Automatic carrying method for goods shelf

Abstract

The invention relates to an automatic carrying method for a goods shelf, and the method comprises the steps: carrying out the scanning of an ROI through a 3D laser radar on an AGV, and obtaining the corresponding point cloud data of the region; determining first point cloud data of a left plane and a right plane of the to-be-carried goods shelf from the regional point cloud data based on a vertical central axis of the ROI; determining second point cloud data of the front plane of the to-be-carried goods shelf from the regional point cloud data based on the horizontal central axis of the ROI; and based on the first point cloud data and the second point cloud data, the pose of the AGV trolley is dynamically adjusted, so that butt-joint carrying with the to-be-carried goods shelf is completed. According to the method and the device, high-precision detection of the goods shelf based on 3D scanning is realized, the multiple planes of the goods shelf are positioned by utilizing the central axis of the ROI region, so that the AGV can accurately judge the direction of the goods shelf to complete precise butt joint, and the problem of how to improve the butt joint accuracy between the AGV and the goods shelf to be carried is solved.

Description

Technical Field

[0001] This application relates to the field of industrial automation, and in particular to an automated handling method for shelves. Background Technology

[0002] Existing AGVs face several challenges in automated shelving systems. Among the most prominent issues are the AGVs' inability to accurately locate the shelving units and their difficulty in precisely docking with them. This makes it difficult for AGVs to handle dynamic adjustments in complex scenarios. Furthermore, the low docking efficiency between the AGVs and the shelving units is another problem that needs to be addressed.

[0003] Currently, no effective solution has been proposed for improving the docking accuracy between AGV carts and the shelves to be transported in related technologies. Summary of the Invention

[0004] This application provides an automated handling method for shelves, which at least solves the problem in the related art of how to improve the docking accuracy between AGV trolleys and shelves to be handled.

[0005] In a first aspect, embodiments of this application provide an automated handling method for shelves, the method comprising:

[0006] The 3D LiDAR on the AGV vehicle scans the ROI (Region of Interest) to obtain the corresponding point cloud data. Each ROI contains a shelf to be transported.

[0007] Based on the vertical centerline of the region of interest (ROI), the first point cloud data of the left and right planes of the shelf to be moved are determined from the point cloud data of the region.

[0008] Based on the horizontal centerline of the region of interest (ROI), the second point cloud data of the front plane of the shelf to be moved is determined from the point cloud data of the region;

[0009] Based on the first point cloud data and the second point cloud data, the position and posture of the AGV trolley are dynamically adjusted to complete the docking and transportation with the shelf to be transported.

[0010] In some embodiments, determining the first point cloud data of the left and right planes of the shelf to be moved from the point cloud data based on the vertical centerline of the region of interest (ROI) includes:

[0011] A first raster image is created on the vertical central axis of the region of interest (ROI), wherein the first raster image contains a plurality of rasters;

[0012] Based on the first raster image, the first point cloud data of the left and right planes of the shelf to be transported are determined from the regional point cloud data.

[0013] In some embodiments, determining the first point cloud data of the left and right planes of the shelf to be transported from the region point cloud data based on the first raster image includes:

[0014] The point cloud data of the region is horizontally projected onto the grid of the first grid image, and iteratively projected onto all points in each grid, from which the point farthest from the plane of the first grid image is determined as the sampling point of the current grid.

[0015] Once all grids of the first raster image have completed the confirmation of sampling points, the first point cloud data of the left and right planes of the shelf to be transported is obtained.

[0016] In some embodiments, determining second point cloud data of the front plane of the shelf to be moved from the region point cloud data based on the horizontal centerline of the region of interest (ROI) includes:

[0017] A second raster image is created on the horizontal central axis of the region of interest (ROI), wherein the second raster image contains a plurality of rasters;

[0018] Based on the second raster image, the second point cloud data of the front plane of the shelf to be transported is determined from the regional point cloud data.

[0019] In some embodiments, determining the second point cloud data of the front plane of the shelf to be transported from the area point cloud data based on the second raster image includes:

[0020] The point cloud data of the region is vertically projected onto the grid of the second grid image, and the projection is iteratively applied to all points in each grid. The point farthest from the plane of the second grid image is then determined as the sampling point of the current grid.

[0021] Once all grids of the second raster image have completed the confirmation of sampling points, the second point cloud data of the front plane of the shelf to be moved is obtained.

[0022] In some embodiments, dynamically adjusting the AGV's position based on the first point cloud data and the second point cloud data to complete the docking and transport with the shelf to be transported includes:

[0023] The first point cloud data is fitted with a straight line using the RANSAC algorithm to obtain the equations of the left plane of the shelf to be moved and the right plane of the shelf to be moved.

[0024] The RANSAC algorithm is used to fit a straight line to the second point cloud data to obtain the straight line equation of the front plane of the front plane of the shelf to be moved.

[0025] Based on the equations of the left plane, right plane, and front plane, the AGV trolley is dynamically adjusted in terms of front-to-back distance, left-to-right distance, and lateral angle with the shelf to be transported, so as to complete the docking and transport with the shelf to be transported.

[0026] In some embodiments, based on the equations of the left plane, right plane, and front plane, the front-to-back distance, left-to-right distance, and yaw angle between the AGV and the rack to be transported are dynamically adjusted to complete the docking and transporting with the rack to be transported, including:

[0027] If the equations for the front, left, and right planes are all successfully fitted: Based on the equations for the left, right, and front planes, dynamically adjust the front-to-back and left-to-right distances between the AGV and the shelf to be transported; Based on the equation for the front plane, dynamically adjust the yaw angle between the AGV and the shelf to be transported.

[0028] If the front plane straight line equation is successfully fitted, but the left plane straight line equation and / or the right plane straight line equation fails to fit: Based on the front plane straight line equation, dynamically adjust the front-to-back distance, left-to-right distance and yaw angle between the AGV and the shelf to be transported.

[0029] If fitting the front plane straight line equation fails, but fitting the left plane and right plane straight line equations succeeds: Based on the front plane straight line equation, dynamically adjust the front-to-back distance between the AGV and the shelf to be transported; based on the left plane and right plane straight line equations, dynamically adjust the left-to-right distance and yaw angle between the AGV and the shelf to be transported.

[0030] In some embodiments, for cases where the equations of the front plane line, the left plane line, and the right plane line are all successfully fitted:

[0031] Determine the intersection point p1 of the front plane line equation and the left plane line equation, and the intersection point p2 of the front plane line equation and the right plane line equation. Take the midpoint value of line segment p1p2 as the front-to-back distance and left-to-right distance between the AGV and the shelf to be transported.

[0032] Determine the angle θ1 between the equation of the front plane straight line and the X-axis of the vehicle coordinate system of the AGV, and take the angle θ1 as the yaw angle between the AGV and the rack to be transported.

[0033] In some embodiments, for cases where the equations for the front plane lines are successfully fitted, but the equations for the left plane lines and / or the right plane lines are not fitted:

[0034] Determine the intersection point p3 of the equation of the front plane line and the X-axis of the vehicle coordinate system of the AGV, and take the value of the intersection point p3 as the front-to-back distance between the AGV and the shelf to be transported;

[0035] Determine the midpoint p4 of the line segment formed by the points used to fit the equation of the straight line in the front plane, and take the value of the midpoint p4 as the left and right distance between the AGV and the shelf to be transported;

[0036] Determine the angle θ2 between the perpendicular line of the front plane straight line equation and the X-axis of the vehicle coordinate system of the AGV, and take the angle θ2 as the yaw angle between the AGV and the rack to be transported.

[0037] In some embodiments, for cases where the fitting of the straight line equation in the front plane fails, but the fitting of the straight line equations in the left and right planes succeeds:

[0038] Determine the intersection point p5 between the equation of the last successfully fitted plane line and the horizontal centerline of the region of interest of the ROI, and take the value of the intersection point p5 as the front-to-back distance between the AGV and the shelf to be transported;

[0039] Determine the intersection point p6 of the left plane straight line equation with the horizontal centerline of the ROI region of interest, and the intersection point p7 of the right plane straight line equation with the horizontal centerline of the ROI region of interest. Take the midpoint value of line segment p6p7 as the left-right distance between the AGV and the rack to be transported.

[0040] Determine the angle bisector of the equations of the left and right planes and the angle θ3 between it and the X-axis of the AGV vehicle coordinate system. Take the angle θ3 as the yaw angle between the AGV vehicle and the rack to be transported.

[0041] Compared to related technologies, the first aspect provided by the embodiments of this application is an automated handling method for shelves. This method uses a 3D LiDAR on an AGV (Automated Guided Vehicle) to scan the Region of Interest (ROI) to obtain corresponding area point cloud data. Each ROI contains a shelf to be handled. Based on the vertical central axis of the ROI, first point cloud data for the left and right planes of the shelf to be handled are determined from the area point cloud data. Based on the horizontal central axis of the ROI, second point cloud data for the front plane of the shelf to be handled is determined from the area point cloud data. Based on the first and second point cloud data, the AGV's pose is dynamically adjusted to complete the docking and handling with the shelf to be handled. This achieves 3D scanning of shelves within a preset ROI area, which improves the accuracy of subsequent shelf detection compared to planar scanning. Furthermore, by utilizing the two central axes of the ROI area to locate multiple planes of the shelf, the AGV can accurately determine the shelf's orientation, effectively supporting precise docking between the AGV and the shelf, thus solving the problem of improving the docking accuracy between the AGV and the shelf to be handled. Attached Figure Description

[0042] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0043] Figure 1 This is a flowchart of the steps of the automated shelving handling method according to an embodiment of this application;

[0044] Figure 2 This is a schematic diagram of an AGV (Automated Guided Vehicle) performing scanning according to an embodiment of this application;

[0045] Figure 3 This is a physical schematic diagram of the AGV vehicle operation according to an embodiment of this application;

[0046] Figure 4 This is a schematic diagram of a rack to be moved according to an embodiment of this application;

[0047] Figure 5 This is a rasterized schematic diagram of the axis of the region of interest (ROI) according to an embodiment of this application;

[0048] Figure 6 This is a schematic diagram of the internal structure of an electronic device according to an embodiment of this application. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of this application clearer, the application is described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application.

[0050] Obviously, the accompanying drawings described below are merely some examples or embodiments of this application. Those skilled in the art can apply this application to other similar scenarios based on these drawings without any inventive effort. Furthermore, it is understood that although the efforts made in this development process may be complex and lengthy, for those skilled in the art related to the content disclosed in this application, any changes to design, manufacturing, or production based on the technical content disclosed in this application are merely conventional technical means and should not be construed as insufficient disclosure of the content of this application.

[0051] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment that is mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0052] Unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms “a,” “an,” “an,” “the,” and similar words used in this application do not indicate quantity limitation and may indicate singular or plural. The terms “comprising,” “including,” “having,” and any variations thereof used in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units not listed, or may include other steps or units inherent to these processes, methods, products, or devices. The terms “connected,” “linked,” “coupled,” and similar words used in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. “Multiple” used in this application refers to two or more. “And / or” describes the relationship between related objects, indicating that three relationships may exist; for example, “A and / or B” can represent: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following objects are in an "or" relationship. The terms "first," "second," and "third" used in this application are merely to distinguish similar objects and do not represent a specific ordering of the objects.

[0053] This application provides an automated handling method for shelves. Figure 1 This is a flowchart of the automated shelving handling method according to an embodiment of this application, as follows: Figure 1 As shown, the method includes the following steps:

[0054] Step S102: The ROI region of interest is scanned by the 3D LiDAR on the AGV vehicle to obtain the corresponding region point cloud data. In each ROI region of interest, there is a shelf to be transported. Figure 2 This is a schematic diagram of the AGV vehicle scanning according to an embodiment of this application, as shown below. Figure 2 As shown, the rack to be transported has its own corresponding coordinate system (pallet coordinate system), and the AGV itself also has its own corresponding coordinate system (vehicle coordinate system).

[0055] Specifically, in step S102, Figure 3 This is a physical schematic diagram of the AGV (Automated Guided Vehicle) operation according to an embodiment of this application, such as... Figure 3 As shown, the AGV is equipped with two 32-line (the more lines the better) 3D LiDARs, which are installed at the rear of the vehicle, at a height roughly the same as the height of the empty shelf. Figure 4 This is a schematic diagram of a rack to be moved according to an embodiment of this application, as shown below. Figure 4 As shown, the shelf to be moved is specifically an electrolytic aluminum shelf.

[0056] It should be noted that before step S102, there are several shelves to be transported in the AGV's work area, each shelf being located within a corresponding Region of Interest (ROI). The AGV moves to the vicinity of the ROI based on its set location. Furthermore, while setting the ROI, a height is preset to filter out points on the ground, leaving only the point cloud of the shelf and its vicinity.

[0057] Step S104: Based on the vertical centerline of the ROI region of interest, determine the first point cloud data of the left and right planes of the shelf to be moved from the region point cloud data;

[0058] Figure 5 This is a rasterized schematic diagram of the axis of the region of interest (ROI) according to an embodiment of this application, such as... Figure 5 As shown, step S104 specifically includes the following steps:

[0059] Step S1041: Create a first raster image on the vertical central axis (AA) of the region of interest (ROI), wherein the first raster image contains several grates; the physical size of the grates is w*h (e.g., 0.1m*0.1m).

[0060] Step S1042: Based on the first raster image, determine the first point cloud data of the left and right planes of the shelf to be transported from the regional point cloud data.

[0061] Specifically, step S1042 involves horizontally projecting the regional point cloud data onto the grid of the first grid image, iteratively projecting all points into each grid, and determining the point farthest from the plane of the first grid image as the sampling point of the current grid; when all grids of the first grid image have completed the confirmation of sampling points, the first point cloud data of the left and right planes of the shelf to be transported are obtained.

[0062] Step S106: Based on the horizontal centerline of the ROI region of interest, determine the second point cloud data of the front plane of the shelf to be moved from the regional point cloud data;

[0063] Step S106 specifically includes the following steps:

[0064] Step S1061, as follows Figure 5 As shown, similarly, a second raster image is created on the horizontal central axis (BB) of the region of interest (ROI), wherein the second raster image contains several rasters;

[0065] Step S1062: Based on the second raster image, determine the second point cloud data of the front plane of the shelf to be transported from the regional point cloud data.

[0066] Specifically, step S1062 involves vertically projecting the regional point cloud data onto the grid of the second grid image, iteratively projecting all points into each grid, and determining the point farthest from the plane of the second grid image as the sampling point of the current grid; when all grids of the second grid image have completed the confirmation of sampling points, the second point cloud data of the front plane of the shelf to be moved is obtained.

[0067] It should be noted that in steps S104 to S106 above, during the detection of the front, left, and right planes of the shelf to be moved, the area point cloud data is sampled using a rasterization method, and then the point cloud data corresponding to the plane is determined from the area point cloud data, which can effectively reduce the computational load of the shelf plane detection.

[0068] Step S108: Based on the first point cloud data and the second point cloud data, dynamically adjust the position and posture of the AGV to complete the docking and transportation with the shelf to be transported.

[0069] Step S108 also includes the following steps:

[0070] Step S1081: The first point cloud data is fitted with a straight line using the RANSAC algorithm to obtain the straight line equations of the left plane of the shelf to be moved and the right plane of the shelf to be moved.

[0071] It should be noted that during the process of using the RANSAC algorithm to fit straight lines to the first point cloud data, since the points on the left and right planes of the shelf to be moved are far apart on the planes but close together within the planes, the RANSAC algorithm can directly fit the straight lines on the left and right planes from the first point cloud data, effectively filtering out sampling errors without additional screening.

[0072] Step S1082: The second point cloud data is fitted with a straight line using the RANSAC algorithm to obtain the straight line equation of the front plane of the shelf to be moved.

[0073] It should be noted that for the left and right plane line equations obtained by fitting in step S1081, and the front plane line equation obtained by fitting in step S1082, the slope of the line equations can be checked to determine whether the fitting is correct. Furthermore, the interval between the left and right line equations can be checked, as well as whether the front line equation is perpendicular to the left and right line equations, etc.

[0074] Step S1083: Based on the straight line equations of the left plane, right plane, and front plane, dynamically adjust the front-to-back distance, left-to-right distance, and lateral angle between the AGV and the shelf to be transported, so as to complete the docking and transport with the shelf to be transported.

[0075] It should be noted that, because the AGV's position needs to be constantly adjusted during the docking process with the rack to be transported, the planar detection of the rack to be transported may fail (i.e., the planar equation fitting fails). Therefore, step S1083 specifically includes:

[0076] ① When the equations of the front plane, left plane, and right plane are all successfully fitted: Based on the equations of the left plane, right plane, and front plane, dynamically adjust the front-to-back distance and left-to-right distance between the AGV and the shelf to be transported; Based on the equation of the front plane, dynamically adjust the yaw angle between the AGV and the shelf to be transported.

[0077] Specifically, determine the intersection point p1 of the front plane line equation and the left plane line equation, and the intersection point p2 of the front plane line equation and the right plane line equation. Take the midpoint value of line segment p1p2 as the front-to-back distance and left-to-right distance between the AGV trolley and the shelf to be transported.

[0078] Determine the angle θ1 between the equation of the front plane straight line and the X-axis of the AGV vehicle coordinate system, and take the angle θ1 as the yaw angle between the AGV and the shelf to be transported.

[0079] ② If the front plane straight line equation is successfully fitted, but the left plane straight line equation and / or right plane straight line equation fails to fit: Based on the front plane straight line equation, dynamically adjust the front-to-back distance, left-to-right distance and yaw angle between the AGV and the shelf to be transported;

[0080] Specifically, determine the intersection point p3 of the front plane straight line equation and the X-axis of the AGV vehicle coordinate system, and take the value of the intersection point p3 as the front-to-back distance between the AGV vehicle and the shelf to be transported;

[0081] Determine the midpoint p4 of the line segment formed by the points used to fit the equation of the straight line in the front plane, and take the value of the midpoint p4 as the left and right distance between the AGV and the shelf to be transported.

[0082] Determine the angle θ2 between the perpendicular line of the front plane straight line equation and the X-axis of the AGV vehicle coordinate system, and take the angle θ2 as the yaw angle between the AGV vehicle and the shelf to be transported.

[0083] ③ When the fitting of the front plane straight line equation fails, but the fitting of the left plane straight line equation and the right plane straight line equation succeeds: Based on the front plane straight line equation, dynamically adjust the front-to-back distance between the AGV and the shelf to be transported; based on the left plane straight line equation and the right plane straight line equation, dynamically adjust the left-to-right distance and yaw angle between the AGV and the shelf to be transported.

[0084] Specifically, the intersection point p5 of the last successfully fitted plane line equation and the horizontal centerline of the ROI region of interest is determined, and the value of the intersection point p5 is taken as the front-to-back distance between the AGV and the shelf to be transported.

[0085] Determine the intersection point p6 of the left plane line equation and the horizontal centerline of the ROI region of interest, and the intersection point p7 of the right plane line equation and the horizontal centerline of the ROI region of interest. Take the midpoint value of line segment p6p7 as the left and right distances between the AGV and the shelf to be transported.

[0086] Determine the angle bisector of the equations of the straight lines in the left and right planes and the angle θ3 between it and the X-axis of the AGV's vehicle coordinate system. Take the angle θ3 as the yaw angle between the AGV and the shelf to be transported.

[0087] Furthermore, for any of the three scenarios ①②③ above, if the three degrees of freedom—the front-to-back distance, the left-to-right distance, and the yaw angle—between the AGV and the shelf to be transported can be successfully determined, then the AGV's pose will be adjusted based on the determined degrees of freedom. If only some degrees of freedom are successfully determined and others fail to be determined, then the failed degrees of freedom will be fused using other sensors such as lasers, wheel odometers, and IMUs to form a complete three-degree-of-freedom pose.

[0088] Through the steps described in this application embodiment, 3D scanning of the shelves within the preset ROI area is achieved. Compared with planar scanning, this can improve the accuracy of subsequent shelf detection. At the same time, by using the two central axes of the ROI area to locate multiple planes of the shelves, the AGV can accurately determine the shelf position, effectively supporting the precise docking between the AGV and the shelves, thus solving the problem of how to improve the docking accuracy between the AGV and the shelves to be transported.

[0089] It should be noted that the steps shown in the above process or in the flowchart of the accompanying figures can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0090] This embodiment provides an electronic device including a memory and a processor. The memory stores a computer program, and the processor is configured to run the computer program to perform the steps in any of the above method embodiments. The electronic device is preferably deployed in an AGV (Automated Guided Vehicle).

[0091] Optionally, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor and the input / output device is connected to the processor.

[0092] Optionally, the electronic device may further include a processor, memory, network interface, display screen, and input device connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface is used to communicate with external terminals via a network connection. When the computer program is executed by the processor, it implements an automated shelving handling method. The display screen may be a liquid crystal display (LCD) or an e-ink display. The input device may be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the device's casing, or an external keyboard, touchpad, or mouse.

[0093] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated here.

[0094] Furthermore, in conjunction with the automated shelving handling method in the above embodiments, this application embodiment can provide a storage medium for implementation. This storage medium stores a computer program; when executed by a processor, the computer program implements any of the automated shelving handling methods in the above embodiments.

[0095] In one embodiment, Figure 6 This is a schematic diagram of the internal structure of an electronic device according to an embodiment of this application, such as... Figure 6 As shown, an electronic device is provided, which can be a server, and its internal structure diagram can be as follows. Figure 6 As shown, the electronic device includes a processor, a network interface, internal memory, and non-volatile memory connected via an internal bus. The non-volatile memory stores an operating system, computer programs, and a database. The processor provides computing and control capabilities, the network interface communicates with external terminals via a network, the internal memory provides an environment for the operating system and computer programs to run, the computer programs are executed by the processor to implement an automated shelving handling method, and the database stores data.

[0096] Those skilled in the art will understand that Figure 6 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the electronic device to which the present application is applied. A specific electronic device may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0097] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0098] Those skilled in the art should understand that the technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments have been described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0099] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. An automated handling method for shelves, characterized in that, The method includes: The 3D LiDAR on the AGV vehicle scans the ROI (Region of Interest) to obtain the corresponding point cloud data. Each ROI contains a shelf to be transported. Based on the vertical centerline of the region of interest (ROI), the first point cloud data of the left and right planes of the shelf to be moved are determined from the point cloud data of the region. Based on the horizontal centerline of the region of interest (ROI), the second point cloud data of the front plane of the shelf to be moved is determined from the point cloud data of the region; Based on the first point cloud data and the second point cloud data, the position and posture of the AGV trolley are dynamically adjusted to complete the docking and transportation with the shelf to be transported.

2. The method according to claim 1, characterized in that, Based on the vertical centerline of the region of interest (ROI), the first point cloud data for the left and right planes of the shelf to be moved, determined from the region's point cloud data, includes: A first raster image is created on the vertical central axis of the region of interest (ROI), wherein the first raster image contains a plurality of rasters; Based on the first raster image, the first point cloud data of the left and right planes of the shelf to be transported are determined from the regional point cloud data.

3. The method according to claim 2, characterized in that, Based on the first raster image, the first point cloud data for determining the left and right planes of the shelf to be transported from the regional point cloud data includes: The point cloud data of the region is horizontally projected onto the grid of the first grid image, and iteratively projected onto all points in each grid, from which the point farthest from the plane of the first grid image is determined as the sampling point of the current grid. Once all grids of the first raster image have completed the confirmation of sampling points, the first point cloud data of the left and right planes of the shelf to be transported is obtained.

4. The method according to claim 1, characterized in that, Based on the horizontal centerline of the region of interest (ROI), the second point cloud data for determining the front plane of the shelf to be moved from the region point cloud data includes: A second raster image is created on the horizontal central axis of the region of interest (ROI), wherein the second raster image contains a plurality of rasters; Based on the second raster image, the second point cloud data of the front plane of the shelf to be transported is determined from the regional point cloud data.

5. The method according to claim 4, characterized in that, Based on the second raster image, determining the second point cloud data of the front plane of the shelf to be transported from the regional point cloud data includes: The point cloud data of the region is vertically projected onto the grid of the second grid image, and the projection is iteratively applied to all points in each grid. The point farthest from the plane of the second grid image is then determined as the sampling point of the current grid. Once all grids of the second raster image have completed the confirmation of sampling points, the second point cloud data of the front plane of the shelf to be moved is obtained.

6. The method according to claim 1, characterized in that, Based on the first point cloud data and the second point cloud data, the AGV trolley's position and orientation are dynamically adjusted to complete the docking and transportation with the shelf to be transported, including: The first point cloud data is fitted with a straight line using the RANSAC algorithm to obtain the equations of the left plane of the shelf to be moved and the right plane of the shelf to be moved. The RANSAC algorithm is used to fit a straight line to the second point cloud data to obtain the straight line equation of the front plane of the front plane of the shelf to be moved. Based on the equations of the left plane, right plane, and front plane, the AGV trolley is dynamically adjusted in terms of front-to-back distance, left-to-right distance, and lateral angle with the shelf to be transported, so as to complete the docking and transport with the shelf to be transported.

7. The method according to claim 6, characterized in that, Based on the equations of the left, right, and front planes, the AGV trolley is dynamically adjusted in terms of its front-to-back distance, left-to-right distance, and lateral angle with the rack to be transported, in order to complete the docking and transporting process with the rack: If the equations for the front, left, and right planes are all successfully fitted: Based on the equations for the left, right, and front planes, dynamically adjust the front-to-back and left-to-right distances between the AGV and the shelf to be transported; Based on the equation for the front plane, dynamically adjust the yaw angle between the AGV and the shelf to be transported. If the front plane straight line equation is successfully fitted, but the left plane straight line equation and / or the right plane straight line equation fails to fit: Based on the front plane straight line equation, dynamically adjust the front-to-back distance, left-to-right distance and yaw angle between the AGV and the shelf to be transported. If fitting the front plane straight line equation fails, but fitting the left plane and right plane straight line equations succeeds: Based on the front plane straight line equation, dynamically adjust the front-to-back distance between the AGV and the shelf to be transported; based on the left plane and right plane straight line equations, dynamically adjust the left-to-right distance and yaw angle between the AGV and the shelf to be transported.

8. The method according to claim 7, characterized in that, For cases where the equations of the lines in the front, left, and right planes are all successfully fitted: Determine the intersection point p1 of the front plane line equation and the left plane line equation, and the intersection point p2 of the front plane line equation and the right plane line equation. Take the midpoint value of line segment p1p2 as the front-to-back distance and left-to-right distance between the AGV and the shelf to be transported. Determine the angle θ1 between the equation of the front plane straight line and the X-axis of the vehicle coordinate system of the AGV, and take the angle θ1 as the yaw angle between the AGV and the rack to be transported.

9. The method according to claim 7, characterized in that, For cases where the equation of the line in the front plane is successfully fitted, but the equations of the line in the left plane and / or the right plane are not fitted: Determine the intersection point p3 of the equation of the front plane line and the X-axis of the vehicle coordinate system of the AGV, and take the value of the intersection point p3 as the front-to-back distance between the AGV and the shelf to be transported; Determine the midpoint p4 of the line segment formed by the points used to fit the equation of the straight line in the front plane, and take the value of the midpoint p4 as the left and right distance between the AGV and the shelf to be transported; Determine the angle θ2 between the perpendicular line of the front plane straight line equation and the X-axis of the vehicle coordinate system of the AGV, and take the angle θ2 as the yaw angle between the AGV and the rack to be transported.

10. The method according to claim 7, characterized in that, For cases where fitting the equation of the straight line in the front plane fails, but fitting the equations of the straight lines in the left and right planes succeeds: Determine the intersection point p5 between the equation of the last successfully fitted plane line and the horizontal centerline of the region of interest of the ROI, and take the value of the intersection point p5 as the front-to-back distance between the AGV and the shelf to be transported; Determine the intersection point p6 of the left plane straight line equation with the horizontal centerline of the ROI region of interest, and the intersection point p7 of the right plane straight line equation with the horizontal centerline of the ROI region of interest. Take the midpoint value of line segment p6p7 as the left-right distance between the AGV and the rack to be transported. Determine the angle bisector of the equations of the left and right planes and the angle θ3 between it and the X-axis of the AGV vehicle coordinate system. Take the angle θ3 as the yaw angle between the AGV vehicle and the rack to be transported.

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