according to the real scene, and the information collection device collects the environmental image in real time to determine the position and direction of the environmental image in the real scene; specifically, the PnP (Perspective-n-Point) computational vision algorithm can be used to determine the position and direction of the environmental image in the real scene; The target AGV model is tracked in the augmented reality scene to obtain the position of the target AGV model; the augmented reality support module uses computer vision to achieve accurate positioning of the target AGV model. Specifically, the augmented reality support module is provided with a positioning image, and the augmented reality support module determines the real-time position of the target AGV model by identifying the positioning image included in the real-time augmented reality scene.

[0040] The mobile augmented reality unit processes the collected environmental images of the automated logistics simulation space in real time, and quickly updates the position of the image in the real scene, the position of the target AGV model, the scene size data and the simulation size data to ensure the smoothness and accuracy of the simulation system.

[0041] The mobile augmented reality unit includes an environmental image of a preset automated logistics simulation space. When the augmented reality support module matches the collected environmental image of the automated logistics simulation space with the corresponding position of the three-dimensional simulation space, the augmented reality support module compares the matched new three-dimensional simulation space with the preset environmental image of the automated logistics simulation space. When the similarity reaches a specified threshold, the matching of the environmental image and the three-dimensional simulation space is completed to obtain an updated three-dimensional simulation space. When the augmented reality support module compares the matched new three-dimensional simulation space with the preset environmental image of the automated logistics simulation space, it compares all geometric bodies in the new three-dimensional simulation space with all geometric bodies in the preset environmental image of the automated logistics simulation space.

[0042] The augmented reality support module includes a virtual engine and an augmented reality application. The virtual engine is used to render the augmented reality scene, including the rendering of the target AGV model and the three-dimensional simulation space. The augmented reality application is used to put the digital object into the real world, and after being rendered by the virtual engine, it is displayed on the display unit. The combination of the digital object and the real world is an augmented reality scene.

[0043] When the augmented reality support module is installed in the mobile augmented reality unit, the augmented reality support module specifically includes the following steps: Integrate augmented reality applications: Select the augmented reality applications that need to be integrated according to the system type of the mobile augmented reality unit, which can be ARCore or ARKit, to support AR functions; Complete interactive functions: input interactive methods in the augmented reality support module, such as gesture control, touch operation, etc.; Complete interface design: design an intuitive and easy-to-use user interface in the augmented reality support module. The user interface is displayed through the display unit. The user interface includes interactive function keys, and the user interacts with the augmented reality scene through the interactive function keys.

[0044] The AGV simulation control unit controls the operation of the target AGV model in the augmented reality scene, including: The AGV simulation control unit is connected to the target AGV model in the augmented reality scene to realize the real-time exchange of control data of the target AGV model by the AGV simulation control unit; The AGV simulation control unit sends a simulation task to the target AGV model, and the target AGV model executes the model task.

[0045] When the AGV simulation control unit is connected to the target AGV model in the augmented reality scene, the AGV simulation control unit transmits the control data of the target AGV model to the mobile augmented reality unit in real time through the websocket full-duplex communication protocol.

[0046] The AGV model includes a simulation control system synchronized with the AGV, and the simulation control system of the AGV model finds a corresponding position according to a target position.

[0047] The AGV simulation control unit sends control commands to the target AGV model in the augmented reality scene through the mobile augmented reality unit to control the simulated operation of the target AGV model. The AGV simulation control unit includes automatic execution of simulation tasks and intervention execution of simulation tasks. The automatic execution of simulation tasks is that the AGV simulation control unit generates an automatic simulation plan according to the simulation task, and generates a real-time operation control command according to the automatic simulation plan. The AGV simulation control unit sends the real-time operation control command to the mobile augmented reality unit to realize the automatic simulation operation of the target AGV model. The intervention execution of simulation tasks is that the AGV simulation control unit generates a corresponding operation control command according to the control command of the control device. The AGV simulation control unit sends the corresponding operation control command to the mobile augmented reality unit to realize the access simulation operation of the target AGV model. The control device can be an operating handle or an intelligent operating device, which is not specifically limited here.

[0048] When the target AGV model performs the simulation task according to the automatic simulation plan, the user can control the simulation operation of the target AGV model through the control device. When the control device controls the simulation operation of the target AGV model, the AGV simulation control unit continues to execute the automatic simulation plan.

[0049] When the target AGV model is in the augmented reality scene, the position of the target AGV model is determined by the coordinate system in the augmented reality scene, and each real-time position of the target AGV model corresponds to the coordinates of the coordinate system in the augmented reality scene.

[0050] When the target AGV model executes the simulation task according to the automatic simulation plan and the control device controls the switching of the simulation operation of the target AGV model, the target AGV model sends the coordinates of the coordinate system in the current corresponding augmented reality scene to the control device. The control device calculates the position where the target AGV model should reach after the control device sends the control command at the coordinate position.

[0051] The AGV simulation control unit generates an automatic simulation plan according to the simulation task, and generates a real-time operation control command according to the automatic simulation plan. The AGV simulation control unit sends the real-time operation control command to the mobile augmented reality unit to realize the automatic simulation operation of the target AGV model. Specifically, The AGV simulation control unit includes a target cargo storage location. The AGV simulation control unit depicts multiple walking plans, i.e., automatic simulation plans, in a three-dimensional simulation space according to the real-time target AGV model location obtained by the augmented reality support module and the target cargo storage location. The AGV simulation control unit generates a real-time operation control command for the walking route in each walking plan. The AGV simulation control unit sends the real-time operation control command to the mobile augmented reality unit, and the mobile augmented reality unit controls the operation of the target AGV model in the augmented reality scene according to the real-time operation control command, so that the target AGV model completes the in-and-out warehouse process simulation according to the automatic simulation plan.

[0052] When executing simulation tasks, it is not necessary to install all the equipment to simulate the operation, which saves time and reduces the professional requirements. At the same time, since there are no physical objects, the risk of collisions is reduced. The simulation can also be used to issue orders and predict the effect and efficiency in advance.

[0053] The AGV simulation system also includes a simulated warehouse management system and a simulated warehouse control system. The simulated warehouse management system is connected to the warehouse management system. The simulated warehouse management system can be updated synchronously according to the changes in the data in the warehouse management system, that is, the data in the simulated warehouse control system is synchronized with the data in the warehouse control system. The simulated warehouse control system is connected to the warehouse control system. The simulated warehouse control system can be updated synchronously according to the changes in the data in the warehouse control system, that is, the data in the simulated warehouse control system is synchronized with the data in the warehouse control system.

[0054] The target AGV model includes a simulation monitoring device, which is arranged at one end of the target AGV model in the forward direction, and is used to monitor whether there are obstacles in the target AGV model in the direction of travel in the augmented reality scene. When the simulation monitoring device detects that an obstacle appears within the collision threshold range of the target AGV model in the direction of travel in the augmented reality scene, the augmented reality support module issues an early warning message, and the early warning message includes a simulation adjustment command and an alarm display of the target AGV model.

[0055] The augmented reality support module sends the simulation adjustment command to the AGV simulation control unit, and the AGV simulation control unit switches the walking scheme according to the position of the real-time target AGV model (i.e., the current position of the target AGV model) and the target cargo storage position obtained by the augmented reality support module, and the AGV simulation control unit updates the AGV real-time operation control command according to the walking route in the switched walking scheme. The AGV simulation control unit sends the updated AGV real-time operation control command to the mobile augmented reality unit, and the mobile augmented reality unit controls the subsequent operation of the target AGV model in the augmented reality scene according to the updated AGV real-time operation control command.

[0056] The AGV simulation control unit switches the walking plan according to the current position of the target AGV model obtained by the augmented reality support module and the target cargo storage position.

[0057] The augmented reality support module sends the warning information to the display unit, and the display unit displays the warning information. At this time, the user can choose whether to adjust the subsequent operation of the target AGV model through the control device of the AGV simulation control unit according to the warning information.

[0058] The augmented reality support module may include a standard warehouse entry and exit process. When conducting warehouse entry and exit training, the AGV simulation control unit sends a call to the standard warehouse entry and exit process to the augmented reality support module according to the simulation task. After the Unreal Engine renders the standard warehouse entry and exit process, it is displayed through the display unit.

[0059] An AGV simulation system based on AR augmented reality provides visual assistance to users when simulating the movement and operation of AGV in a warehouse environment by adding AR augmented reality, thereby enhancing the adaptability of the AGV model to environmental changes. The AGV model is integrated with the real environment through AR augmented reality, so that when simulating the entry and exit operations, the risk of collision can be discovered in time, thereby improving the safety of the AGV. In addition, the present invention can also be used for operator training to improve the accuracy and efficiency of operations through an intuitive interactive interface. The present invention reduces the reliance on accurate maps through augmented reality, allowing AGVs to simulate in new environments faster. In addition, users can identify and solve problems more intuitively, reducing maintenance costs, improving the experience of AGV operations, and bringing new opportunities to the fields of automated logistics and manufacturing.

[0060] The above content is an explanation of the preferred embodiments of the present invention, which can help those skilled in the art to more fully understand the technical solution of the present invention. However, these embodiments are merely illustrative, and it cannot be determined that the specific implementation methods of the present invention are limited to the description of these embodiments. For ordinary technicians in the technical field to which the present invention belongs, without departing from the concept of the present invention, several simple deductions and transformations can be made, which should be regarded as belonging to the protection scope of the present invention.

Claims

1. An AGV simulation system based on AR augmented reality, characterized in that: It includes a model creation unit, a model selection unit, a mobile augmented reality unit, an AGV simulation control unit and a display unit, wherein the model creation unit, the model selection unit, the AGV simulation control unit and the display unit are connected to the mobile augmented reality unit respectively. The model creation unit is used to collect AGV data, create a three-dimensional model of the AGV, obtain AGV models of different AGVs, and store different AGV models in an AGV model library; the model selection unit selects a target AGV model in the AGV model according to the simulation task, or modifies the AGV model in the AGV model library; the mobile augmented reality unit realizes the simulation operation of the AGV model in the warehouse environment through the Unreal Engine, and displays it through the display unit; the AGV simulation control unit is used to control the operation of the target AGV model in the augmented reality scene.

2. The AGV simulation system based on AR augmented reality according to claim 1, characterized in that: The model creation unit includes a high-precision photographing device and a modeling device. The high-precision photographing device takes a photo of each AGV prototype to obtain image data of each AGV prototype; the modeling device creates a corresponding AGV model according to the image data of each AGV prototype.

3. The AGV simulation system based on AR augmented reality according to claim 2, characterized in that: After the modeling device completes the creation of the AGV model, the model creation unit optimizes the details of the AGV model. The specific process is that first, the model creation unit creates an AGV white model according to the image data of the AGV that needs to create the model; then the image data of the AGV is combined with the AGV white model to obtain a refined AGV model.

4. The AGV simulation system based on AR augmented reality according to claim 1, characterized in that: Each AGV model in the AGV model library corresponds to load information, and the load information includes the maximum load capacity of different item names; The model selection unit selects a target AGV model from the AGV model library according to the simulation task. Specifically, when the simulation task includes a specified AGV model, the model selection unit obtains the AGV model specified in the simulation task, and the model selection unit retrieves the specified AGV model from the AGV model library as the target AGV model; when the simulation task does not include a specified AGV model, the model selection unit selects, according to the name and quantity information of the incoming items in the simulation task, all AGV models that can carry the names and quantities of the incoming / outgoing items in the simulation task from the carrying information of each AGV model pair. At this time, all AGV models that can carry the names and quantities of the incoming / outgoing items in the simulation task constitute a set of candidate models, and the model selection unit selects any one AGV model from the set of candidate models as the target AGV model.

5. The AGV simulation system based on AR augmented reality according to claim 4, characterized in that: When the model selection unit selects the AGV model from the set of candidate models, the selection is made in the following manner: The model selection unit sorts all AGV models in the candidate model set according to the maximum load capacity, arranges them in order from small to large maximum load capacity, or arranges them in order from large to small maximum load capacity; the model selection unit selects the AGV model with the smallest maximum load capacity as the target AGV model according to the sorting order of the maximum load capacity.

6. The AGV simulation system based on AR augmented reality according to claim 1, characterized in that: The mobile augmented reality unit includes an information collection device and an augmented reality support module. The mobile augmented reality unit implements the simulation operation of the AGV model in the warehouse environment through the Unreal Engine, specifically including: The information acquisition device acquires environmental images of the space of the automated logistics simulation to obtain a three-dimensional simulation space, and sends the obtained three-dimensional simulation space to the augmented reality support module; The augmented reality support module obtains the target AGV model selected by the model selection unit, and combines the target AGV model with the three-dimensional simulation space to obtain an augmented reality scene; the augmented reality scene is rendered by the virtual engine of the augmented reality support module and then displayed on the display unit; the augmented reality support module controls the target AGV model to perform simulation tasks in the augmented reality scene according to the AGV simulation control command.

7. The AGV simulation system based on AR augmented reality according to claim 6, characterized in that: The augmented reality support module is also used to accurately position the target AGV model in the three-dimensional simulation space: accurately place the target AGV model in the augmented reality scene, and track the target AGV model in real time.

8. The AGV simulation system based on AR augmented reality according to claim 7, characterized in that: The augmented reality support module accurately places the target AGV model in the augmented reality scene. The specific implementation process includes: The information acquisition device acquires the environmental image of the automated logistics simulation space in real time to obtain a three-dimensional simulation space; when acquiring the three-dimensional simulation space, the information acquisition device acquires the dimension data of the three-dimensional simulation space corresponding to the real scene to obtain the scene dimension data; The information acquisition device measures the dimension data of the three-dimensional simulation space to obtain simulation dimension data; The augmented reality support module calculates a scaling ratio between the scene size and the simulation size; The augmented reality support module adjusts the size of the target AGV model according to the scaling ratio of the scene size and the simulation size, and the prototype size of the target AGV model, to obtain an adjusted target AGV model; The augmented reality support module obtains a simulated position according to the target position of the target AGV model in the space of the automated logistics simulation and the scaling ratio of the scene size and the simulation size, corresponding to the position of the target AGV model in the three-dimensional simulation space; The augmented reality support module adjusts the target AGV model and places it at a simulated position in the three-dimensional simulation space to obtain an augmented reality scene.

9. The AGV simulation system based on AR augmented reality according to claim 7, characterized in that: The augmented reality support module tracks the target AGV model in real time according to the real scene, specifically including: Matching the collected environmental image of the automated logistics simulation space with the corresponding position of the three-dimensional simulation space, that is, the augmented reality support module collects the environmental image of the automated logistics simulation space in real time according to the real scene, and the information collection device determines the position and direction of the environmental image in the real scene; The target AGV model is tracked in the augmented reality scene to obtain the position of the target AGV model; the augmented reality support module is provided with a positioning image, and the augmented reality support module determines the real-time position of the target AGV model by identifying the positioning image included in the real-time augmented reality scene.

10. The AGV simulation system based on AR augmented reality according to claim 9, characterized in that: The mobile augmented reality unit includes an environmental image of a preset automated logistics simulation space. When the augmented reality support module matches the acquired environmental image of the automated logistics simulation space with the corresponding position of the three-dimensional simulation space, the augmented reality support module compares the matched new three-dimensional simulation space with the environmental image of the preset automated logistics simulation space. When the similarity reaches a specified threshold, the matching of the environmental image and the three-dimensional simulation space is completed, and an updated three-dimensional simulation space is obtained.

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