CN114030805B - Warehouse system, shuttle vehicle for warehouse system and navigation method of shuttle vehicle - Google Patents
Warehouse system, shuttle vehicle for warehouse system and navigation method of shuttle vehicle Download PDFInfo
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- CN114030805B CN114030805B CN202111122441.5A CN202111122441A CN114030805B CN 114030805 B CN114030805 B CN 114030805B CN 202111122441 A CN202111122441 A CN 202111122441A CN 114030805 B CN114030805 B CN 114030805B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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Abstract
The embodiment of the invention provides a warehousing system, a shuttle vehicle for the warehousing system and a navigation method thereof. The shuttle is provided with memory, communication device, location sensor, camera device and controller. The storage is used for storing a topological map of the warehousing system, wherein each node of the topological map comprises position identification information of a corresponding parking space in the warehousing system; the communication device is used for receiving a driving route instruction, and the driving route instruction comprises driving route information from a departure point to a destination; the positioning sensor is used for acquiring current position information of the shuttle in the running process of the shuttle; the camera device is used for collecting images of the warehousing system in the running process of the shuttle; the controller is used for controlling the shuttle vehicle to travel from the departure point to the destination based on the topological map and the travel route information. Therefore, the shuttle has the advantages of smooth control, higher positioning efficiency and positioning precision, convenience in large-scale warehouse use and the like.
Description
Technical Field
The invention relates to the field of intelligent warehousing, in particular to a warehousing system, a shuttle vehicle for the warehousing system and a navigation method of the shuttle vehicle for the warehousing system.
Background
With the rapid development of intelligent manufacturing, intensive warehousing systems are receiving more and more industry attention. The high-rise dense goods shelves are used for storing goods, so that warehouse space can be fully utilized, and space utilization rate is improved. The shuttle as an important carrying device of the intensive warehouse system has the advantages of flexibility, high adaptability and the like, and the navigation system plays a vital role in the motion performance, the system efficiency and the like of the whole vehicle. The common navigation modes of the existing shuttle vehicle are as follows: laser ranging and hole positioning.
The navigation mode of laser ranging requires that the installation positions of all the shuttles in the warehouse system and the laser reflecting plates on each layer of shelves are consistent, so that the requirements on the manufacturing and assembling precision of the shuttles and the shelves are very high.
When a hole positioning navigation mode is adopted, a travelling motor odometer is required to be combined for data processing. If the dislocation of the connecting parts of the guide rails occurs, the travelling wheels can slip. Because the motor starts the reason such as acceleration too big, probably lead to walking wheel and guide rail frictional force to change. This may prevent the shuttle from reaching the target location accurately. Furthermore, it is also possible that the shuttle has exceeded the target position or has not reached the target position but the running motor has stopped running. At this time, the shuttle needs to be controlled to find the target position at a low speed. This will produce the shuttle and walk the location time longer, the inefficiency problem.
Disclosure of Invention
The present invention has been made in view of the above-described problems. According to one aspect of the present invention, a shuttle for a warehousing system is provided. The shuttle is provided with a memory, a communication device, a positioning sensor, a camera device and a controller, wherein the memory is used for storing a topological map of the warehousing system, and each node of the topological map comprises position identification information of a corresponding parking space in the warehousing system; the communication device is used for receiving a driving route instruction, and the driving route instruction comprises driving route information from a departure point to a destination; the positioning sensor is used for acquiring current position information of the shuttle in the running process of the shuttle; the camera device is used for acquiring images in the running process of the shuttle; the controller is used for controlling the shuttle to travel from a departure point to a destination based on the topological map and the travel route information, wherein for each sub-road section in the travel route, navigation positioning is performed by using a positioning sensor in an initial travel stage of the shuttle, navigation positioning is performed by using a position mark in a currently acquired image from when the distance from the shuttle to the destination point of the current sub-road section is determined to be equal to or smaller than a first distance threshold according to the current position information, and the shuttle is controlled to travel to the destination point of the current sub-road section according to the distance information obtained by analyzing the position mark in the currently acquired image, wherein the position mark in the currently acquired image is positioned at the destination point of the current sub-road section, the distance information represents the distance from the shuttle to the destination point of the current sub-road section, and the first distance threshold is smaller than or equal to the distance between the shuttle and a parking space when the position mark of the parking space enters the field of the camera.
Illustratively, the controller is further configured to: controlling the shuttle to traverse all parking spaces of the warehousing system so as to acquire and store the position information and the position identification information of each parking space; and constructing a topological map of the warehousing system according to the position information and the position identification information of each parking space, wherein each node of the topological map comprises the position identification information of the corresponding parking space in the warehousing system.
Illustratively, the controller is further configured to: for each sub-road segment in the driving route, controlling the shuttle to reduce the driving speed from when the distance from the shuttle to the end point of the current sub-road segment is determined to be equal to or smaller than a second distance threshold according to the current position information, wherein the second distance threshold is larger than the first distance threshold.
The image capturing apparatus or the controller is further configured to parse a location identifier in the image, and specifically includes: determining the shape or angle of the position mark in the image; determining the distance from the shuttle to the end point of the current sub-road section according to the shape or angle of the position mark in the image; and decoding the position identification in the image to obtain position identification information.
Illustratively, the camera or controller resolving the location identity in the image further comprises performing one or more of: correcting distortion of the image; performing binarization processing on the image; and/or extracting a region of interest in the image, wherein the region of interest comprises a location identification.
The shuttle is illustratively a four-way shuttle, with each sub-section being a straight section.
Illustratively, the location identification includes a quick response code or a data matrix code.
According to another aspect of the invention, there is also provided a warehousing system, including the shuttle and the shelf as described above, wherein a marker is provided at each parking space on the shelf, and a position identifier is marked on the marker.
Illustratively, the warehousing system includes a multi-tier rack, the topological map includes a plurality of sub-maps, each sub-map uniquely corresponding to a tier of racks, and the parking space includes a lift location.
Illustratively, the parking space includes one or more of the following locations: goods shelf position, track change position, chain machine position and charging potential.
According to still another aspect of the present invention, there is also provided a navigation method of a shuttle for a warehousing system, including: receiving a travel route instruction, wherein the travel route instruction comprises travel route information from a departure point to a destination; in the running process of the shuttle, acquiring current position information of the shuttle by using a positioning sensor of the shuttle and acquiring an image of a warehousing system by using a camera device of the shuttle; and controlling the shuttle to travel from the departure point to the destination based on the topological map and the travel route information, wherein for each sub-road section in the travel route, navigation positioning is performed by using a positioning sensor in an initial travel stage of the shuttle, navigation positioning is performed by using a position mark in a currently acquired image from when the distance from the shuttle to the destination point of the current sub-road section is determined to be equal to or smaller than a first distance threshold value according to the current position information, and the shuttle is controlled to travel to the destination point of the current sub-road section according to the position mark in the analysis image, wherein the position mark in the image is positioned at the destination point of the current sub-road section, the distance information represents the distance from the shuttle to the destination point of the current sub-road section, and the first distance threshold value is smaller than or equal to the distance from the shuttle to the parking space when the position mark of the parking space enters the field of the camera.
Illustratively, the method further comprises: controlling the shuttle to traverse all parking spaces of the warehousing system so as to acquire and store the position information and the position identification information of each parking space; and constructing a topological map of the warehousing system according to the position information and the position identification information of each parking space, wherein each node of the topological map comprises the position identification information of the corresponding parking space in the warehousing system.
For example, for each sub-link in the travel route, the shuttle is controlled to reduce the travel speed from when it is determined from the current location information that the distance from the shuttle to the end of the current sub-link is equal to or less than a second distance threshold, wherein the second distance threshold is greater than the first distance threshold.
According to a further aspect of the present application, there is also provided a computer program product comprising a computer program which, when run by a processor, performs the above-described navigation method.
In an embodiment of the application, a shuttle for a warehousing system is provided. For any sub-road section, in the initial running stage of the shuttle, navigation and positioning are carried out by using a positioning sensor; and in the final driving stage, performing navigation positioning by using the position identification information. Based on the characteristic that the shuttle only runs on the fixed track, the accurate positioning of the shuttle can be realized by combining the positioning sensor with the position identification information without the assistance of other positioning devices. The scheme avoids the situation that the speed and the running direction of the shuttle are repeatedly adjusted when the shuttle exceeds the terminal point of the current sub-road section or does not reach the terminal point. Therefore, the shuttle has the advantages of smooth control, higher positioning efficiency and positioning precision, convenience in large-scale warehouse use and the like.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent from the following more particular description of embodiments of the present invention, as illustrated in the accompanying drawings. The accompanying drawings are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, and not constitute a limitation to the invention. In the drawings, like reference numerals generally refer to like parts or steps.
FIG. 1 shows a schematic block diagram of a shuttle vehicle according to one embodiment of the invention;
FIG. 2 illustrates a schematic diagram of a controller controlling a speed of travel of a shuttle vehicle according to one embodiment of the invention;
FIG. 3 illustrates a schematic diagram of single-tier scheduling of shuttles in a warehousing system according to one embodiment of the invention;
FIG. 4 shows a schematic diagram of single-tier scheduling of shuttles in a warehousing system according to another embodiment of the invention;
FIG. 5 shows a schematic diagram of single-tier scheduling of shuttles in a warehousing system according to yet another embodiment of the invention;
FIG. 6 illustrates a schematic diagram of cross-layer scheduling of shuttles in a warehousing system according to one embodiment of the invention; and
fig. 7 shows a schematic flow chart of a method of navigation of a shuttle car for a warehousing system according to one embodiment of the invention.
Detailed Description
Along with the development of intelligent technologies such as the Internet of things, artificial intelligence and big data, the demands of transformation and upgrading of traditional logistics industry by utilizing the intelligent technologies are stronger, and intelligent logistics (Intelligent Logistics System) becomes a research hotspot in the logistics field. The intelligent logistics utilizes the Internet of things devices and technologies such as artificial intelligence, big data, various information sensors, radio frequency identification technology, global Positioning System (GPS) and the like, is widely applied to basic movable links such as transportation, storage, distribution, packaging, loading and unloading of materials, information service and the like, and realizes intelligent analysis decision, automatic operation and high-efficiency optimization management of the material management process. The internet of things technology comprises sensing equipment, RFID technology, laser infrared scanning, infrared sensing identification and the like, and can effectively connect materials in logistics with a network, monitor the materials in real time, sense environmental data such as humidity and temperature of a warehouse and guarantee the storage environment of the materials. All data in the logistics can be perceived and collected through a big data technology, the data are uploaded to an information platform data layer, operations such as filtering, excavating, analyzing and the like are carried out on the data, and finally accurate data support is provided for business processes (such as links of transportation, warehousing, access, picking, packaging, sorting, warehouse-out, inventory, distribution and the like). The application direction of artificial intelligence in logistics can be broadly divided into two types: 1) The intelligent equipment such as an unmanned truck, an AGV, an AMR, a forklift, a shuttle, a stacker, an unmanned delivery vehicle, an unmanned plane, a service robot, a mechanical arm, an intelligent terminal and the like which are energized by the AI technology is used for replacing part of manpower; 2) The manual efficiency is improved through a software system driven by technologies or algorithms such as computer vision, machine learning, operation optimization and the like, such as a transportation equipment management system, warehouse management, equipment scheduling system, order distribution system and the like. With the research and advancement of smart logistics, the technology has expanded applications in numerous fields, such as retail and electronics, tobacco, medicine, industrial manufacturing, footwear, textiles, food, etc.
In order to make the objects, technical solutions and advantages of the present application more apparent, exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings. It should be apparent that the described embodiments are only some embodiments of the present application and not all embodiments of the present application, and it should be understood that the present application is not limited by the example embodiments described herein. All other embodiments, which can be derived by a person skilled in the art without any inventive effort, based on the embodiments described in the present application shall fall within the scope of protection of the present application.
According to one aspect of the present application, a shuttle for a warehousing system is provided. The shuttle is a trolley running on a fixed track in a reciprocating or loop-back manner. Since the shuttle has a fixed running track, it is a vehicle with a relatively small degree of freedom of movement, which cannot rotate during running, but can only run forward or backward on the track. Of course, on the cross-shaped track, the shuttle can also realize the turning of the running track by changing the track, but the posture of the shuttle itself remains unchanged during the turning. For example, the shuttle starts traveling in its longitudinal direction southerly, and if it travels to the track change direction, it can change the lateral wheels to travel eastward. In the eastern driving process, although the driving direction of the shuttle is changed, the direction of the head of the shuttle is always kept to be southward, namely the posture is kept unchanged. Based on this, the present application provides a shuttle vehicle for a warehousing system that has efficient and accurate navigation capabilities.
Fig. 1 shows a schematic block diagram of a shuttle car. For example, the shuttle may be classified into two-way and four-way according to the driving direction, etc. The device can be further divided into trays, bins and the like according to different loads. In one particular embodiment, the shuttle may be a four-way shuttle. It will be appreciated that the shuttle may carry cargo in four directions. The four-way shuttle has high flexibility, and can change the operation tunnel at will, so that the four-way shuttle is more suitable for carrying cargoes in a dense warehouse system with high efficiency. For ease of description and understanding, all shuttles referred to hereinafter are four-way shuttles unless otherwise indicated.
As shown in fig. 1, the shuttle is provided with a memory 110, a communication device 120, a positioning sensor 130, an image pickup device 140, and a controller 150. The memory 110 is used to store a topology map of the warehouse system. By way of example, the memory 110 may implement its memory function using one or more combinations of read-only memory (ROM), erasable programmable read-only memory (EPROM), portable compact disc read-only memory (CD-ROM), USB memory, and the like. The topology map may be pre-stored in the memory 110 or obtained by the shuttle through a training learning process and stored in the memory 110. Each node of the topological map comprises position identification information of a corresponding parking space in the warehousing system. Illustratively, the location identification information is used to identify each parking space, which may be implemented using a two-dimensional code, a bar code, or the like. The position identification information of each parking space corresponds to the parking space one by one. The parking space may represent any position in the warehouse system where the shuttle speed becomes 0 to stop running, for example, a position for storing goods in the warehouse system or a position for stopping the shuttle and turning the traveling direction, etc. The location identification may be implemented using a two-dimensional code as described above, and specifically, may include a Quick Response code (Quick Response code) or a Data Matrix code (Data Matrix code). The two codes are two-dimensional codes, and have the advantages of large information capacity, strong fault tolerance and the like. The topology map may include location information of the parking spaces, such as location coordinates in the topology map, etc. For convenience of description and understanding, description will be given hereinafter taking an example in which the position mark is a two-dimensional code.
The communication device 120 is configured to receive a travel route instruction. Illustratively, the communication device 120 may be any device that may implement a communication function, such as a bluetooth communication device, a wireless high-fidelity communication device, or an infrared communication device. The communication device 120 may receive travel route instructions from a server or computer. It can be appreciated that the travel route instruction may be manually input by the user, or may be automatically generated by the server according to a preset conveyance task. The travel route instructions may include route information from a departure point to a destination of travel of the shuttle vehicle that uniquely identifies a route within the warehousing system. In other words, the route information may include position information of a departure point of the shuttle, position information of a destination to be reached, and a travel route between the two points. The travel route may be formed of one or more sub-sections. The sub-link means a link having a traveling speed of 0 at only two end points thereof, i.e., a start point and an end point. For example, the travel route command may be that the shuttle travels from parking space a to parking space C via parking space B, i.e., the travel route is a→b→c, wherein the shuttle is reversed in parking space B, i.e., the shuttle travels from parking space a and stops to parking space B, and then starts again from parking space B, travels and stops to parking space C. It is understood that for a four-way shuttle, each sub-section is a straight section.
The positioning sensor 130 is used for acquiring current position information of the shuttle during the traveling of the shuttle. The current position information of the shuttle car may include position coordinates of the shuttle car in the topological map and the like. For example, the alignment sensor 130 may calculate the displacement of the shuttle traveling by detecting the arc rotated by the wheel for a certain period of time using a counting code wheel mounted on the wheel of the shuttle. Or the speed and the acceleration of the shuttle in the running process are obtained by measuring the rotation speed of a motor driving the shuttle to run, and the displacement of the shuttle is calculated through time integration. And then the current position information of the shuttle can be obtained according to the position information of the starting point before the shuttle runs and the running displacement. The positioning sensor 130 may be implemented using existing sensors such as a motor odometer, a photoelectric encoder, etc.
The camera 140 is used for acquiring images of the warehouse system during the traveling process of the shuttle car. When the two-dimensional code at the parking space is located within the field of view of the camera 140, the image acquired by the camera may include two-dimensional code information at the parking space. According to the setting position of the two-dimensional code at the parking space, the image pickup device 140 may be installed at an arbitrary position on the shuttle, for example: the two-dimensional code can gradually appear in the field of view of the imaging device 140 along with the traveling of the shuttle, as long as the shuttle is mounted around the vehicle body or at the bottom of the seat.
Upon receiving the travel route instruction, the communication device 120 may transmit it to the controller 150. The controller 150 is used to control the shuttle vehicle to travel from the departure point to the destination based on the topology map and the travel route information. For each sub-road section in the driving route, from when the distance from the shuttle to the end point of the current sub-road section is determined to be equal to or smaller than a first distance threshold value according to the current position information, controlling the shuttle to drive to the end point of the current sub-road section according to the distance information obtained by analyzing the position identification in the currently acquired image. For example, for each sub-section, the shuttle vehicle may start to accelerate uniformly or change to accelerate straight after starting from the start of the sub-section, and may start to travel straight at a constant speed until the acceleration reaches a certain speed threshold. The speed threshold can be reasonably set according to the weight of goods carried by the shuttle, the friction force between the running track and wheels of the shuttle and other data, and is not limited herein. The shuttle car makes uniform straight line running until the distance from the current position information from the positioning sensor to the end point of the current sub-road section is equal to or smaller than a first distance threshold value, the condition that the shuttle car is about to reach the end point of the sub-road section can be indicated, for example, a certain parking space is provided with a position mark, for example, a two-dimensional code. The first distance threshold is smaller than or equal to the distance between the shuttle and the parking space when the two-dimensional code of the parking space enters the field of view of the camera 140. Thus, when the distance from the shuttle to the end point of the current sub-road section is equal to or less than the first distance threshold, the two-dimensional code of the parking space enters the field of view of the camera 140. The camera 140 may collect two-dimensional code images. The controller 150 may precisely control the shuttle to travel to the end point of the current sub-section according to the distance information acquired by analyzing the two-dimensional code in the image. The distance information indicates the distance from the shuttle to the end point of the current sub-road section, namely the distance from the shuttle to the center of the two-dimensional code.
In an embodiment of the application, a shuttle for a warehousing system is provided. For any sub-road section, in the initial running stage of the shuttle, the positioning sensor 130 is utilized for navigation and positioning; and in the final driving stage, performing navigation positioning by using the position identification information. Based on the characteristic that the shuttle is only driven on the fixed track, the accurate positioning of the shuttle can be realized only by combining the positioning sensor 130 with the position identification information without the assistance of other positioning devices. The scheme avoids the situation that the speed and the running direction of the shuttle are repeatedly adjusted when the shuttle exceeds the terminal point of the current sub-road section or does not reach the terminal point. Therefore, the shuttle has the advantages of smooth control, higher positioning efficiency and positioning precision, convenience in large-scale warehouse use and the like.
The controller 150 of the shuttle is also used to construct a topology map of the warehousing system, for example. Specifically, the controller 150 may be configured to control the shuttle vehicle to traverse all parking spaces of the warehousing system to collect and store the location information and the location identification information of each parking space; and constructing a topological map of the warehousing system according to the position information and the position identification information of each parking space, wherein each node of the topological map comprises the position identification information of the corresponding parking space in the warehousing system. For example, for a shuttle of the warehouse system, the controller 150 may be configured to control the shuttle to traverse all parking spaces of the multi-deck pallet in the warehouse system under the control of the computer or the server, record the position information of each parking space, and the camera 140 may collect the position identification information of each parking space under the control of the controller 150. Both location information and location identification information may be stored into the memory 110. Each parking space in each layer of shelves is respectively represented by one node in the topological map, and then all adjacent nodes are connected by line segments to obtain a plurality of subgraphs. All sub-graphs together constitute a topological map. For other shuttles of the warehousing system, the topology map previously constructed by the shuttle may be copied into the memory of the other shuttle for use by it in navigation.
The shuttle vehicle can accurately and conveniently construct the topological map of the current warehousing system, and provides a technical basis for accurate navigation.
For example, the controller 150 is further configured to control the shuttle to reduce the traveling speed for each sub-section of the traveling route from when it is determined that the distance from the shuttle to the end point of the current sub-section is equal to or less than the second distance threshold value according to the current location information. Wherein the second distance threshold is largeAt a first distance threshold. Fig. 2 illustrates a schematic diagram of the controller 150 controlling the traveling speed of the shuttle according to an embodiment of the present invention. In this embodiment, the acceleration of the shuttle is constant, whether it is acceleration running or deceleration running. As shown in fig. 2, the controller 150 first controls the shuttle to perform uniform acceleration straight traveling until the speed of the shuttle increases to the speed threshold V max When the controller 150 controls the shuttle to speed V max And (5) performing uniform-speed straight running. The controller 150 controls the shuttle to decelerate when the shuttle travels at a constant speed to a distance from the end of the current sub-section equal to or less than a second distance threshold (not shown). When the shuttle continues to travel to a distance equal to or less than the first distance threshold value from the end point of the current sub-section (S2), the controller 150 parses the two-dimensional code in the image acquired by the image capturing device 140 to acquire two-dimensional code information and controls the shuttle to approach and stop at the end point parking space of the current sub-section according to the two-dimensional code information. That is, before the controller 150 parses the two-dimensional code to acquire two-dimensional code information and controls the shuttle to approach and stop at the parking space according to the two-dimensional code information, the shuttle has already started decelerating under the control of the controller 150. The second distance threshold may be reasonably set according to a speed threshold, an acceleration, etc. of the shuttle vehicle for uniform speed straight running, which is not limited herein. In fig. 2, S1 may represent a displacement of the controller 150 controlling the traveling of the shuttle according to the position information acquired by the position sensor 130, and t1 corresponds to a time required for the process. S2 represents the displacement of the controller 150 for controlling the traveling of the shuttle according to the two-dimensional code information, and t2 corresponds to the time required for the process. The sum of S1 and S2 is then the total length of the current sub-section, i.e. the total displacement of the shuttle on the current sub-section.
Therefore, the speed of the shuttle before the controller 150 controls the shuttle according to the position identification information can be guaranteed not to be too high, so that the controller 150 can better realize the deceleration control of the shuttle according to the position identification information, and the smoothness and accuracy of the control of the shuttle are further guaranteed.
Illustratively, the camera 140 or the controller 150 may also be used to resolve a location identification in an image. The parsing operation specifically includes performing the following operations: processing the image to determine the distance from the shuttle to the position mark in the image; and decoding the position identification in the image to obtain position identification information.
The image may be processed in a number of ways to determine the distance of the position identifier in the image to the shuttle car. For example, the shape or angle of the location identifier in the image may be determined first; the distance from the position mark to the shuttle is then calculated based on the determined shape or angle of the position mark. For another example, the location of the center point of the location identifier may also be determined by detecting a locator on the location identifier (the relative positional relationship of the locator on the location identifier to the center point is known), thereby calculating the distance of the location identifier to the shuttle.
The imaging device 140 has a certain field of view. As the two-dimensional code gradually enters the field of view until the two-dimensional code is located at the very center of the field of view of the camera 140, the inclination angle of the two-dimensional code in the image acquired by the camera 140 is smaller and smaller. Specifically, the inclination angle may be detected by an angle detection module. Based on the detected angle of the two-dimensional code, the distance from the shuttle to the two-dimensional code can be determined. Or, further, as the inclination angle of the two-dimensional code is smaller, the shape of the two-dimensional code is approaching to a rectangle. The angle detection module can also be used for detecting the included angle of the adjacent side lines of the two-dimensional code. Based on the angle of the detected included angle, the shape of the two-dimensional code can be determined. And finally, determining the distance from the shuttle to the two-dimension code according to the shape of the two-dimension code. The two-dimensional code can be further decoded by using the position detection module, so that two-dimensional code information is obtained. As described above, each two-dimensional code uniquely corresponds to one parking space, and distance information between the shuttle and the destination parking space of the current sub-section can be obtained based on the two-dimensional code information and the distance between the shuttle and the two-dimensional code.
The method is simple and easy to realize, can realize preliminary estimation of the current position of the shuttle, and provides a basis for controlling the shuttle to accurately stop to the end point of the current sub-road section by using the position identification information subsequently.
Illustratively, the camera 140 or the controller 150 resolving the location identity in the image further comprises performing one or more of the following: correcting distortion of the image; performing binarization processing on the image; and extracting a region of interest in the image, wherein the region of interest comprises the position identification information. These operations may be performed prior to determining the shape or angle of the location identifier in the image. Preferably, the above operations are performed in the order described above.
It can be appreciated that image distortion may occur when the image capturing device 140 captures an image, which may cause an error in subsequent distance determination between the shuttle car and the two-dimensional code based on the shape of the two-dimensional code in the image, and even affect the accuracy of decoding the two-dimensional code when the distortion is serious. In order to obtain more accurate two-dimensional code shape and two-dimensional code information, distortion correction can be performed on the image. For example, a Zhang Zhengyou planar calibration method may be used for distortion correction. Specifically, a plurality of template images may be photographed from different angles using the camera 140 of the shuttle car. Then, feature points in the template image are detected, and the internal parameters and the external parameters of the image pickup device 140 are solved. And finally, solving the distortion coefficient of the template image by utilizing algorithms such as maximum likelihood estimation and the like based on the internal parameters and the external parameters, and optimizing the image. The operation of distortion correction reduces the noise of the image, improves the accuracy of two-dimensional code information in the image, and further ensures the accuracy of shuttle navigation.
Before determining the shape or angle of the two-dimensional code in the image, binarization processing can be performed on the image. The image may first be filtered to remove noise in the image. And then carrying out binarization processing on the denoised image, namely setting all pixel points in the image to 0 or 255 according to a certain rule. For example, when the gray value of a pixel is greater than a specific gray threshold, the pixel is set to 255, otherwise, set to 0. And then expanding or corroding the binarized image by using morphological characteristics to obtain the boundary and the vertex of the two-dimensional code in the image. Through binarization processing, noise possibly existing in the two-dimensional code image is reduced, data volume involved in subsequent shape analysis and decoding processing of the two-dimensional code in the image can be reduced, and processing speed is improved. Furthermore, accuracy and smoothness of the shuttle navigation can be improved.
Before determining the shape or angle of the two-dimensional code in the image, the region of interest in the image may also be extracted. For example, the region of interest is extracted based on the boundary and the vertex of the two-dimensional code. Optionally, the region of interest is extracted using image segmentation or the like. The method for extracting the region of interest is not limited in the present application, and any existing or future method capable of extracting the region of interest is within the scope of the present application. By extracting the region of interest in the image, the data volume involved in the shape analysis and decoding processing of the two-dimensional code in the image can be reduced, and the processing speed is improved. And further, the shuttle is rapidly and accurately positioned by utilizing the two-dimension code information.
According to another aspect of the invention, a warehousing system is also provided. The warehousing system includes a shuttle and a rack as described above. Wherein, every parking stall department is provided with the mark piece on the goods shelves. The marker is marked with a position mark. The marker may be a sheet metal part, for example. The position mark can be marked on a label made of PVC material with back glue, which is stuck on the fixed position of the sheet metal part. Each label may be printed with a numerical code for indicating the number of the corresponding parking space.
Fig. 3 shows a schematic diagram of a warehouse system performing single-tier scheduling in accordance with one embodiment of the present invention. As shown in fig. 3, parking spaces a and B in the warehouse system are the departure point and destination of the traveling shuttle, respectively. The traveling route of the shuttle is from A to B, and the traveling route comprises only one sub-road section. The shuttle car passes through two parking spaces in turn after being sent out from the parking space A, and the running speed of the shuttle car is not influenced by two-dimensional code information marked by the two parking spaces. And finally, decelerating the shuttle when the distance from the parking space B is equal to or smaller than a second distance threshold value until the shuttle runs to the position where the distance from the parking space B is equal to or smaller than a first distance threshold value. The controller 150 of the shuttle in the above process controls the traveling speed of the shuttle based on the information fed back from the positioning sensor 130. Then, the two-dimensional code at the parking space B completely enters the field of view of the camera 140, and the controller 150 controls the shuttle to accurately reach the parking space B according to the distance information obtained by analyzing the two-dimensional code information in the image acquired by the camera 140.
Therefore, the warehouse system can realize accurate positioning of the shuttle by combining the positioning information of the positioning sensor 130 with the position identification information, and the shuttle can be controlled to smoothly run in the warehouse system. The scheme effectively reduces positioning errors, saves positioning time and improves the working efficiency of the warehousing system.
Illustratively, the parking space includes one or more of the following locations: goods shelf position, track change position, chain machine position and charging potential. The shelf location indicates the location on the shelf for storing the goods. The track change position represents the position at which the shuttle can change the direction of travel. The chain machine position indicates the position of the chain machine for transporting goods. The charging potential indicates a position where the shuttle can be charged. Fig. 4 shows a schematic diagram of a warehouse system performing single tier scheduling in accordance with another embodiment of the present invention. As shown in fig. 4, parking space a and parking space D represent the departure point and destination of the shuttle car traveling, respectively. Parking spaces B and C are track changing positions. The traveling route of the shuttle is A, B, C and D. The shuttle vehicle firstly runs from the parking space A to the parking space B, and stops and reverses after reaching the parking space B. Then, the vehicle runs from the parking space B to the parking space C, and stops and reverses after reaching the parking space C. And finally, continuing to travel from the parking space C to the parking space D, and completing the travel route instruction by the shuttle. In this embodiment, the travel route includes 3 sub-segments a→ B, B →c and c→d. Taking one of the sub-road segments a-B as an example for each sub-road segment, when the distance from the shuttle to the destination parking space B of the current sub-road segment is equal to or smaller than the second distance threshold, the shuttle starts decelerating until the shuttle travels to the position where the distance from the destination parking space B of the current sub-road segment is equal to or smaller than the first distance threshold. The controller 150 of the shuttle controls the traveling speed of the shuttle based on the information fed back from the positioning sensor 130 during this process. Thereafter, the controller 150 of the shuttle controls the shuttle to precisely reach the destination parking space B and stop according to the position identification information at the parking space B. The shuttle then reverses at parking spot B, i.e. changes the direction of travel from left to right to top to bottom in fig. 4. It will be appreciated that the detailed process of traveling the shuttle from the parking space B to the parking space C is similar to the foregoing process, and will not be repeated herein for brevity. And finally, the shuttle finishes running from A to D.
Fig. 5 shows a schematic diagram of a warehouse system performing single tier scheduling in accordance with yet another embodiment of the present invention. As shown in fig. 5, point F represents a charging location for charging the shuttle. Parking space a represents the current position of the shuttle vehicle traveling. Parking space B may represent a shelf location. When the electric quantity of the shuttle is lower than the charging threshold value, the shuttle is charged as soon as possible, namely, the shuttle is scheduled to run to a charging level. If the shuttle is loaded with goods at this time, the goods can be stored at the goods shelf position in order not to influence the transportation of the goods. For example, when the shuttle charge is below the charge threshold, the vehicle may start from the current parking space a and reach parking space B. After reaching parking space B, the cargo is unloaded and then driven back to parking space C. Then, the shuttle vehicle runs from parking space C to parking space E, and then turns from parking space E and runs to parking space F. In this embodiment, the travel route of the shuttle is a→b→c→e→f, including 4 sub-road segments. If the shuttle is not loaded with goods, the running route of the shuttle can be A, C, E and F, and the shuttle comprises 3 sub-road sections.
In the above two embodiments, the control of the traveling speed of the shuttle is similar to that described above for each sub-section, and is not repeated here for brevity.
According to the technical scheme, the shuttle can be accurately controlled to run according to the expected, the sufficient electric quantity of the shuttle is effectively ensured, and then the shuttle can work normally. In addition, the shuttle car can reach the parking space rapidly and accurately, accurate positioning of the shuttle car is achieved, and positioning errors are reduced.
Illustratively, the warehousing system may include a multi-tier rack, i.e., a high-tier dense warehousing system. The topological map may include a plurality of sub-graphs, each sub-graph uniquely corresponding to a layer of shelves. The parking space may also include a lift location. The lifting machine is provided with a lifting machine and is used for conveying the shuttle in the layer goods shelf to the upper layer or the lower layer of the layer goods shelf, namely, changing the layer on which the shuttle runs. Fig. 6 shows a schematic diagram of a warehousing system performing cross-layer scheduling according to one embodiment of the invention. L1 and L2 in fig. 6 may represent topological maps of the first and second tier racks, respectively, of the multi-tier racks. Parking space a represents the departure point location of the shuttle travel. And two points B1 and B2 respectively represent lifting positions of a first layer and a second layer in the goods shelf. Specifically, the shuttle starts from parking space a and first reaches parking space B1. It is lifted by the elevator at B1 to the parking space B2 of the second floor. Then the shuttle vehicle runs from B2 to parking space C to stop and reverse, and then continues to run to parking space D. And reversing again after reaching the parking space D, and finally driving from the parking space D to the parking space E. In this embodiment, the travel route of the shuttle is a→b1, b2→c→d→e. The entire travel route includes 4 sub-segments. The specific scheduling process is similar to the single-layer scheduling described above, and is not described here again for brevity.
Therefore, the warehousing system can realize cross-layer operation of the shuttle, increase cargo capacity of the warehousing system and provide more choices for users.
The marking element is, for example, arranged on a track of the parking space, such as a side of the track, or between two parallel tracks. For example, the marking element may also be arranged on the floor of the parking space. It should be understood that the position of the marking element can be flexibly set according to the actual scene, and the application is not limited as long as the position of the marking element can accurately position the parking space. The camera 140 of the shuttle may be disposed on the bottom surface of the shuttle and the field of view is directly under the shuttle. For another example, the marking element may be arranged at a side of the track of the parking space. The camera 140 of the shuttle is correspondingly disposed on the side of the shuttle and the field of view is lateral to the shuttle. When the shuttle vehicle stops in the parking space, the two-dimensional code is rectangular in the image acquired by the image pickup device 140. In order to facilitate management and recording, in the same warehousing system, the marking pieces are arranged at the same positions of each parking space, and the arrangement directions of two-dimensional code labels on the marking pieces are consistent.
The position that the marker set up is convenient for the camera device 140 of shuttle to carry out image acquisition, and the marker simple installation can save a large amount of manpower resources.
According to another aspect of the invention, a method for navigating a shuttle for a warehousing system is also provided. Fig. 7 shows a schematic flow chart of a method 700 of navigation of a shuttle car for a warehousing system according to an embodiment of the invention. As shown in fig. 7, method 700 includes:
in step S710, a travel route instruction is received, the travel route instruction including travel route information from a departure point to a destination.
In step S720, during the traveling process of the shuttle, the position information of the shuttle and the acquired image are acquired.
Step S730, controlling the shuttle to travel from the departure point to the destination based on the topology map and the route information. And for each sub-road section in the driving route, controlling the shuttle to drive to the end point of the current sub-road section according to the distance information obtained by analyzing the position mark in the currently acquired image from the moment that the distance from the shuttle to the end point of the current sub-road section is determined to be equal to or smaller than a first distance threshold value according to the current position information. The position mark in the currently acquired image is positioned at the end point of the current sub-road section. The distance information indicates a distance of the shuttle car to the end point of the current sub-section. The first distance threshold is less than or equal to a distance between the shuttle and the parking space when the position identification of the parking space enters the field of view of the camera.
Illustratively, the method 700 further includes: and controlling the shuttle to traverse all the parking spaces of the warehousing system so as to acquire and store the position information and the position identification information of each parking space, and constructing a topological map of the warehousing system according to the position information and the position identification information of each parking space. Each node of the topological map comprises position identification information of a corresponding parking space in the warehousing system.
Illustratively, in method 700, for each sub-segment in the travel route, the shuttle is controlled to reduce the travel speed from when it is determined from the current location information that the distance of the shuttle to the endpoint of the current sub-segment is equal to or less than a second distance threshold. Wherein the second distance threshold is greater than the first distance threshold.
Illustratively, the method 700 further includes: determining the shape or angle of the position mark in the image; determining the distance from the shuttle to the end point of the current sub-road section according to the shape or angle of the position mark in the image; and decoding the position identification in the image to obtain position identification information.
Illustratively, prior to determining the shape or angle of the location identity in the image, resolving the location identity in the image further comprises one or more of: correcting distortion of the image; performing binarization processing on the image; and extracting a region of interest in the image, wherein the region of interest comprises the position identification information.
The application also provides a computer program product comprising a computer program which, when run by a processor, performs a navigation method as described in the method embodiments above.
Those skilled in the art will understand the detailed steps and advantages of the navigation method of the shuttle vehicle for the warehousing system by reading the above description about the warehousing system and the shuttle vehicle for the warehousing system, and the detailed description is omitted herein for brevity.
Although the illustrative embodiments have been described herein with reference to the accompanying drawings, it is to be understood that the above illustrative embodiments are merely illustrative and are not intended to limit the scope of the present application thereto. Various changes and modifications may be made therein by one of ordinary skill in the art without departing from the scope and spirit of the application. All such changes and modifications are intended to be included within the scope of the present application as set forth in the appended claims.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the several embodiments provided by the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, e.g., the division of the elements is merely a logical functional division, and there may be additional divisions when actually implemented, e.g., multiple elements or components may be combined or integrated into another device, or some features may be omitted or not performed.
In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the application may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in order to streamline the application and aid in understanding one or more of the various inventive aspects, various features of the application are sometimes grouped together in a single embodiment, figure, or description thereof in the description of exemplary embodiments of the application. However, the method of the present application should not be construed as reflecting the following intent: i.e., the claimed application requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this application.
It will be understood by those skilled in the art that all of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or units of any method or apparatus so disclosed, may be combined in any combination, except combinations where the features are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features but not others included in other embodiments, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.
Various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functions of a shuttle vehicle for a warehousing system according to an embodiment of the invention. The present invention can also be implemented as an apparatus program (e.g., a computer program and a computer program product) for performing a portion or all of the methods described herein. Such a program embodying the present invention may be stored on a computer readable medium, or may have the form of one or more signals. Such signals may be downloaded from an internet website, provided on a carrier signal, or provided in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order. These words may be interpreted as names.
The foregoing description is merely illustrative of specific embodiments of the present invention and the scope of the present invention is not limited thereto, and any person skilled in the art can easily think about variations or substitutions within the scope of the present invention. The protection scope of the invention is subject to the protection scope of the claims.
Claims (14)
1. A shuttle for warehouse system is characterized in that a memory, a communication device, a positioning sensor, a camera device and a controller are arranged, wherein,
the memory is used for storing a topological map of the warehousing system;
the communication device is used for receiving a driving route instruction, and the driving route instruction comprises driving route information from a starting point to a destination;
the positioning sensor is used for acquiring the position information of the shuttle in the running process of the shuttle;
the camera device is used for acquiring images in the running process of the shuttle;
the controller is used for controlling the shuttle to travel from the departure point to the destination based on the topological map and the travel route information, wherein for each sub-road section in the travel route, navigation positioning is performed by using the positioning sensor in an initial travel stage of the shuttle, navigation positioning is performed by using a position identifier in a currently acquired image from when the distance from the shuttle to the destination point of the current sub-road section is determined to be equal to or smaller than a first distance threshold according to the current position information, and the shuttle is controlled to travel to the destination point of the current sub-road section according to the distance information obtained by analyzing the position identifier in the currently acquired image, wherein the position identifier in the currently acquired image is located at the destination point of the current sub-road section, the distance information represents the distance from the shuttle to the destination point of the current sub-road section, and the first distance threshold is smaller than or equal to the distance from the shuttle to the parking space when the position identifier of the parking space enters the field of the camera.
2. The shuttle of claim 1, wherein the controller is further configured to: controlling the shuttle to traverse all parking spaces of the warehousing system so as to acquire and store the position information and the position identification information of each parking space; and constructing a topological map of the warehousing system according to the position information and the position identification information of each parking space, wherein each node of the topological map comprises the position identification information of the corresponding parking space in the warehousing system.
3. The shuttle of claim 1 or 2, wherein the controller is further configured to: and for each sub-road section in the running route, controlling the shuttle to reduce the running speed from the time when the distance from the shuttle to the end point of the current sub-road section is determined to be equal to or smaller than a second distance threshold according to the current position information, wherein the second distance threshold is larger than the first distance threshold.
4. The shuttle of claim 1 or 2, wherein the camera device or the controller is further configured to parse a location identifier in the image, specifically comprising performing the following operations:
determining a distance from the shuttle to the location identifier; and
decoding the position identification in the image to obtain the position identification information.
5. The shuttle of claim 4, wherein the camera device or the controller resolving a location identification in the image further comprises performing one or more of:
performing distortion correction on the image;
performing binarization processing on the image; and/or
And extracting a region of interest in the image, wherein the region of interest comprises the location identifier.
6. The shuttle of claim 1 or 2, wherein the shuttle is a four-way shuttle and each sub-section is a straight section.
7. The shuttle of claim 1 or 2, wherein the location identification comprises a quick response code or a data matrix code.
8. A warehousing system comprising the shuttle and rack of any one of claims 1-7, wherein,
and a marker is arranged at each parking space on the goods shelf, and a position mark is marked on the marker.
9. The warehousing system of claim 8, wherein the warehousing system includes a multi-tier rack, the topological map includes a plurality of sub-maps, each sub-map uniquely corresponding to a tier of racks, the parking space including a lift location.
10. The warehousing system of claim 8 or 9, wherein the parking space includes one or more of the following locations: goods shelf position, track change position, chain machine position and charging potential.
11. A method of navigating a shuttle for a warehousing system, comprising:
receiving a travel route instruction, wherein the travel route instruction comprises travel route information from a departure point to a destination;
acquiring position information of the shuttle and acquiring images in the running process of the shuttle;
and controlling the shuttle to travel from the departure point to the destination based on a topological map and the travel route information, wherein for each sub-road section in the travel route, navigation positioning is performed by using a positioning sensor in an initial travel stage of the shuttle, navigation positioning is performed by using a position identifier in a currently acquired image from when the distance from the shuttle to the destination point of the current sub-road section is determined to be equal to or smaller than a first distance threshold according to current position information, and the shuttle is controlled to travel to the destination point of the current sub-road section according to distance information obtained by analyzing the position identifier in the currently acquired image, wherein the position identifier in the currently acquired image is positioned at the destination point of the current sub-road section, and the distance information represents the distance from the shuttle to the destination point of the current sub-road section, and the first distance threshold is smaller than or equal to the distance from the shuttle to the parking space when the position identifier in the currently acquired image enters the field of view of the camera.
12. The navigation method of claim 11, wherein the method further comprises:
controlling the shuttle to traverse all parking spaces of the warehousing system so as to acquire and store the position information and the position identification information of each parking space;
and constructing a topological map of the warehousing system according to the position information and the position identification information of each parking space, wherein each node of the topological map comprises the position identification information of the corresponding parking space in the warehousing system.
13. A navigation method according to claim 11 or 12, wherein,
and for each sub-road section in the running route, controlling the shuttle to reduce the running speed from the time when the distance from the shuttle to the end point of the current sub-road section is determined to be equal to or smaller than a second distance threshold according to the current position information, wherein the second distance threshold is larger than the first distance threshold.
14. A computer program product comprising a computer program which, when run by a processor, performs the navigation method according to any of claims 11-13.
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| PCT/CN2022/103835 WO2023045486A1 (en) | 2021-09-24 | 2022-07-05 | Warehousing system, shuttle vehicle for warehousing system and navigation method therefor |
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| CN114030805A (en) | 2022-02-11 |
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