CN116880477A - AGV intelligent guiding system and method applied to warehouse logistics - Google Patents

AGV intelligent guiding system and method applied to warehouse logistics Download PDF

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Publication number
CN116880477A
CN116880477A CN202310830817.0A CN202310830817A CN116880477A CN 116880477 A CN116880477 A CN 116880477A CN 202310830817 A CN202310830817 A CN 202310830817A CN 116880477 A CN116880477 A CN 116880477A
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warehouse
agv
logistics
information
cargo
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王元生
汤宝
孙丹
武靖宜
顾明航
冯敏扬
倪青林
牛宇飞
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Yancheng Yidian Technology Co ltd
Yancheng Institute of Industry Technology
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Yancheng Yidian Technology Co ltd
Yancheng Institute of Industry Technology
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/42—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for mass transport vehicles, e.g. buses, trains or aircraft
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/60—Electric or hybrid propulsion means for production processes

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Abstract

The invention provides an AGV intelligent guiding system and method applied to warehouse logistics, which are used for carrying out warehouse site three-dimensional virtual modeling and real-time tracking of the warehouse site state through warehouse tour visual shooting and recording to acquire warehouse site state data; the warehouse logistics data intelligent docking subsystem is used for performing interactive docking of warehouse logistics state data and logistics cargo information data through warehouse logistics site domain wireless communication to acquire warehouse logistics cargo docking information; the cargo modeling access warehouse planning subsystem performs cargo transfer AGV access warehouse guiding planning through AGV wireless communication to acquire cargo transfer AGV access warehouse guiding planning data; transfer instruction machine vision auxiliary guidance subsystem, according to the AGV entering warehouse guidance planning data is transported to the goods, through AGV intelligent guidance data center automatic generation AGV accept transfer instruction, carry out AGV accept transfer guidance and visual identification, speech recognition and action recognition auxiliary AGV accept transfer intelligent identification guide.

Description

AGV intelligent guiding system and method applied to warehouse logistics
Technical Field
The invention relates to the technical field of storage logistics accurate positioning intelligent guiding, in particular to an AGV intelligent guiding system and method applied to storage logistics.
Background
At present, storage commodity circulation is more and more carried out the goods through AGV and is accepted to transport, and AGV guide is difficult to accurate carry out storage commodity circulation information butt joint generally, and the accurate commodity circulation goods of being difficult to carry out accept transport guide, and specific problem includes: how to acquire the warehouse site state in real time, how to perform interactive butt joint of warehouse site state data and logistics cargo information data to acquire warehouse site logistics cargo butt joint information, how to acquire cargo transfer AGV planning data, and the problems of carrying out transfer recognition by a warehouse logistics cargo AGV are yet to be solved; therefore, there is a need for an intelligent guidance system and method for an AGV for use in warehouse logistics that at least partially addresses the problems of the prior art.
Disclosure of Invention
A series of concepts in simplified form are introduced in the summary section, which will be described in further detail in the detailed description section; the summary of the invention is not intended to define the key features and essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
To at least partially solve the above problems, the present invention provides an AGV intelligent guidance system for warehouse logistics, comprising:
The warehouse site identification modeling subsystem performs warehouse site three-dimensional virtual modeling and real-time tracking of the warehouse site state through warehouse tour visual shooting, and acquires warehouse site state data;
the warehouse logistics data intelligent docking subsystem is used for performing interactive docking of warehouse logistics data state data and logistics cargo information data through warehouse site sub-domain wireless communication according to the warehouse logistics data state data to acquire warehouse logistics cargo docking information;
the cargo modeling warehouse entry and exit planning subsystem carries out cargo transfer AGV warehouse entry and exit guiding planning through AGV wireless communication according to the warehouse site logistics cargo docking information, and acquires cargo transfer AGV warehouse entry and exit guiding planning data;
transfer instruction machine vision auxiliary guidance subsystem, according to the AGV entering warehouse guidance planning data is transported to the goods, through AGV intelligent guidance data center automatic generation AGV accept transfer instruction, carry out AGV accept transfer guidance and visual identification, speech recognition and action recognition auxiliary AGV accept transfer intelligent identification guide.
Preferably, the warehouse location identification modeling subsystem comprises:
the storage tour visual shooting subsystem acquires a storage warehouse location image set by utilizing storage tour lifting shooting and storage warehouse location images;
The warehouse environment warehouse location modeling subsystem is used for acquiring a warehouse location three-dimensional virtual model through image recognition three-dimensional modeling according to the warehouse location image set;
and the warehouse site state tracking subsystem updates and tracks the warehouse site state in real time according to the warehouse site three-dimensional virtual model and acquires warehouse site state data.
Preferably, the warehouse logistics data intelligent docking subsystem comprises:
the warehouse information wireless communication subsystem is used for setting a warehouse site split-domain wireless communication module according to the warehouse site state data;
the warehousing logistics information transmission subsystem performs wireless communication remote information interaction transmission with the logistics transportation mobile terminal through the warehousing domain wireless cooperative relay communication module to acquire warehousing logistics remote interaction information;
and the warehouse logistics intelligent docking subsystem is used for docking the warehouse logistics state data with logistics cargo information data according to the warehouse logistics remote interaction information to acquire warehouse logistics cargo docking information.
Preferably, the cargo modeling access warehouse planning subsystem comprises:
the logistics cargo in-out warehouse execution subsystem performs wireless communication with the AGV wireless communication module through the warehouse domain wireless cooperative relay communication module to acquire real-time busy and idle information of the AGV and real-time position information of the AGV;
The goods entering and exiting warehouse planning subsystem is used for carrying out information analysis AGV receiving judgment according to warehouse site logistics goods butt joint information and combining AGV real-time busy and idle information and AGV real-time position information to obtain an information analysis receiving judgment result;
the logistics handover guiding subsystem plans a logistics goods transferring AVG receiving path according to the information analysis receiving judgment result, performs goods transferring AGV entering and exiting bin guiding planning, and obtains goods transferring AGV entering and exiting bin guiding planning data;
the AGV receiving judgment based on the information analysis includes: according to the warehouse site logistics cargo docking information, analyzing and judging whether the warehouse site state is matched with logistics cargo information; the bin bit states include: the storage bin position goods fully state, the storage bin position goods not fully state, the storage bin position goods free state and the storage bin position preset state; analyzing whether the first warehouse position residual space in the warehouse position cargo non-full state is matched with logistics cargo information or not; determining whether the first storage space can accommodate the size of the logistic goods; if the first storage space can accommodate the size of the logistics goods, calculating the quantity of the logistics goods which can be accommodated in the first storage space; if the first storage space is capable of accommodating the size of the logistics cargo; if the size of the logistic goods can not be accommodated in the first storage space or the quantity of the logistic goods exceeds the accommodation quantity of the first storage space, continuing to analyze the second storage space in the state that the goods in the storage space are not full until the storage space in the state that the goods in the storage space are not full is changed into the storage space goods full state; continuing to analyze and judge whether the warehouse site cargo free state is matched with the logistics cargo information; when the matching of the warehouse storage position state and the logistics cargo information is completed, analyzing the busy and idle position of the AGV; taking the idle AGVs closest to the logistics cargo position as logistics cargo receiving and transferring AGVs for receiving logistics cargoes, and carrying out AGV logistics cargo receiving and transferring guidance; when the warehouse is delivered, the AGVs closest to the warehouse position of the delivery warehouse are used as the warehouse goods to receive and transport AGVs, and AGV warehouse goods are received and transported and guided.
Preferably, the transfer instruction machine vision-assisted guidance subsystem comprises:
the guidance planning instruction conversion subsystem is used for carrying out data instruction conversion through the AGV intelligent guidance data center according to the guidance planning data of the goods transfer AGV entering and exiting warehouse, and automatically generating an AGV receiving and transferring instruction;
the AGV receiving, transferring and transferring subsystem receives the AGV receiving, transferring and transferring instruction through the AGV wireless communication module according to the AGV receiving, transferring and guiding through the instruction path position;
the receiving instruction intelligent recognition and guidance subsystem is used for carrying out AGV receiving and transferring intelligent recognition and guidance by assisting the AGV to run an instruction path position through visual recognition, voice recognition and action recognition according to AGV receiving and transferring guidance;
the AGV operation instruction path position assisting through visual recognition, voice recognition and action recognition comprises the following steps: assisting an AGV to run an instruction path through visual identification; identifying a real-time voice command transmitted by wireless communication remote information interaction in the operation process of the AGV through voice identification, adjusting a command path in real time, identifying a warehouse logistics command action in the operation process of the AGV through action identification, and updating the command path according to the warehouse logistics command action; AGV accepts and transports intelligent identification guide includes: AGVs receive logistics cargo guidance, AGVs transfer logistics cargo guidance, warehouse location warehouse entry AGVs guidance, warehouse location cargo ex-warehouse AGVs guidance, warehouse cargo ex-warehouse AGVs guidance and warehouse cargo cross-over logistics AGVs guidance; when the logistics goods reach the storage and warehousing designated position, guiding the goods transfer AGVs to reach the storage and warehousing designated position, receiving the logistics goods, and guiding the AGVs to receive the logistics goods; the AGV is guided by the transport logistics goods, so that the AGV reaches a warehouse position for storing the command goods; according to the warehouse position warehouse entry AGV guide, enabling the AGV to transfer cargoes to enter a warehouse position for ordering cargoes to be warehoused; through the AGV guidance of warehouse goods delivery, AGV guidance of warehouse goods delivery and logistics, AGVs transport the goods out of the warehouse and carry logistics.
The invention provides an AGV intelligent guiding method applied to warehouse logistics, which comprises the following steps:
s100, carrying out three-dimensional virtual modeling on a warehouse site to track the warehouse site state in real time through warehouse tour vision shooting, and obtaining warehouse site state data;
s200, according to the warehouse site state data, carrying out interactive butt joint on the warehouse site state data and logistics cargo information data through the warehouse site domain-division wireless communication to obtain warehouse site logistics cargo butt joint information;
s300, carrying out cargo transfer AGV access bin guiding planning through AGV wireless communication according to the bin storage logistics cargo docking information, and obtaining cargo transfer AGV access bin guiding planning data;
s400, according to the AGV entering and exiting warehouse guide planning data is transported to the goods, AGV receiving and transporting instructions are automatically generated through an AGV intelligent guiding data center, and AGV receiving and transporting guidance and visual recognition, voice recognition and action recognition are carried out to assist the AGV in receiving and transporting intelligent recognition guidance.
Preferably, S100 includes:
s101, acquiring a warehouse position image set by utilizing a warehouse tour lifting type shooting and recording warehouse position image;
s102, according to a warehouse location image set, acquiring a warehouse location three-dimensional virtual model through image recognition three-dimensional modeling;
S103, according to the bin position three-dimensional virtual model, tracking the bin position state in real time through the model, and acquiring bin position state data.
Preferably, S200 includes:
s201, setting a warehouse site split-domain wireless communication module according to the warehouse site state data;
s202, carrying out wireless communication remote information interaction transmission with a logistics transportation mobile terminal through a warehousing and domain division wireless cooperative relay communication module to acquire warehousing logistics remote interaction information;
s203, according to the warehouse logistics remote interaction information, the warehouse site state data and the logistics cargo information data are in butt joint, and the warehouse site logistics cargo butt joint information is obtained.
Preferably, S300 includes:
s301, carrying out wireless communication with an AGV wireless communication module through a warehouse split-domain wireless cooperative relay communication module to obtain real-time busy and idle information of the AGV and real-time position information of the AGV;
s302, carrying out information analysis AGV acceptance determination according to warehouse logistics cargo butt joint information and combining AGV real-time busy and idle information and AGV real-time position information to obtain an information analysis acceptance determination result;
s303, planning a logistics cargo transferring AVG receiving path according to the information analysis receiving judgment result, carrying out cargo transferring AGV entering and exiting bin guiding planning, and obtaining cargo transferring AGV entering and exiting bin guiding planning data;
The AGV receiving judgment based on the information analysis includes: according to the warehouse site logistics cargo docking information, analyzing and judging whether the warehouse site state is matched with logistics cargo information; the bin bit states include: the storage bin position goods fully state, the storage bin position goods not fully state, the storage bin position goods free state and the storage bin position preset state; analyzing whether the first warehouse position residual space in the warehouse position cargo non-full state is matched with logistics cargo information or not; determining whether the first storage space can accommodate the size of the logistic goods; if the first storage space can accommodate the size of the logistics goods, calculating the quantity of the logistics goods which can be accommodated in the first storage space; if the first storage space is capable of accommodating the size of the logistics cargo; if the size of the logistic goods can not be accommodated in the first storage space or the quantity of the logistic goods exceeds the accommodation quantity of the first storage space, continuing to analyze the second storage space in the state that the goods in the storage space are not full until the storage space in the state that the goods in the storage space are not full is changed into the storage space goods full state; continuing to analyze and judge whether the warehouse site cargo free state is matched with the logistics cargo information; when the matching of the warehouse storage position state and the logistics cargo information is completed, analyzing the busy and idle position of the AGV; taking the idle AGVs closest to the logistics cargo position as logistics cargo receiving and transferring AGVs for receiving logistics cargoes, and carrying out AGV logistics cargo receiving and transferring guidance; when the warehouse is delivered, the AGVs closest to the warehouse position of the delivery warehouse are used as the warehouse goods to receive and transport AGVs, and AGV warehouse goods are received and transported and guided.
Preferably, S400 includes:
s401, according to the AGV entry and exit warehouse guide planning data for cargo transfer, carrying out data instruction conversion through an AGV intelligent guide data center, and automatically generating an AGV receiving and transferring instruction;
s402, receiving an AGV receiving and transferring instruction through an AGV wireless communication module according to the AGV receiving and transferring instruction, and carrying out AGV receiving and transferring guiding through an instruction path position;
s403, carrying out AGV receiving and transferring intelligent recognition and guiding by assisting the AGV to run the instruction path position through visual recognition, voice recognition and action recognition according to the AGV receiving and transferring guiding;
the AGV operation instruction path position assisting through visual recognition, voice recognition and action recognition comprises the following steps: assisting an AGV to run an instruction path through visual identification; identifying a real-time voice command transmitted by wireless communication remote information interaction in the operation process of the AGV through voice identification, adjusting a command path in real time, identifying a warehouse logistics command action in the operation process of the AGV through action identification, and updating the command path according to the warehouse logistics command action; AGV accepts and transports intelligent identification guide includes: AGVs receive logistics cargo guidance, AGVs transfer logistics cargo guidance, warehouse location warehouse entry AGVs guidance, warehouse location cargo ex-warehouse AGVs guidance, warehouse cargo ex-warehouse AGVs guidance and warehouse cargo cross-over logistics AGVs guidance; when the logistics goods reach the storage and warehousing designated position, guiding the goods transfer AGVs to reach the storage and warehousing designated position, receiving the logistics goods, and guiding the AGVs to receive the logistics goods; the AGV is guided by the transport logistics goods, so that the AGV reaches a warehouse position for storing the command goods; according to the warehouse position warehouse entry AGV guide, enabling the AGV to transfer cargoes to enter a warehouse position for ordering cargoes to be warehoused; through the AGV guidance of warehouse goods delivery, AGV guidance of warehouse goods delivery and logistics, AGVs transport the goods out of the warehouse and carry logistics.
Compared with the prior art, the invention at least comprises the following beneficial effects:
the invention provides an AGV intelligent guiding system and method applied to warehouse logistics, which utilizes a warehouse site identification modeling subsystem to track the warehouse site state in real time through warehouse tour vision shooting, and acquire warehouse site state data; the warehouse logistics data intelligent docking subsystem is used for performing interactive docking of warehouse logistics data state data and logistics cargo information data through warehouse site sub-domain wireless communication according to the warehouse logistics data state data to acquire warehouse logistics cargo docking information; the cargo modeling warehouse entry and exit planning subsystem carries out cargo transfer AGV warehouse entry and exit guiding planning through AGV wireless communication according to the warehouse site logistics cargo docking information, and acquires cargo transfer AGV warehouse entry and exit guiding planning data; the transfer instruction machine vision auxiliary guiding subsystem automatically generates an AGV receiving transfer instruction through an AGV intelligent guiding data center according to the goods transfer AGV access bin guiding planning data, and carries out AGV receiving transfer guiding and vision recognition, voice recognition and action recognition auxiliary AGV receiving transfer intelligent recognition guiding; can make storage commodity circulation AGV guide can be accurate carry out storage commodity circulation information butt joint, can carry out accurate commodity circulation goods and accept and transport the guide, can acquire the storehouse position state in real time, can carry out storehouse position state data and commodity circulation goods information data interaction butt joint and acquire storehouse position commodity circulation goods butt joint information, can improve goods greatly and transport AGV planning efficiency and precision, can carry out storage commodity circulation goods AGV and accept and transport large-scale intelligent identification.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination and practice of the invention.
Drawings
The accompanying drawings are included to provide a further understanding 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, serve to explain the invention. In the drawings:
FIG. 1 is a block diagram of an AGV intelligent guidance system for warehouse logistics according to the present invention.
FIG. 2 is a step diagram of an AGV intelligent guidance method for warehouse logistics according to the present invention.
FIG. 3 is a diagram of an embodiment of an AGV intelligent guidance method for warehouse logistics according to the present invention.
Detailed Description
The present invention is described in further detail below with reference to the drawings and examples to enable those skilled in the art to practice the same and to refer to the description; 1-3, the present invention provides an AGV intelligent guidance system for warehouse logistics, comprising:
the warehouse site identification modeling subsystem performs warehouse site three-dimensional virtual modeling and real-time tracking of the warehouse site state through warehouse tour visual shooting, and acquires warehouse site state data;
The warehouse logistics data intelligent docking subsystem is used for performing interactive docking of warehouse logistics data state data and logistics cargo information data through warehouse site sub-domain wireless communication according to the warehouse logistics data state data to acquire warehouse logistics cargo docking information;
the cargo modeling warehouse entry and exit planning subsystem carries out cargo transfer AGV warehouse entry and exit guiding planning through AGV wireless communication according to the warehouse site logistics cargo docking information, and acquires cargo transfer AGV warehouse entry and exit guiding planning data;
transfer instruction machine vision auxiliary guidance subsystem, according to the AGV entering warehouse guidance planning data is transported to the goods, through AGV intelligent guidance data center automatic generation AGV accept transfer instruction, carry out AGV accept transfer guidance and visual identification, speech recognition and action recognition auxiliary AGV accept transfer intelligent identification guide.
The principle and effect of the technical scheme are as follows: the invention provides an AGV intelligent guiding system applied to warehouse logistics, which comprises: the warehouse site identification modeling subsystem performs warehouse site three-dimensional virtual modeling and real-time tracking of the warehouse site state through warehouse tour visual shooting, and acquires warehouse site state data; the warehouse logistics data intelligent docking subsystem is used for performing interactive docking of warehouse logistics data state data and logistics cargo information data through warehouse site sub-domain wireless communication according to the warehouse logistics data state data to acquire warehouse logistics cargo docking information; the cargo modeling warehouse entry and exit planning subsystem carries out cargo transfer AGV warehouse entry and exit guiding planning through AGV wireless communication according to the warehouse site logistics cargo docking information, and acquires cargo transfer AGV warehouse entry and exit guiding planning data; the transfer instruction machine vision auxiliary guiding subsystem automatically generates an AGV receiving transfer instruction through an AGV intelligent guiding data center according to the goods transfer AGV access bin guiding planning data, and carries out AGV receiving transfer guiding and vision recognition, voice recognition and action recognition auxiliary AGV receiving transfer intelligent recognition guiding; can make storage commodity circulation AGV guide can be accurate carry out storage commodity circulation information butt joint, can carry out accurate commodity circulation goods and accept and transport the guide, can acquire the storehouse position state in real time, can carry out storehouse position state data and commodity circulation goods information data interaction butt joint and acquire storehouse position commodity circulation goods butt joint information, can improve goods greatly and transport AGV planning efficiency and precision, can carry out storage commodity circulation goods AGV and accept and transport large-scale intelligent identification.
In one embodiment, the warehouse location identification modeling subsystem includes:
the storage tour visual shooting subsystem acquires a storage warehouse location image set by utilizing storage tour lifting shooting and storage warehouse location images;
the warehouse environment warehouse location modeling subsystem is used for acquiring a warehouse location three-dimensional virtual model through image recognition three-dimensional modeling according to the warehouse location image set;
and the warehouse site state tracking subsystem updates and tracks the warehouse site state in real time according to the warehouse site three-dimensional virtual model and acquires warehouse site state data.
The principle and effect of the technical scheme are as follows: the warehouse site identification modeling subsystem comprises: the storage tour visual shooting subsystem acquires a storage warehouse location image set by utilizing storage tour lifting shooting and storage warehouse location images; the warehouse environment warehouse location modeling subsystem is used for acquiring a warehouse location three-dimensional virtual model through image recognition three-dimensional modeling according to the warehouse location image set; the warehouse site state tracking subsystem updates and tracks the warehouse site state in real time according to the warehouse site three-dimensional virtual model to acquire warehouse site state data; the storage logistics information butt joint can be accurately carried out by guiding the storage logistics AGVs.
In one embodiment, the warehouse logistics data intelligent docking subsystem comprises:
the warehouse information wireless communication subsystem is used for setting a warehouse site split-domain wireless communication module according to the warehouse site state data;
the warehousing logistics information transmission subsystem performs wireless communication remote information interaction transmission with the logistics transportation mobile terminal through the warehousing domain wireless cooperative relay communication module to acquire warehousing logistics remote interaction information;
and the warehouse logistics intelligent docking subsystem is used for docking the warehouse logistics state data with logistics cargo information data according to the warehouse logistics remote interaction information to acquire warehouse logistics cargo docking information.
The principle and effect of the technical scheme are as follows: the intelligent butt joint subsystem for warehouse logistics data comprises: the warehouse information wireless communication subsystem is used for setting a warehouse site split-domain wireless communication module according to the warehouse site state data; the warehousing logistics information transmission subsystem performs wireless communication remote information interaction transmission with the logistics transportation mobile terminal through the warehousing domain wireless cooperative relay communication module to acquire warehousing logistics remote interaction information; the warehouse logistics intelligent docking subsystem is used for docking the warehouse logistics state data with logistics cargo information data according to the warehouse logistics remote interaction information to acquire warehouse logistics cargo docking information; the logistics transportation mobile terminal is a storage external logistics transportation mobile terminal; the logistics goods are stored external logistics goods;
Calculating the standard deviation of the three-dimensional space frequency hopping signal in the domain division range of the storage domain wireless cooperative relay communication:
wherein, EWFTs represents the standard deviation of the three-dimensional space frequency hopping signal in the sub-domain range of the storage sub-domain wireless cooperative relay communication, N represents the three-dimensional space dimension in the sub-domain range, sck represents the storage area of the sub-domain range, hkw represents the three-dimensional space height in the sub-domain range, T represents the vector integral variable of the propagation position vector of the three-dimensional space frequency hopping signal in the sub-domain range, sco represents the integral upper limit of the total area of the storage area; the three-dimensional space frequency hopping signals in the sub-domain range of the storage sub-domain wireless cooperative relay communication are mutually independent and uniformly distributed; the standard deviation and the difference degree of the frequency hopping signals of the three-dimensional space in the sub-domain range of the storage sub-domain wireless cooperative relay communication are calculated, the distribution of the storage sub-domain wireless cooperative relay communication modules arranged at the three-dimensional space height in the sub-domain range is adjusted, and the difference degree of the frequency hopping signals of the three-dimensional space in the sub-domain range is greatly reduced.
In one embodiment, the cargo modeling access warehouse planning subsystem includes:
the logistics cargo in-out warehouse execution subsystem performs wireless communication with the AGV wireless communication module through the warehouse domain wireless cooperative relay communication module to acquire real-time busy and idle information of the AGV and real-time position information of the AGV;
The goods entering and exiting warehouse planning subsystem is used for carrying out information analysis AGV receiving judgment according to warehouse site logistics goods butt joint information and combining AGV real-time busy and idle information and AGV real-time position information to obtain an information analysis receiving judgment result;
the logistics handover guiding subsystem plans a logistics goods transferring AVG receiving path according to the information analysis receiving judgment result, performs goods transferring AGV entering and exiting bin guiding planning, and obtains goods transferring AGV entering and exiting bin guiding planning data;
the AGV receiving judgment based on the information analysis includes: according to the warehouse site logistics cargo docking information, analyzing and judging whether the warehouse site state is matched with logistics cargo information; the bin bit states include: the storage bin position goods fully state, the storage bin position goods not fully state, the storage bin position goods free state and the storage bin position preset state; analyzing whether the first warehouse position residual space in the warehouse position cargo non-full state is matched with logistics cargo information or not; determining whether the first storage space can accommodate the size of the logistic goods; if the first storage space can accommodate the size of the logistics goods, calculating the quantity of the logistics goods which can be accommodated in the first storage space; if the first storage space is capable of accommodating the size of the logistics cargo; if the size of the logistic goods can not be accommodated in the first storage space or the quantity of the logistic goods exceeds the accommodation quantity of the first storage space, continuing to analyze the second storage space in the state that the goods in the storage space are not full until the storage space in the state that the goods in the storage space are not full is changed into the storage space goods full state; continuing to analyze and judge whether the warehouse site cargo free state is matched with the logistics cargo information; when the matching of the warehouse storage position state and the logistics cargo information is completed, analyzing the busy and idle position of the AGV; taking the idle AGVs closest to the logistics cargo position as logistics cargo receiving and transferring AGVs for receiving logistics cargoes, and carrying out AGV logistics cargo receiving and transferring guidance; when the warehouse is delivered, the AGVs closest to the warehouse position of the delivery warehouse are used as the warehouse goods to receive and transport AGVs, and AGV warehouse goods are received and transported and guided.
The principle and effect of the technical scheme are as follows: the cargo modeling warehouse entry planning subsystem comprises: the logistics cargo in-out warehouse execution subsystem performs wireless communication with the AGV wireless communication module through the warehouse domain wireless cooperative relay communication module to acquire real-time busy and idle information of the AGV and real-time position information of the AGV; the goods entering and exiting warehouse planning subsystem is used for carrying out information analysis AGV receiving judgment according to warehouse site logistics goods butt joint information and combining AGV real-time busy and idle information and AGV real-time position information to obtain an information analysis receiving judgment result; the logistics handover guiding subsystem plans a logistics goods transferring AVG receiving path according to the information analysis receiving judgment result, performs goods transferring AGV entering and exiting bin guiding planning, and obtains goods transferring AGV entering and exiting bin guiding planning data; the AGV receiving judgment based on the information analysis includes: according to the warehouse site logistics cargo docking information, analyzing and judging whether the warehouse site state is matched with logistics cargo information; the bin bit states include: the storage bin position goods fully state, the storage bin position goods not fully state, the storage bin position goods free state and the storage bin position preset state; analyzing whether the first warehouse position residual space in the warehouse position cargo non-full state is matched with logistics cargo information or not; determining whether the first storage space can accommodate the size of the logistic goods; if the first storage space can accommodate the size of the logistics goods, calculating the quantity of the logistics goods which can be accommodated in the first storage space; if the first storage space is capable of accommodating the size of the logistics cargo; if the size of the logistic goods can not be accommodated in the first storage space or the quantity of the logistic goods exceeds the accommodation quantity of the first storage space, continuing to analyze the second storage space in the state that the goods in the storage space are not full until the storage space in the state that the goods in the storage space are not full is changed into the storage space goods full state; continuing to analyze and judge whether the warehouse site cargo free state is matched with the logistics cargo information; when the matching of the warehouse storage position state and the logistics cargo information is completed, analyzing the busy and idle position of the AGV; taking the idle AGVs closest to the logistics cargo position as logistics cargo receiving and transferring AGVs for receiving logistics cargoes, and carrying out AGV logistics cargo receiving and transferring guidance; when the warehouse is delivered, the AGVs closest to the warehouse position of the delivery warehouse are used as the AGVs for carrying and transferring the warehouse cargos, and the AGVs carry out carrying and transferring guidance on the warehouse cargos; can carry out accurate commodity circulation goods and accept and transport the guide, can acquire storehouse position state in real time, can carry out storehouse position state data and commodity circulation goods information data interaction butt joint and acquire storehouse position commodity circulation goods butt joint information, can improve goods transportation AGV planning efficiency and precision by a wide margin.
In one embodiment, the transfer instruction machine vision-aided guidance subsystem includes:
the guidance planning instruction conversion subsystem is used for carrying out data instruction conversion through the AGV intelligent guidance data center according to the guidance planning data of the goods transfer AGV entering and exiting warehouse, and automatically generating an AGV receiving and transferring instruction;
the AGV receiving, transferring and transferring subsystem receives the AGV receiving, transferring and transferring instruction through the AGV wireless communication module according to the AGV receiving, transferring and guiding through the instruction path position;
the receiving instruction intelligent recognition and guidance subsystem is used for carrying out AGV receiving and transferring intelligent recognition and guidance by assisting the AGV to run an instruction path position through visual recognition, voice recognition and action recognition according to AGV receiving and transferring guidance;
the AGV operation instruction path position assisting through visual recognition, voice recognition and action recognition comprises the following steps: assisting an AGV to run an instruction path through visual identification; identifying a real-time voice command transmitted by wireless communication remote information interaction in the operation process of the AGV through voice identification, adjusting a command path in real time, identifying a warehouse logistics command action in the operation process of the AGV through action identification, and updating the command path according to the warehouse logistics command action; AGV accepts and transports intelligent identification guide includes: AGVs receive logistics cargo guidance, AGVs transfer logistics cargo guidance, warehouse location warehouse entry AGVs guidance, warehouse location cargo ex-warehouse AGVs guidance, warehouse cargo ex-warehouse AGVs guidance and warehouse cargo cross-over logistics AGVs guidance; when the logistics goods reach the storage and warehousing designated position, guiding the goods transfer AGVs to reach the storage and warehousing designated position, receiving the logistics goods, and guiding the AGVs to receive the logistics goods; the AGV is guided by the transport logistics goods, so that the AGV reaches a warehouse position for storing the command goods; according to the warehouse position warehouse entry AGV guide, enabling the AGV to transfer cargoes to enter a warehouse position for ordering cargoes to be warehoused; through the AGV guidance of warehouse goods delivery, AGV guidance of warehouse goods delivery and logistics, AGVs transport the goods out of the warehouse and carry logistics.
The principle and effect of the technical scheme are as follows: the transfer instruction machine vision-aided guidance subsystem comprises: the guidance planning instruction conversion subsystem is used for carrying out data instruction conversion through the AGV intelligent guidance data center according to the guidance planning data of the goods transfer AGV entering and exiting warehouse, and automatically generating an AGV receiving and transferring instruction; the AGV receiving, transferring and transferring subsystem receives the AGV receiving, transferring and transferring instruction through the AGV wireless communication module according to the AGV receiving, transferring and guiding through the instruction path position; the receiving instruction intelligent recognition and guidance subsystem is used for carrying out AGV receiving and transferring intelligent recognition and guidance by assisting the AGV to run an instruction path position through visual recognition, voice recognition and action recognition according to AGV receiving and transferring guidance; the AGV operation instruction path position assisting through visual recognition, voice recognition and action recognition comprises the following steps: assisting an AGV to run an instruction path through visual identification; identifying a real-time voice command transmitted by wireless communication remote information interaction in the operation process of the AGV through voice identification, adjusting a command path in real time, identifying a warehouse logistics command action in the operation process of the AGV through action identification, and updating the command path according to the warehouse logistics command action; AGV accepts and transports intelligent identification guide includes: AGVs receive logistics cargo guidance, AGVs transfer logistics cargo guidance, warehouse location warehouse entry AGVs guidance, warehouse location cargo ex-warehouse AGVs guidance, warehouse cargo ex-warehouse AGVs guidance and warehouse cargo cross-over logistics AGVs guidance; when the logistics goods reach the storage and warehousing designated position, guiding the goods transfer AGVs to reach the storage and warehousing designated position, receiving the logistics goods, and guiding the AGVs to receive the logistics goods; the AGV is guided by the transport logistics goods, so that the AGV reaches a warehouse position for storing the command goods; according to the warehouse position warehouse entry AGV guide, enabling the AGV to transfer cargoes to enter a warehouse position for ordering cargoes to be warehoused; through the AGV guidance of warehouse goods delivery, AGV guidance of warehouse goods delivery and delivery logistics, the AGV transfers goods delivery and delivery logistics; can carry out the storage commodity circulation goods AGV and accept and transport extensive intelligent identification.
The invention provides an AGV intelligent guiding method applied to warehouse logistics, which comprises the following steps:
s100, carrying out three-dimensional virtual modeling on a warehouse site to track the warehouse site state in real time through warehouse tour vision shooting, and obtaining warehouse site state data;
s200, according to the warehouse site state data, carrying out interactive butt joint on the warehouse site state data and logistics cargo information data through the warehouse site domain-division wireless communication to obtain warehouse site logistics cargo butt joint information;
s300, carrying out cargo transfer AGV access bin guiding planning through AGV wireless communication according to the bin storage logistics cargo docking information, and obtaining cargo transfer AGV access bin guiding planning data;
s400, according to the AGV entering and exiting warehouse guide planning data is transported to the goods, AGV receiving and transporting instructions are automatically generated through an AGV intelligent guiding data center, and AGV receiving and transporting guidance and visual recognition, voice recognition and action recognition are carried out to assist the AGV in receiving and transporting intelligent recognition guidance.
The principle and effect of the technical scheme are as follows: the invention provides an AGV intelligent guiding method applied to warehouse logistics, which is used for carrying out warehouse site three-dimensional virtual modeling and real-time tracking on the warehouse site state through warehouse tour visual shooting and recording to acquire warehouse site state data; according to the warehouse site state data, the warehouse site state data and logistics cargo information data are in interactive butt joint through the warehouse site domain-division wireless communication, and warehouse site logistics cargo butt joint information is obtained; according to the logistics cargo docking information of the warehouse site, carrying out cargo transfer AGV access warehouse guidance planning through AGV wireless communication, and obtaining cargo transfer AGV access warehouse guidance planning data; according to the AGV entering and exiting warehouse guide planning data, an AGV receiving and transferring instruction is automatically generated through an AGV intelligent guiding data center, AGV receiving and transferring guiding and visual recognition are carried out, and voice recognition and action recognition assist AGV receiving and transferring intelligent recognition guiding are carried out; can make storage commodity circulation AGV guide can be accurate carry out storage commodity circulation information butt joint, can carry out accurate commodity circulation goods and accept and transport the guide, can acquire the storehouse position state in real time, can carry out storehouse position state data and commodity circulation goods information data interaction butt joint and acquire storehouse position commodity circulation goods butt joint information, can improve goods greatly and transport AGV planning efficiency and precision, can carry out storage commodity circulation goods AGV and accept and transport large-scale intelligent identification.
In one embodiment, S100 comprises:
s101, acquiring a warehouse position image set by utilizing a warehouse tour lifting type shooting and recording warehouse position image;
s102, according to a warehouse location image set, acquiring a warehouse location three-dimensional virtual model through image recognition three-dimensional modeling;
s103, according to the bin position three-dimensional virtual model, tracking the bin position state in real time through the model, and acquiring bin position state data.
The principle and effect of the technical scheme are as follows: acquiring a storage bin position image set by utilizing storage tour lifting type shooting storage bin position images; according to the warehouse site image set, acquiring a warehouse site three-dimensional virtual model through image recognition three-dimensional modeling; according to the three-dimensional virtual model of the warehouse site, the state of the warehouse site is updated and tracked in real time through the model, and the state data of the warehouse site is obtained; the storage logistics information butt joint can be accurately carried out by guiding the storage logistics AGVs.
In one embodiment, S200 comprises:
s201, setting a warehouse site split-domain wireless communication module according to the warehouse site state data;
s202, carrying out wireless communication remote information interaction transmission with a logistics transportation mobile terminal through a warehousing and domain division wireless cooperative relay communication module to acquire warehousing logistics remote interaction information;
S203, according to the warehouse logistics remote interaction information, the warehouse site state data and the logistics cargo information data are in butt joint, and the warehouse site logistics cargo butt joint information is obtained.
The principle and effect of the technical scheme are as follows: setting a warehouse site split-domain wireless communication module according to the warehouse site state data; the wireless communication remote information interaction transmission is carried out between the warehousing and sub-domain wireless cooperative relay communication module and the logistics transportation mobile terminal, so that the warehousing logistics remote interaction information is obtained; according to the remote interaction information of the warehouse logistics, carrying out butt joint on warehouse site state data and logistics cargo information data to obtain warehouse site logistics cargo butt joint information; the logistics transportation mobile terminal is a storage external logistics transportation mobile terminal; the logistics goods are stored external logistics goods;
calculating the standard deviation of the three-dimensional space frequency hopping signal in the domain division range of the storage domain wireless cooperative relay communication:
wherein, EWFTs represents the standard deviation of the three-dimensional space frequency hopping signal in the sub-domain range of the storage sub-domain wireless cooperative relay communication, N represents the three-dimensional space dimension in the sub-domain range, sck represents the storage area of the sub-domain range, hkw represents the three-dimensional space height in the sub-domain range, T represents the vector integral variable of the propagation position vector of the three-dimensional space frequency hopping signal in the sub-domain range, sco represents the integral upper limit of the total area of the storage area; the three-dimensional space frequency hopping signals in the sub-domain range of the storage sub-domain wireless cooperative relay communication are mutually independent and uniformly distributed; the standard deviation and the difference degree of the frequency hopping signals of the three-dimensional space in the sub-domain range of the storage sub-domain wireless cooperative relay communication are calculated, the distribution of the storage sub-domain wireless cooperative relay communication modules arranged at the three-dimensional space height in the sub-domain range is adjusted, and the difference degree of the frequency hopping signals of the three-dimensional space in the sub-domain range is greatly reduced.
In one embodiment, S300 includes:
s301, carrying out wireless communication with an AGV wireless communication module through a warehouse split-domain wireless cooperative relay communication module to obtain real-time busy and idle information of the AGV and real-time position information of the AGV;
s302, carrying out information analysis AGV acceptance determination according to warehouse logistics cargo butt joint information and combining AGV real-time busy and idle information and AGV real-time position information to obtain an information analysis acceptance determination result;
s303, planning a logistics cargo transferring AVG receiving path according to the information analysis receiving judgment result, carrying out cargo transferring AGV entering and exiting bin guiding planning, and obtaining cargo transferring AGV entering and exiting bin guiding planning data;
the AGV receiving judgment based on the information analysis includes: according to the warehouse site logistics cargo docking information, analyzing and judging whether the warehouse site state is matched with logistics cargo information; the bin bit states include: the storage bin position goods fully state, the storage bin position goods not fully state, the storage bin position goods free state and the storage bin position preset state; analyzing whether the first warehouse position residual space in the warehouse position cargo non-full state is matched with logistics cargo information or not; determining whether the first storage space can accommodate the size of the logistic goods; if the first storage space can accommodate the size of the logistics goods, calculating the quantity of the logistics goods which can be accommodated in the first storage space; if the first storage space is capable of accommodating the size of the logistics cargo; if the size of the logistic goods can not be accommodated in the first storage space or the quantity of the logistic goods exceeds the accommodation quantity of the first storage space, continuing to analyze the second storage space in the state that the goods in the storage space are not full until the storage space in the state that the goods in the storage space are not full is changed into the storage space goods full state; continuing to analyze and judge whether the warehouse site cargo free state is matched with the logistics cargo information; when the matching of the warehouse storage position state and the logistics cargo information is completed, analyzing the busy and idle position of the AGV; taking the idle AGVs closest to the logistics cargo position as logistics cargo receiving and transferring AGVs for receiving logistics cargoes, and carrying out AGV logistics cargo receiving and transferring guidance; when the warehouse is delivered, the AGVs closest to the warehouse position of the delivery warehouse are used as the warehouse goods to receive and transport AGVs, and AGV warehouse goods are received and transported and guided.
The principle and effect of the technical scheme are as follows: the storage sub-domain wireless cooperative relay communication module is in wireless communication with the AGV wireless communication module to acquire real-time busy and idle information of the AGV and real-time position information of the AGV; according to the warehouse logistics cargo docking information, combining the real-time busy and idle information of the AGV and the real-time position information of the AGV, carrying out information analysis AGV acceptance judgment, and obtaining an information analysis acceptance judgment result; planning a logistics cargo transferring AVG receiving path according to the information analysis receiving judgment result, carrying out cargo transferring AGV entering and exiting bin guiding planning, and obtaining cargo transferring AGV entering and exiting bin guiding planning data; the AGV receiving judgment based on the information analysis includes: according to the warehouse site logistics cargo docking information, analyzing and judging whether the warehouse site state is matched with logistics cargo information; the bin bit states include: the storage bin position goods fully state, the storage bin position goods not fully state, the storage bin position goods free state and the storage bin position preset state; analyzing whether the first warehouse position residual space in the warehouse position cargo non-full state is matched with logistics cargo information or not; determining whether the first storage space can accommodate the size of the logistic goods; if the first storage space can accommodate the size of the logistics goods, calculating the quantity of the logistics goods which can be accommodated in the first storage space; if the first storage space is capable of accommodating the size of the logistics cargo; if the size of the logistic goods can not be accommodated in the first storage space or the quantity of the logistic goods exceeds the accommodation quantity of the first storage space, continuing to analyze the second storage space in the state that the goods in the storage space are not full until the storage space in the state that the goods in the storage space are not full is changed into the storage space goods full state; continuing to analyze and judge whether the warehouse site cargo free state is matched with the logistics cargo information; when the matching of the warehouse storage position state and the logistics cargo information is completed, analyzing the busy and idle position of the AGV; taking the idle AGVs closest to the logistics cargo position as logistics cargo receiving and transferring AGVs for receiving logistics cargoes, and carrying out AGV logistics cargo receiving and transferring guidance; when the warehouse is delivered, the AGVs closest to the warehouse position of the delivery warehouse are used as the AGVs for carrying and transferring the warehouse cargos, and the AGVs carry out carrying and transferring guidance on the warehouse cargos; can carry out accurate commodity circulation goods and accept and transport the guide, can acquire storehouse position state in real time, can carry out storehouse position state data and commodity circulation goods information data interaction butt joint and acquire storehouse position commodity circulation goods butt joint information, can improve goods transportation AGV planning efficiency and precision by a wide margin.
In one embodiment, S400 includes:
s401, according to the AGV entry and exit warehouse guide planning data for cargo transfer, carrying out data instruction conversion through an AGV intelligent guide data center, and automatically generating an AGV receiving and transferring instruction;
s402, receiving an AGV receiving and transferring instruction through an AGV wireless communication module according to the AGV receiving and transferring instruction, and carrying out AGV receiving and transferring guiding through an instruction path position;
s403, carrying out AGV receiving and transferring intelligent recognition and guiding by assisting the AGV to run the instruction path position through visual recognition, voice recognition and action recognition according to the AGV receiving and transferring guiding;
the AGV operation instruction path position assisting through visual recognition, voice recognition and action recognition comprises the following steps: assisting an AGV to run an instruction path through visual identification; identifying a real-time voice command transmitted by wireless communication remote information interaction in the operation process of the AGV through voice identification, adjusting a command path in real time, identifying a warehouse logistics command action in the operation process of the AGV through action identification, and updating the command path according to the warehouse logistics command action; AGV accepts and transports intelligent identification guide includes: AGVs receive logistics cargo guidance, AGVs transfer logistics cargo guidance, warehouse location warehouse entry AGVs guidance, warehouse location cargo ex-warehouse AGVs guidance, warehouse cargo ex-warehouse AGVs guidance and warehouse cargo cross-over logistics AGVs guidance; when the logistics goods reach the storage and warehousing designated position, guiding the goods transfer AGVs to reach the storage and warehousing designated position, receiving the logistics goods, and guiding the AGVs to receive the logistics goods; the AGV is guided by the transport logistics goods, so that the AGV reaches a warehouse position for storing the command goods; according to the warehouse position warehouse entry AGV guide, enabling the AGV to transfer cargoes to enter a warehouse position for ordering cargoes to be warehoused; through the AGV guidance of warehouse goods delivery, AGV guidance of warehouse goods delivery and logistics, AGVs transport the goods out of the warehouse and carry logistics.
The principle and effect of the technical scheme are as follows: according to the AGV in-out warehouse guiding planning data, carrying out data instruction conversion through an AGV intelligent guiding data center, and automatically generating an AGV receiving and transferring instruction; according to the AGV receiving and transferring instruction, the AGV receiving and transferring instruction is received through the AGV wireless communication module, and AGV receiving and transferring guiding is carried out through the instruction path position; according to the AGV receiving and transferring guidance, the AGV receiving and transferring intelligent recognition guidance is carried out by assisting the AGV to run the instruction path position through visual recognition, voice recognition and action recognition; the AGV operation instruction path position assisting through visual recognition, voice recognition and action recognition comprises the following steps: assisting an AGV to run an instruction path through visual identification; identifying a real-time voice command transmitted by wireless communication remote information interaction in the operation process of the AGV through voice identification, adjusting a command path in real time, identifying a warehouse logistics command action in the operation process of the AGV through action identification, and updating the command path according to the warehouse logistics command action; AGV accepts and transports intelligent identification guide includes: AGVs receive logistics cargo guidance, AGVs transfer logistics cargo guidance, warehouse location warehouse entry AGVs guidance, warehouse location cargo ex-warehouse AGVs guidance, warehouse cargo ex-warehouse AGVs guidance and warehouse cargo cross-over logistics AGVs guidance; when the logistics goods reach the storage and warehousing designated position, guiding the goods transfer AGVs to reach the storage and warehousing designated position, receiving the logistics goods, and guiding the AGVs to receive the logistics goods; the AGV is guided by the transport logistics goods, so that the AGV reaches a warehouse position for storing the command goods; according to the warehouse position warehouse entry AGV guide, enabling the AGV to transfer cargoes to enter a warehouse position for ordering cargoes to be warehoused; through the AGV guidance of warehouse goods delivery, AGV guidance of warehouse goods delivery and delivery logistics, the AGV transfers goods delivery and delivery logistics; can carry out the storage commodity circulation goods AGV and accept and transport extensive intelligent identification.
Although embodiments of the present invention have been disclosed above, it is not limited to the details and embodiments shown and described, it is well suited to various fields of use for which the invention would be readily apparent to those skilled in the art, and accordingly, the invention is not limited to the specific details and illustrations shown and described herein, without departing from the general concepts defined in the claims and their equivalents.

Claims (10)

1. Be applied to AGV intelligent guidance system of storage commodity circulation, its characterized in that includes:
the warehouse site identification modeling subsystem performs warehouse site three-dimensional virtual modeling and real-time tracking of the warehouse site state through warehouse tour visual shooting, and acquires warehouse site state data;
the warehouse logistics data intelligent docking subsystem is used for performing interactive docking of warehouse logistics data state data and logistics cargo information data through warehouse site sub-domain wireless communication according to the warehouse logistics data state data to acquire warehouse logistics cargo docking information;
the cargo modeling warehouse entry and exit planning subsystem carries out cargo transfer AGV warehouse entry and exit guiding planning through AGV wireless communication according to the warehouse site logistics cargo docking information, and acquires cargo transfer AGV warehouse entry and exit guiding planning data;
Transfer instruction machine vision auxiliary guidance subsystem, according to the AGV entering warehouse guidance planning data is transported to the goods, through AGV intelligent guidance data center automatic generation AGV accept transfer instruction, carry out AGV accept transfer guidance and visual identification, speech recognition and action recognition auxiliary AGV accept transfer intelligent identification guide.
2. The AGV intelligent guidance system for use in a warehouse logistics of claim 1, wherein the warehouse location identification modeling subsystem comprises:
the storage tour visual shooting subsystem acquires a storage warehouse location image set by utilizing storage tour lifting shooting and storage warehouse location images;
the warehouse environment warehouse location modeling subsystem is used for acquiring a warehouse location three-dimensional virtual model through image recognition three-dimensional modeling according to the warehouse location image set;
and the warehouse site state tracking subsystem updates and tracks the warehouse site state in real time according to the warehouse site three-dimensional virtual model and acquires warehouse site state data.
3. The AGV intelligent guidance system for use in a warehouse logistics of claim 1, wherein the warehouse logistics data intelligent docking subsystem comprises:
the warehouse information wireless communication subsystem is used for setting a warehouse site split-domain wireless communication module according to the warehouse site state data;
The warehousing logistics information transmission subsystem performs wireless communication remote information interaction transmission with the logistics transportation mobile terminal through the warehousing domain wireless cooperative relay communication module to acquire warehousing logistics remote interaction information;
and the warehouse logistics intelligent docking subsystem is used for docking the warehouse logistics state data with logistics cargo information data according to the warehouse logistics remote interaction information to acquire warehouse logistics cargo docking information.
4. The AGV intelligent guidance system for use in a warehouse logistics of claim 1, wherein the cargo modeling access warehouse planning subsystem comprises:
the logistics cargo in-out warehouse execution subsystem performs wireless communication with the AGV wireless communication module through the warehouse domain wireless cooperative relay communication module to acquire real-time busy and idle information of the AGV and real-time position information of the AGV;
the goods entering and exiting warehouse planning subsystem is used for carrying out information analysis AGV receiving judgment according to warehouse site logistics goods butt joint information and combining AGV real-time busy and idle information and AGV real-time position information to obtain an information analysis receiving judgment result;
and the logistics handover guiding subsystem plans a logistics goods transferring AVG receiving path according to the information analysis receiving judgment result, performs goods transferring AGV entering and exiting warehouse guiding planning, and acquires goods transferring AGV entering and exiting warehouse guiding planning data.
5. The AGV intelligent guidance system for a warehouse logistics of claim 1, wherein the transfer order machine vision-assisted guidance subsystem comprises:
the guidance planning instruction conversion subsystem is used for carrying out data instruction conversion through the AGV intelligent guidance data center according to the guidance planning data of the goods transfer AGV entering and exiting warehouse, and automatically generating an AGV receiving and transferring instruction;
the AGV receiving, transferring and transferring subsystem receives the AGV receiving, transferring and transferring instruction through the AGV wireless communication module according to the AGV receiving, transferring and guiding through the instruction path position;
and the receiving instruction intelligent recognition and guidance subsystem is used for carrying out AGV receiving and transferring intelligent recognition and guidance through visual recognition, voice recognition and action recognition to assist the AGV to run the instruction path position according to AGV receiving and transferring guidance.
6. Be applied to AGV intelligent guidance method of storage commodity circulation, its characterized in that includes:
s100, carrying out three-dimensional virtual modeling on a warehouse site to track the warehouse site state in real time through warehouse tour vision shooting, and obtaining warehouse site state data;
s200, according to the warehouse site state data, carrying out interactive butt joint on the warehouse site state data and logistics cargo information data through the warehouse site domain-division wireless communication to obtain warehouse site logistics cargo butt joint information;
S300, carrying out cargo transfer AGV access bin guiding planning through AGV wireless communication according to the bin storage logistics cargo docking information, and obtaining cargo transfer AGV access bin guiding planning data;
s400, according to the AGV entering and exiting warehouse guide planning data is transported to the goods, AGV receiving and transporting instructions are automatically generated through an AGV intelligent guiding data center, and AGV receiving and transporting guidance and visual recognition, voice recognition and action recognition are carried out to assist the AGV in receiving and transporting intelligent recognition guidance.
7. The intelligent guidance method for an AGV applied to a warehouse logistics of claim 6, wherein S100 comprises:
s101, acquiring a warehouse position image set by utilizing a warehouse tour lifting type shooting and recording warehouse position image;
s102, according to a warehouse location image set, acquiring a warehouse location three-dimensional virtual model through image recognition three-dimensional modeling;
s103, according to the bin position three-dimensional virtual model, tracking the bin position state in real time through the model, and acquiring bin position state data.
8. The intelligent guidance method for an AGV applied to a warehouse logistics of claim 6, wherein S200 comprises:
s201, setting a warehouse site split-domain wireless communication module according to the warehouse site state data;
S202, carrying out wireless communication remote information interaction transmission with a logistics transportation mobile terminal through a warehousing and domain division wireless cooperative relay communication module to acquire warehousing logistics remote interaction information;
s203, according to the warehouse logistics remote interaction information, the warehouse site state data and the logistics cargo information data are in butt joint, and the warehouse site logistics cargo butt joint information is obtained.
9. The intelligent guidance method for an AGV applied to a warehouse logistics of claim 6, wherein S300 comprises:
s301, carrying out wireless communication with an AGV wireless communication module through a warehouse split-domain wireless cooperative relay communication module to obtain real-time busy and idle information of the AGV and real-time position information of the AGV;
s302, carrying out information analysis AGV acceptance determination according to warehouse logistics cargo butt joint information and combining AGV real-time busy and idle information and AGV real-time position information to obtain an information analysis acceptance determination result;
s303, planning a logistics cargo transferring AVG receiving path according to the information analysis receiving judgment result, carrying out cargo transferring AGV entering and exiting warehouse guiding planning, and obtaining cargo transferring AGV entering and exiting warehouse guiding planning data.
10. The intelligent guidance method for an AGV applied to a warehouse logistics of claim 6, wherein S400 comprises:
S401, according to the AGV entry and exit warehouse guide planning data for cargo transfer, carrying out data instruction conversion through an AGV intelligent guide data center, and automatically generating an AGV receiving and transferring instruction;
s402, receiving an AGV receiving and transferring instruction through an AGV wireless communication module according to the AGV receiving and transferring instruction, and carrying out AGV receiving and transferring guiding through an instruction path position;
s403, according to AGV receiving and transferring guidance, the AGV receiving and transferring intelligent recognition guidance is carried out by assisting the AGV to run the instruction path position through visual recognition, voice recognition and action recognition.
CN202310830817.0A 2023-07-07 2023-07-07 AGV intelligent guiding system and method applied to warehouse logistics Pending CN116880477A (en)

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