WO2023050891A1 - Goods shelf for laser slam navigation agv and intelligent warehousing system - Google Patents

Goods shelf for laser slam navigation agv and intelligent warehousing system Download PDF

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Publication number
WO2023050891A1
WO2023050891A1 PCT/CN2022/098872 CN2022098872W WO2023050891A1 WO 2023050891 A1 WO2023050891 A1 WO 2023050891A1 CN 2022098872 W CN2022098872 W CN 2022098872W WO 2023050891 A1 WO2023050891 A1 WO 2023050891A1
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WO
WIPO (PCT)
Prior art keywords
baffle
shelf
agv
laser slam
longitudinal beams
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PCT/CN2022/098872
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French (fr)
Chinese (zh)
Inventor
杨扬
赵显庭
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中兴通讯股份有限公司
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Publication of WO2023050891A1 publication Critical patent/WO2023050891A1/en

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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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • 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

Definitions

  • the embodiment of the present application relates to the technical field of warehousing and logistics, in particular to a shelf and an intelligent warehousing system for laser SLAM navigation AGV.
  • SLAM Simultaneous localization and mapping
  • the odometer information combined with the laser data obtained by the laser sensor is matched with the map to continuously obtain the precise pose of the AGV in the map in real time, and at the same time, perform path planning according to the current position and task destination ( Dynamic route or fixed route, and the route is slightly different each time), according to the planned trajectory, send control instructions to the AGV to make the AGV realize automatic driving.
  • the logistics transfer shelf in the existing warehousing and logistics system is generally a detachable logistics transfer shelf.
  • the shelf participates in the transfer when the AGV transports the goods.
  • the goods cannot be transported through the pallet, and the shelf cannot provide positioning reference for the laser SLAM navigation AGV.
  • the purpose of the embodiment of the present application is to provide a shelf for laser SLAM navigation AGV to solve the technical problem that the shelf in the prior art cannot carry goods through pallets, and the shelf cannot provide positioning reference for SLAM laser navigation AGV.
  • Another purpose of the embodiments of the present application is to provide an intelligent storage system to solve the technical problems in the prior art that the shelves cannot carry goods through pallets, and the shelves cannot provide positioning references for SLAM laser navigation AGVs.
  • the first aspect of the embodiment of the present application provides a shelf for laser SLAM navigation AGV, including a carrier and legs, the legs are fixed on the carrier to support the carrier;
  • the carrying frame includes a crossbeam and two parallel and spaced longitudinal beams, the crossbeams are fixed to the ends of the two longitudinal beams, and the head ends of the two longitudinal beams form openings for the AGV to enter and exit;
  • a baffle for positioning the AGV is provided on the side opposite to the open end, and the baffle is fixed on the leg or the beam.
  • the second aspect of the embodiment of the present application provides an intelligent warehousing system.
  • the intelligent warehousing logistics system includes a plurality of shelves and an AGV.
  • the shelves are the above-mentioned shelves, and the shelves are used to be fixed on the ground.
  • Fig. 1 is a schematic structural diagram of a shelf for laser SLAM navigation AGV provided in the embodiment of the present application;
  • FIG. 2 is a structural schematic diagram of a shelf for laser SLAM navigation AGV provided in an embodiment of the present application at a viewing angle;
  • Fig. 3 is a structural schematic diagram of a shelf for laser SLAM navigation AGV provided for the embodiment of the present application in another perspective;
  • Fig. 4 is a structural schematic diagram of a shelf used for laser SLAM navigation AGV provided by the embodiment of the present application in another perspective.
  • Simultaneous localization and mapping means that in an unknown environment, the AGV robot uses its own internal sensors (encoders, IMUs, etc.) and external sensors (laser sensors or visual sensors) to monitor itself. Positioning, and on the basis of positioning, use the environmental information acquired by external sensors to incrementally build an environmental map. Since laser SLAM navigation is limited by the parameters of lidar, the general detection distance is 10m to 25m, and due to the algorithm principle, to realize SLAM laser navigation, there needs to be a certain fixed obstruction within a radius of at least 25m, and the obstruction has low mobility.
  • the pure basement deployment and workshop of the existing warehousing and logistics projects are flat structures, and the goods are stacked on the ground. The goods are in a flowing form and do not meet the operating conditions of laser SLAM navigation.
  • This application provides a shelf and intelligent storage system to solve the problem that the pure ground warehouse deployment and factory building conditions of existing warehousing and logistics projects do not meet the laser SLAM navigation of AGV.
  • Figure 1 is a schematic structural diagram of a shelf for laser SLAM navigation AGV provided in the embodiment of the present application
  • Figure 2 is a structural schematic diagram of a shelf for laser SLAM navigation AGV provided in the embodiment of the present application at a perspective
  • Figure 3 is a schematic diagram of the present application
  • FIG. Please refer to Figures 1-4, the embodiment of the present application provides a shelf for laser SLAM navigation AGV, the shelf includes a carrier 1 and legs 2, the legs 2 are fixed on the carrier 1 for Support the carrier 1 .
  • the carrier frame 1 includes a crossbeam 11 and two parallel and spaced longitudinal beams 12, the crossbeam 11 is fixed to the ends of the two longitudinal beams 12, and the head ends of the two longitudinal beams 12 are formed for AGV openings for entry and exit;
  • the side opposite to the open end is provided with a baffle 3 for positioning the AGV, and the baffle 3 is fixed on the leg 2 or the beam 11 .
  • the outrigger 2 of this embodiment is used to support the carrier 1, and the carrier is used to place a pallet carrying goods.
  • the materials of the legs 2 and the supporting frame 1 there is no special limitation on the materials of the legs 2 and the supporting frame 1 .
  • the carrying frame 1 of this embodiment includes a crossbeam 11 and two parallel and spaced longitudinal beams 12, the crossbeam 11 is fixed to the ends of the two longitudinal beams 12, and the head ends of the two longitudinal beams 12 form openings for AGVs to enter and exit .
  • the open end drives under the pallet and goods, and after the AGV lifts the pallet and goods, the AGV drives out from the open end.
  • the size of the crossbeam 11 and the longitudinal beam 12 in this embodiment can be preset in advance according to the size of the AGV trolley and the pallet, and the size of the crossbeam 11 and the longitudinal beam 12 is not particularly limited in this embodiment.
  • Laser SLAM navigation is limited by the parameters of the laser radar.
  • the general detection distance is 10m to 25m, and due to the algorithm principle, to realize SLAM laser navigation, there must be a certain fixed obstruction within a radius of at least 25m, and the obstruction has low mobility.
  • Embodiment By setting the baffle 3 on the shelf, the baffle 3 is used as a laser SLAM navigation mark point when the AGV is running, and can be adapted to the laser SLAM navigation AGV. After the laser is shot on the baffle 3, a laser SLAM map is formed to provide navigation information for the AGV.
  • the specific size and material of the baffle 3 are not particularly limited.
  • the odometer information combined with the laser data obtained by the laser sensor is matched with the map to continuously obtain the precise pose of the AGV in the map in real time, and at the same time, perform path planning according to the current position and task destination ( Dynamic route or fixed route, and the route is slightly different each time), according to the planned trajectory, send control instructions to the AGV to make the AGV realize automatic driving.
  • the pure basement deployment and factory buildings of the existing warehousing and logistics projects are flat structures, and the goods are stacked on the ground. The goods are flowing and do not meet the operating conditions of laser SLAM navigation.
  • baffles for AGV positioning are set on the shelves. 3. The baffle 3 is used as a reference object and navigation mark point to participate in the construction of the scene map, so that the SLAM laser navigation AGV can be applied to the empty warehouse logistics system.
  • the shelf for laser SLAM navigation AGV provided in the embodiment of the present application includes a carrier and legs, the legs are fixed on the carrier to support the carrier, and the carrier includes a beam and two longitudinal beams arranged in parallel and spaced apart , the beam is fixed at the ends of the two longitudinal beams, the first ends of the two longitudinal beams have openings for AGV to enter and exit, and the side opposite to the opening is provided with a baffle for positioning the AGV, and the baffle is fixed on On the outrigger or on the beam, the open end of the fixed shelf is used for the AGV to enter and exit, and the goods can be transferred through the pallet by placing the pallet on the carrier.
  • the baffle in the SLAM laser navigation is used as a reference and a navigation mark point to participate in the construction of the scene map. , making SLAM laser navigation AGV realize automatic driving.
  • This embodiment provides a shelf for laser SLAM navigation AGV.
  • the shelf has a similar overall structure to the shelf described in Embodiment 1. The difference is that this embodiment provides specific details of the baffle on the basis of Embodiment 1. structure.
  • the baffle 3 is a rectangular baffle, and the length of the baffle 3 in the height direction of the legs 2 is 15 cm to 35 cm.
  • the baffle 3 in this embodiment is a rectangular baffle.
  • the baffle 3 in this embodiment is used as a reference when the laser SLAM navigation AGV is running.
  • the design height of the baffle 3 in this embodiment is set in advance according to the height of the laser SLAM navigation AGV.
  • the height of the laser SLAM navigation AGV is generally 15 cm to 35 cm, and the length of the baffle plate 3 in the height direction of the leg 1 in this embodiment is preferably 15 cm to 35 cm.
  • the top of the baffle 3 is flush with the top of the beam 11 .
  • the top of the baffle 3 and the top of the crossbeam are set at the same height.
  • the baffle 3 is detachably fixedly connected to the beam 11 or the baffle 3 is welded to the beam 11; or, the baffle 3 is connected to the leg 2
  • the detachable fixed connection or the baffle plate 3 is welded on the leg 2 .
  • the baffle 3 of this embodiment can be arranged on the beam 11 or the leg 2 .
  • the baffle 3 is a metal piece.
  • the baffle 3 of this embodiment adopts metal parts, which can improve the service life of the baffle 3 to a certain extent.
  • the shelf for laser SLAM navigation AGV provided in the embodiment of the present application includes a carrier and legs, the legs are fixed on the carrier to support the carrier, and the carrier includes a beam and two longitudinal beams arranged in parallel and spaced apart , the beam is fixed at the ends of the two longitudinal beams, the first ends of the two longitudinal beams have openings for AGV to enter and exit, and the side opposite to the opening is provided with a baffle for positioning the AGV, and the baffle is fixed on On the outrigger or on the beam, the open end of the fixed shelf is used for the AGV to enter and exit, and the goods can be transferred through the pallet by placing the pallet on the carrier.
  • the baffle in the SLAM laser navigation is used as a reference and a navigation mark point to participate in the construction of the scene map. , making SLAM laser navigation AGV realize automatic driving.
  • This embodiment provides a shelf for laser SLAM navigation AGV.
  • the shelf has a similar overall structure to the shelf described in Embodiment 1. The difference is that this embodiment provides a carrier and a support on the basis of Embodiment 2. The specific structure of the leg.
  • the number of the legs 2 in this embodiment is four, the longitudinal beam 12 includes a first longitudinal beam and a second longitudinal beam, and the two supporting legs 2 are respectively arranged at the head end and the tail of the first longitudinal beam end, and the other two legs 2 are respectively arranged at the head end and the tail end of the second longitudinal beam.
  • four outriggers 2 are used to support the carrier frame 1, and the implementation method is simple.
  • first reinforcement plate is provided at the connection between the support leg 2 and the first longitudinal beam
  • second reinforcement plate is provided at the connection between the support leg 2 and the second longitudinal beam.
  • the two longitudinal beams 12 and the cross beam 11 are integrally formed.
  • the manufacturing method is simple.
  • the two longitudinal beams 12 and the cross beams 11 are detachably connected structures.
  • the cross beams 11 and the longitudinal beams 12 are detachable structures, the storage space occupied by the shelves after disassembly is small.
  • the bottom of the leg 2 is provided with a buffer pad.
  • a buffer pad By arranging a buffer pad at the bottom of the support leg 2, when goods are placed on the carrier frame of the shelf, damage to the ground caused by the support leg 2 is avoided.
  • the buffer pad in this embodiment can be made of elastic rubber material.
  • the legs 2 , the longitudinal beams 12 and the cross beams 11 are all metal parts, and the legs 2 , the longitudinal beams 12 and the cross beams 11 in this embodiment are all made of metal parts, which can improve the service life of the shelf.
  • the intelligent storage system includes the shelf used for laser SLAM navigation AGV described in the first embodiment, the second embodiment or the third embodiment above, and the shelf is fixed on the ground.
  • the shelf used for laser SLAM navigation AGV includes a carrier and legs, and the legs are fixed on the carrier for supporting the carrier;
  • the carrying frame includes a crossbeam and two parallel and spaced longitudinal beams, the crossbeams are fixed to the ends of the two longitudinal beams, and the head ends of the two longitudinal beams form openings for the AGV to enter and exit;
  • a baffle for positioning the AGV is provided on the side opposite to the open end, and the baffle is fixed on the leg or the beam.
  • the intelligent storage system provided in the embodiment of the present application includes a shelf for laser SLAM navigation AGV.
  • the intelligent storage logistics system includes a plurality of said shelves and AGVs. Pallets realize the transfer of goods through pallets, and the baffles in laser SLAM navigation are used as reference objects and navigation markers to participate in the construction of the scene map, so that SLAM laser navigation AGV can realize automatic driving.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

A goods shelf for a laser SLAM navigation AGV and an intelligent warehousing system. The goods shelf comprises a bearing frame (1) and a supporting leg (2), wherein the supporting leg (2) is fixed to the bearing frame (1) and used for supporting the bearing frame (1), the bearing frame (1) comprises a cross beam (11) and two parallel longitudinal beams (12) which are arranged at an interval, the cross beam (11) is fixed to tail ends of the two longitudinal beams (12), head ends of the two longitudinal beams (12) form an open end allowing the AGV to go in and out, a baffle (3) allowing the AGV to be positioned is arranged on the side opposite the open end, and the baffle (3) is fixed to the supporting leg (2) or the cross beam (11). The open end of the goods shelf allows the AGV to go in and out, goods can be transferred by means of a tray by placing the tray on the bearing frame (1), and during laser SLAM navigation, the baffle (3) acts as a reference substance and a navigation marking point participates in scene mapping, so that the laser SLAM navigation AGV can achieve automatic driving.

Description

用于激光SLAM导航AGV的货架及智能仓储***Shelf and intelligent storage system for laser SLAM navigation AGV
交叉引用cross reference
本申请基于申请号为“202111155812.X”、申请日为2021年09月30日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此以引入方式并入本申请。This application is based on the Chinese patent application with the application number "202111155812.X" and the filing date is September 30, 2021, and claims the priority of the Chinese patent application. The entire content of the Chinese patent application is incorporated herein by reference. into this application.
技术领域technical field
本申请实施例涉及仓储物流技术领域，特别涉及一种用于激光SLAM导航AGV的货架及智能仓储***。The embodiment of the present application relates to the technical field of warehousing and logistics, in particular to a shelf and an intelligent warehousing system for laser SLAM navigation AGV.
背景技术Background technique
近年来，自动导航小车(Automated Guided Vehicle；AGV)作为自动化生产物流较佳运输工具，应用得到快速的发展，同时AGV导航技术的发展引起业界的高度重视。同步定位与建图(simultaneous localization and mapping；SLAM)指在未知的环境中，AGV机器人通过自身所携带的内部传感器(编码器、IMU等)和外部传感器(激光传感器或者视觉传感器)来对自身进行定位，并在定位的基础上利用外部传感器获取的环境信息增量式构建环境地图。In recent years, the application of Automated Guided Vehicle (AGV), as a better transportation tool for automated production and logistics, has been rapidly developed. At the same time, the development of AGV navigation technology has attracted great attention from the industry. Simultaneous localization and mapping (SLAM) means that in an unknown environment, the AGV robot uses its own internal sensors (encoders, IMUs, etc.) and external sensors (laser sensors or visual sensors) to monitor itself. Positioning, and on the basis of positioning, use the environmental information acquired by external sensors to incrementally build an environmental map.
在完成环境地图构建后，需要在所构建的地图基础上进行基于地图的位置和路径规划来实现AGV的导航。激光SLAM导航AGV运动过程中，通过里程计信息结合激光传感器获取的激光数据与地图进行匹配，不断地实时获取AGV在地图中的精确位姿，同时，根据当前位置与任务目的地进行路径规划(动态路线或者固定路线，且每次的路线都略微不同)，根据规划得到的轨迹给AGV发送控制指令，使AGV实现自动行驶。After the construction of the environmental map is completed, it is necessary to perform map-based position and path planning on the basis of the constructed map to realize the navigation of the AGV. During the movement of the laser SLAM navigation AGV, the odometer information combined with the laser data obtained by the laser sensor is matched with the map to continuously obtain the precise pose of the AGV in the map in real time, and at the same time, perform path planning according to the current position and task destination ( Dynamic route or fixed route, and the route is slightly different each time), according to the planned trajectory, send control instructions to the AGV to make the AGV realize automatic driving.
现有仓储物流***中的物流转运货架一般为可拆卸物流转运货架，AGV在运输货物时货架参与转运，货物无法通过托盘进行运转，而且货架无法为激光SLAM导航AGV提供定位参考。The logistics transfer shelf in the existing warehousing and logistics system is generally a detachable logistics transfer shelf. The shelf participates in the transfer when the AGV transports the goods. The goods cannot be transported through the pallet, and the shelf cannot provide positioning reference for the laser SLAM navigation AGV.
发明内容Contents of the invention
本申请实施例的目的在于提供一种用于激光SLAM导航AGV的货架，以解决现有技术中的货架无法通过托盘进行运转货物，而且货架无法为SLAM激光导航AGV提供定位参考的技术问题。The purpose of the embodiment of the present application is to provide a shelf for laser SLAM navigation AGV to solve the technical problem that the shelf in the prior art cannot carry goods through pallets, and the shelf cannot provide positioning reference for SLAM laser navigation AGV.
本申请实施例的另一目的在于提供一种智能仓储***，以解决现有技术中货架无法通过 托盘进行运转货物，而且货架无法为SLAM激光导航AGV提供定位参考的技术问题。Another purpose of the embodiments of the present application is to provide an intelligent storage system to solve the technical problems in the prior art that the shelves cannot carry goods through pallets, and the shelves cannot provide positioning references for SLAM laser navigation AGVs.
为实现上述目的，本申请实施例第一方面提供一种用于激光SLAM导航AGV的货架，包括承载架和支腿，所述支腿固定于所述承载架上用于支撑所述承载架；In order to achieve the above purpose, the first aspect of the embodiment of the present application provides a shelf for laser SLAM navigation AGV, including a carrier and legs, the legs are fixed on the carrier to support the carrier;
所述承载架包括横梁和两个平行间隔设置的纵梁，所述横梁固定于两根所述纵梁的末端，两根所述纵梁的首端形成用于供AGV进出的开口端；The carrying frame includes a crossbeam and two parallel and spaced longitudinal beams, the crossbeams are fixed to the ends of the two longitudinal beams, and the head ends of the two longitudinal beams form openings for the AGV to enter and exit;
与所述开口端正对的一侧设置有用于供AGV进行定位的挡板，所述挡板固定于所述支腿上或者所述横梁上。A baffle for positioning the AGV is provided on the side opposite to the open end, and the baffle is fixed on the leg or the beam.
本申请实施例第二方面提供一种智能仓储***，所述智能仓储物流***包括多个货架和AGV，所述货架为如上所述的货架，所述货架用于固定于地面。The second aspect of the embodiment of the present application provides an intelligent warehousing system. The intelligent warehousing logistics system includes a plurality of shelves and an AGV. The shelves are the above-mentioned shelves, and the shelves are used to be fixed on the ground.
附图说明Description of drawings
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定。One or more embodiments are exemplified by pictures in the accompanying drawings, and these exemplifications are not intended to limit the embodiments.
图1为本申请实施例提供的用于激光SLAM导航AGV的货架的结构示意图；Fig. 1 is a schematic structural diagram of a shelf for laser SLAM navigation AGV provided in the embodiment of the present application;
图2为本申请实施例提供的用于激光SLAM导航AGV的货架在一视角的结构示意图；FIG. 2 is a structural schematic diagram of a shelf for laser SLAM navigation AGV provided in an embodiment of the present application at a viewing angle;
图3为为本申请实施例提供的用于激光SLAM导航AGV的货架在另一视角的结构示意图；Fig. 3 is a structural schematic diagram of a shelf for laser SLAM navigation AGV provided for the embodiment of the present application in another perspective;
图4为本申请实施例提供的用于激光SLAM导航AGV的货架在又一视角的结构示意图。Fig. 4 is a structural schematic diagram of a shelf used for laser SLAM navigation AGV provided by the embodiment of the present application in another perspective.
具体实施方式Detailed ways
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合附图对本申请的各实施例进行详细的阐述。然而，本领域的普通技术人员可以理解，在本申请各实施例中，为了使读者更好地理解本申请而提出了许多技术细节。但是，即使没有这些技术细节和基于以下各实施例的种种变化和修改，也可以实现本申请所要求保护的技术方案。以下各个实施例的划分是为了描述方便，不应对本申请的具体实现方式构成任何限定，各个实施例在不矛盾的前提下可以相互结合相互引用。In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the embodiments of the present application will be described in detail below with reference to the accompanying drawings. However, those of ordinary skill in the art can understand that in each embodiment of the application, many technical details are provided for readers to better understand the application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical solutions claimed in this application can also be realized. The division of the following embodiments is for the convenience of description, and should not constitute any limitation to the specific implementation of the present application, and the embodiments can be combined and referred to each other on the premise of no contradiction.
同步定位与建图(simultaneous localization and mapping；SLAM)指在未知的环境中，AGV机器人通过自身所携带的内部传感器(编码器、IMU等)和外部传感器(激光传感器或者视觉传感器)来对自身进行定位，并在定位的基础上利用外部传感器获取的环境信息增量式构建环境地图。由于激光SLAM导航受激光雷达参数限制，一般探测距离为10m到25m，且由于算法原理，要实现SLAM激光导航，需要至少半径25m内有一定的固定遮挡物，且该遮挡物流动性较低。由于激光SLAM导航AGV运行时需要有固定参考物，现有仓储物流项目的纯地库 部署和厂房为平层结构，货物堆放在地面上，货物为流动形式不符合激光SLAM导航运行条件。本申请提供一种货架及智能仓储***以解决现有仓储物流项目的纯地库部署和厂房条件不满足AGV的激光SLAM导航的问题。Simultaneous localization and mapping (SLAM) means that in an unknown environment, the AGV robot uses its own internal sensors (encoders, IMUs, etc.) and external sensors (laser sensors or visual sensors) to monitor itself. Positioning, and on the basis of positioning, use the environmental information acquired by external sensors to incrementally build an environmental map. Since laser SLAM navigation is limited by the parameters of lidar, the general detection distance is 10m to 25m, and due to the algorithm principle, to realize SLAM laser navigation, there needs to be a certain fixed obstruction within a radius of at least 25m, and the obstruction has low mobility. Since the laser SLAM navigation AGV needs a fixed reference object during operation, the pure basement deployment and workshop of the existing warehousing and logistics projects are flat structures, and the goods are stacked on the ground. The goods are in a flowing form and do not meet the operating conditions of laser SLAM navigation. This application provides a shelf and intelligent storage system to solve the problem that the pure ground warehouse deployment and factory building conditions of existing warehousing and logistics projects do not meet the laser SLAM navigation of AGV.
下面结合具体实施例对本申请提供的用于激光SLAM导航AGV的货架及智能仓储***进行详细说明。The shelf and intelligent storage system for laser SLAM navigation AGV provided by the present application will be described in detail below in conjunction with specific embodiments.
实施例一：Embodiment one:
图1为本申请实施例提供的用于激光SLAM导航AGV的货架的结构示意图，图2为本申请实施例提供的用于激光SLAM导航AGV的货架在一视角的结构示意图，图3为为本申请实施例提供的用于激光SLAM导航AGV的货架在另一视角的结构示意图，图4为本申请实施例提供的用于激光SLAM导航AGV的货架在又一视角的结构示意图。请参阅图1-图4，本申请实施例提供一种用于激光SLAM导航AGV的货架，该货架包括承载架1和支腿2，所述支腿2固定于所述承载架1上用于支撑所述承载架1。Figure 1 is a schematic structural diagram of a shelf for laser SLAM navigation AGV provided in the embodiment of the present application, Figure 2 is a structural schematic diagram of a shelf for laser SLAM navigation AGV provided in the embodiment of the present application at a perspective, and Figure 3 is a schematic diagram of the present application The structural diagram of the shelf used for laser SLAM navigation AGV provided by the embodiment of the application in another perspective, and FIG. Please refer to Figures 1-4, the embodiment of the present application provides a shelf for laser SLAM navigation AGV, the shelf includes a carrier 1 and legs 2, the legs 2 are fixed on the carrier 1 for Support the carrier 1 .
所述承载架1包括横梁11和两个平行间隔设置的纵梁12，所述横梁11固定于两根所述纵梁12的末端，两根所述纵梁12的首端形成用于供AGV进出的开口端；The carrier frame 1 includes a crossbeam 11 and two parallel and spaced longitudinal beams 12, the crossbeam 11 is fixed to the ends of the two longitudinal beams 12, and the head ends of the two longitudinal beams 12 are formed for AGV openings for entry and exit;
与所述开口端正对的一侧设置有用于供AGV进行定位的挡板3，所述挡板3固定于所述支腿2上或者所述横梁11上。The side opposite to the open end is provided with a baffle 3 for positioning the AGV, and the baffle 3 is fixed on the leg 2 or the beam 11 .
本实施例的支腿2用于支撑承载架1，承载架用于放置承载货物的托盘。本实施例对所述支腿2和所述承载架1的材质不做特别限制。The outrigger 2 of this embodiment is used to support the carrier 1, and the carrier is used to place a pallet carrying goods. In this embodiment, there is no special limitation on the materials of the legs 2 and the supporting frame 1 .
本实施例的承载架1包括横梁11和两个平行间隔设置的纵梁12，横梁11固定于两根纵梁12的末端，两根纵梁12的首端形成用于供AGV进出的开口端。本实施例的两个纵梁12之间具有间隔，纵梁12的首端形成开口端，使得AGV能够进入和进出两个纵梁12之间，纵梁12上放置货物和托盘后，AGV从开口端驶入托盘和货物的下方，AGV托起托盘和货物后，AGV从开口端驶出。本实施例横梁11和纵梁12的尺寸可以根据AGV小车和托盘的尺寸提前进行预设，本实施例对所述横梁11和纵梁12的尺寸不做特别限制。The carrying frame 1 of this embodiment includes a crossbeam 11 and two parallel and spaced longitudinal beams 12, the crossbeam 11 is fixed to the ends of the two longitudinal beams 12, and the head ends of the two longitudinal beams 12 form openings for AGVs to enter and exit . There is a gap between the two longitudinal beams 12 of this embodiment, and the first end of the longitudinal beam 12 forms an open end, so that the AGV can enter and enter between the two longitudinal beams 12. The open end drives under the pallet and goods, and after the AGV lifts the pallet and goods, the AGV drives out from the open end. The size of the crossbeam 11 and the longitudinal beam 12 in this embodiment can be preset in advance according to the size of the AGV trolley and the pallet, and the size of the crossbeam 11 and the longitudinal beam 12 is not particularly limited in this embodiment.
激光SLAM导航受激光雷达参数限制，一般探测距离为10m到25m，且由于算法原理，要实现SLAM激光导航，需要至少半径25m内有一定的固定遮挡物，且该遮挡物流动性较低，本实施例通过在货架上设置挡板3，AGV运行时挡板3作为激光SLAM导航标记点，能够适配激光SLAM导航AGV，激光射到挡板3上后形成激光SLAM地图为AGV提供导航信息。本实施例对所述挡板3的具体尺寸和材质不做特别限制。Laser SLAM navigation is limited by the parameters of the laser radar. The general detection distance is 10m to 25m, and due to the algorithm principle, to realize SLAM laser navigation, there must be a certain fixed obstruction within a radius of at least 25m, and the obstruction has low mobility. Embodiment By setting the baffle 3 on the shelf, the baffle 3 is used as a laser SLAM navigation mark point when the AGV is running, and can be adapted to the laser SLAM navigation AGV. After the laser is shot on the baffle 3, a laser SLAM map is formed to provide navigation information for the AGV. In this embodiment, the specific size and material of the baffle 3 are not particularly limited.
激光SLAM导航AGV运动过程中，通过里程计信息结合激光传感器获取的激光数据与地图进行匹配，不断地实时获取AGV在地图中的精确位姿，同时，根据当前位置与任务目的 地进行路径规划(动态路线或者固定路线，且每次的路线都略微不同)，根据规划得到的轨迹给AGV发送控制指令，使AGV实现自动行驶。现有仓储物流项目的纯地库部署和厂房为平层结构，货物堆放在地面上，货物为流动形式不符合激光SLAM导航运行条件，本实施例通过在货架上设置供AGV进行定位的挡板3，挡板3作为参考物和导航标记点参与场景地图构建，使得SLAM激光导航AGV能够应用于空旷的仓储物流***。During the movement of the laser SLAM navigation AGV, the odometer information combined with the laser data obtained by the laser sensor is matched with the map to continuously obtain the precise pose of the AGV in the map in real time, and at the same time, perform path planning according to the current position and task destination ( Dynamic route or fixed route, and the route is slightly different each time), according to the planned trajectory, send control instructions to the AGV to make the AGV realize automatic driving. The pure basement deployment and factory buildings of the existing warehousing and logistics projects are flat structures, and the goods are stacked on the ground. The goods are flowing and do not meet the operating conditions of laser SLAM navigation. In this embodiment, baffles for AGV positioning are set on the shelves. 3. The baffle 3 is used as a reference object and navigation mark point to participate in the construction of the scene map, so that the SLAM laser navigation AGV can be applied to the empty warehouse logistics system.
本申请实施例提供的用于激光SLAM导航AGV的货架，包括承载架和支腿，支腿固定于承载架上用于支撑所述承载架，承载架包括横梁和两个平行间隔设置的纵梁，横梁固定于两根纵梁的末端，两根纵梁的首端具有用于供AGV进出的开口端，与开口端正对的一侧设置有用于供AGV进行定位的挡板，挡板固定于支腿上或者横梁上，该固定货架的开口端用于供AGV进出，可以通过在承载架上放置托盘实现货物通过托盘转运，SLAM激光导航中挡板作为参考物和导航标记点参与场景地图构建，使得SLAM激光导航AGV实现自动行驶。The shelf for laser SLAM navigation AGV provided in the embodiment of the present application includes a carrier and legs, the legs are fixed on the carrier to support the carrier, and the carrier includes a beam and two longitudinal beams arranged in parallel and spaced apart , the beam is fixed at the ends of the two longitudinal beams, the first ends of the two longitudinal beams have openings for AGV to enter and exit, and the side opposite to the opening is provided with a baffle for positioning the AGV, and the baffle is fixed on On the outrigger or on the beam, the open end of the fixed shelf is used for the AGV to enter and exit, and the goods can be transferred through the pallet by placing the pallet on the carrier. The baffle in the SLAM laser navigation is used as a reference and a navigation mark point to participate in the construction of the scene map. , making SLAM laser navigation AGV realize automatic driving.
实施例二：Embodiment two:
本实施例提供一种用于激光SLAM导航AGV的货架，该货架与实施例一所述的货架具有相似的整体结构，不同的是本实施例在实施例一的基础上提供了挡板的具体结构。This embodiment provides a shelf for laser SLAM navigation AGV. The shelf has a similar overall structure to the shelf described in Embodiment 1. The difference is that this embodiment provides specific details of the baffle on the basis of Embodiment 1. structure.
本实施例中，所述挡板3为矩形挡板，所述挡板3在所述支腿2高度方向上的长度为15cm～35cm。In this embodiment, the baffle 3 is a rectangular baffle, and the length of the baffle 3 in the height direction of the legs 2 is 15 cm to 35 cm.
本实施例的挡板3为矩形挡板，本实施例的挡板3在激光SLAM导航AGV运行时作为参考物，本实施例挡板3的设计高度根据激光SLAM导航AGV的高度提前设定，激光SLAM导航AGV的高度一般为15cm～35cm，本实施例的挡板3在支腿1高度方向上的长度优选为15cm～35cm。The baffle 3 in this embodiment is a rectangular baffle. The baffle 3 in this embodiment is used as a reference when the laser SLAM navigation AGV is running. The design height of the baffle 3 in this embodiment is set in advance according to the height of the laser SLAM navigation AGV. The height of the laser SLAM navigation AGV is generally 15 cm to 35 cm, and the length of the baffle plate 3 in the height direction of the leg 1 in this embodiment is preferably 15 cm to 35 cm.
进一步地，所述挡板3的顶部与所述横梁11的顶部齐平。本实施例中，为了避免挡板3的设计位置干扰承载架1上的货物或者托盘，将挡板3的顶部与横梁的顶部设置为齐平的高度。Further, the top of the baffle 3 is flush with the top of the beam 11 . In this embodiment, in order to prevent the designed position of the baffle 3 from interfering with the goods or pallets on the carrier 1 , the top of the baffle 3 and the top of the crossbeam are set at the same height.
本实施例中，可选地，所述挡板3与所述横梁11可拆卸固定连接或者所述挡板3焊接于所述横梁11上；或者，所述挡板3与所述支腿2可拆卸固定连接或者所述挡板3焊接于所述支腿2上。本实施例的挡板3可以设置在横梁11上或者支腿2上，本实施例的挡板3与横梁11或者支腿2可拆卸固定连接时，便于挡板3的拆装。In this embodiment, optionally, the baffle 3 is detachably fixedly connected to the beam 11 or the baffle 3 is welded to the beam 11; or, the baffle 3 is connected to the leg 2 The detachable fixed connection or the baffle plate 3 is welded on the leg 2 . The baffle 3 of this embodiment can be arranged on the beam 11 or the leg 2 . When the baffle 3 of this embodiment is detachably and fixedly connected to the beam 11 or the leg 2 , it is convenient to disassemble the baffle 3 .
本实施例中，优选地，所述挡板3为金属件。本实施例的挡板3采用金属件，在一定程度上能够提高挡板3的使用寿命。In this embodiment, preferably, the baffle 3 is a metal piece. The baffle 3 of this embodiment adopts metal parts, which can improve the service life of the baffle 3 to a certain extent.
本申请实施例提供的用于激光SLAM导航AGV的货架，包括承载架和支腿，支腿固定于承载架上用于支撑所述承载架，承载架包括横梁和两个平行间隔设置的纵梁，横梁固定于 两根纵梁的末端，两根纵梁的首端具有用于供AGV进出的开口端，与开口端正对的一侧设置有用于供AGV进行定位的挡板，挡板固定于支腿上或者横梁上，该固定货架的开口端用于供AGV进出，可以通过在承载架上放置托盘实现货物通过托盘转运，SLAM激光导航中挡板作为参考物和导航标记点参与场景地图构建，使得SLAM激光导航AGV实现自动行驶。The shelf for laser SLAM navigation AGV provided in the embodiment of the present application includes a carrier and legs, the legs are fixed on the carrier to support the carrier, and the carrier includes a beam and two longitudinal beams arranged in parallel and spaced apart , the beam is fixed at the ends of the two longitudinal beams, the first ends of the two longitudinal beams have openings for AGV to enter and exit, and the side opposite to the opening is provided with a baffle for positioning the AGV, and the baffle is fixed on On the outrigger or on the beam, the open end of the fixed shelf is used for the AGV to enter and exit, and the goods can be transferred through the pallet by placing the pallet on the carrier. The baffle in the SLAM laser navigation is used as a reference and a navigation mark point to participate in the construction of the scene map. , making SLAM laser navigation AGV realize automatic driving.
实施例三：Embodiment three:
本实施例提供一种用于激光SLAM导航AGV的货架，该货架与实施例一所述的货架具有相似的整体结构，不同的是本实施例在实施例二的基础上提供了承载架和支腿的具体结构。This embodiment provides a shelf for laser SLAM navigation AGV. The shelf has a similar overall structure to the shelf described in Embodiment 1. The difference is that this embodiment provides a carrier and a support on the basis of Embodiment 2. The specific structure of the leg.
本实施例中所述支腿2的数量为四个，纵梁12包括第一纵梁和第二纵梁，两个所述支腿2分别设置于所述第一纵梁的首端和尾端，另外两个所述支腿2分别设置于所述第二纵梁的首端和尾端。本实施例采用四个支腿2支撑承载架1，实现方式简单。The number of the legs 2 in this embodiment is four, the longitudinal beam 12 includes a first longitudinal beam and a second longitudinal beam, and the two supporting legs 2 are respectively arranged at the head end and the tail of the first longitudinal beam end, and the other two legs 2 are respectively arranged at the head end and the tail end of the second longitudinal beam. In this embodiment, four outriggers 2 are used to support the carrier frame 1, and the implementation method is simple.
进一步地，所述支腿2与所述第一纵梁连接处设置有第一加强板，所述支腿与所述第二纵梁连接处设置有第二加强板。本实施例通过在纵梁和支腿连接处设置加强板，提高了货架的整体强度，提高了货架的使用寿命。Further, a first reinforcement plate is provided at the connection between the support leg 2 and the first longitudinal beam, and a second reinforcement plate is provided at the connection between the support leg 2 and the second longitudinal beam. In this embodiment, the overall strength of the shelf is improved and the service life of the shelf is improved by providing a reinforcing plate at the joint between the longitudinal beam and the outrigger.
可选地，两根所述纵梁12和所述横梁11为一体成型结构，横梁11和纵梁12为一体成型结构时，制造方式简单。或者，两根所述纵梁12和所述横梁11为可拆卸连接结构，横梁11和纵梁12为可拆卸结构时，货架拆卸后占用存储空间小。Optionally, the two longitudinal beams 12 and the cross beam 11 are integrally formed. When the cross beam 11 and the longitudinal beam 12 are integrally formed, the manufacturing method is simple. Alternatively, the two longitudinal beams 12 and the cross beams 11 are detachably connected structures. When the cross beams 11 and the longitudinal beams 12 are detachable structures, the storage space occupied by the shelves after disassembly is small.
进一步地，所述支腿2的底部设置有缓冲垫。通过在支腿2的底部设置缓冲垫，在货架的承载架上放置货物时，避免了支腿2对地面造成损坏。本实施例的缓冲垫可以采用具弹性的橡胶材质。Further, the bottom of the leg 2 is provided with a buffer pad. By arranging a buffer pad at the bottom of the support leg 2, when goods are placed on the carrier frame of the shelf, damage to the ground caused by the support leg 2 is avoided. The buffer pad in this embodiment can be made of elastic rubber material.
优选地，所述支腿2、所述纵梁12和所述横梁11均为金属件，本实施例的支腿2、纵梁12和横梁11均采用金属件，能够提高货架的使用寿命。Preferably, the legs 2 , the longitudinal beams 12 and the cross beams 11 are all metal parts, and the legs 2 , the longitudinal beams 12 and the cross beams 11 in this embodiment are all made of metal parts, which can improve the service life of the shelf.
实施例四：Embodiment four:
本实施例提供一种智能仓储***，该智能仓储***包括上述实施例一、实施例二或者实施例三所述的用于激光SLAM导航AGV的货架，货架固定于地面。This embodiment provides an intelligent storage system. The intelligent storage system includes the shelf used for laser SLAM navigation AGV described in the first embodiment, the second embodiment or the third embodiment above, and the shelf is fixed on the ground.
例如，所述用于激光SLAM导航AGV的货架包括承载架和支腿，所述支腿固定于所述承载架上用于支撑所述承载架；For example, the shelf used for laser SLAM navigation AGV includes a carrier and legs, and the legs are fixed on the carrier for supporting the carrier;
所述承载架包括横梁和两个平行间隔设置的纵梁，所述横梁固定于两根所述纵梁的末端，两根所述纵梁的首端形成用于供AGV进出的开口端；The carrying frame includes a crossbeam and two parallel and spaced longitudinal beams, the crossbeams are fixed to the ends of the two longitudinal beams, and the head ends of the two longitudinal beams form openings for the AGV to enter and exit;
与所述开口端正对的一侧设置有用于供AGV进行定位的挡板，所述挡板固定于所述支腿上或者所述横梁上。A baffle for positioning the AGV is provided on the side opposite to the open end, and the baffle is fixed on the leg or the beam.
本申请实施例提供的智能仓储***包括用于激光SLAM导航AGV的货架，智能仓储物 流***包括多个所述货架和AGV，该货架的开口端用于供AGV进出，可以通过在承载架上放置托盘实现货物通过托盘转运，激光SLAM导航中挡板作为参考物和导航标记点参与场景地图构建，使得SLAM激光导航AGV能够实现自动行驶。The intelligent storage system provided in the embodiment of the present application includes a shelf for laser SLAM navigation AGV. The intelligent storage logistics system includes a plurality of said shelves and AGVs. Pallets realize the transfer of goods through pallets, and the baffles in laser SLAM navigation are used as reference objects and navigation markers to participate in the construction of the scene map, so that SLAM laser navigation AGV can realize automatic driving.
以上各实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述各实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。The above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit them; although the application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be applied to the foregoing embodiments The technical solutions described in the examples are modified, or some or all of the technical features are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the application.

Claims (10)

  1. 一种用于激光SLAM导航AGV的货架，其中：A shelf for laser SLAM navigation AGV, wherein:
    包括承载架和支腿，所述支腿固定于所述承载架上用于支撑所述承载架；It includes a carrier and legs, the legs are fixed on the carrier for supporting the carrier;
    所述承载架包括横梁和两个平行间隔设置的纵梁，所述横梁固定于两根所述纵梁的末端，两根所述纵梁的首端形成用于供AGV进出的开口端；The carrying frame includes a crossbeam and two parallel and spaced longitudinal beams, the crossbeams are fixed to the ends of the two longitudinal beams, and the head ends of the two longitudinal beams form openings for the AGV to enter and exit;
    与所述开口端正对的一侧设置有用于供AGV进行定位的挡板，所述挡板固定于所述支腿上或者所述横梁上。A baffle for positioning the AGV is provided on the side opposite to the open end, and the baffle is fixed on the leg or the beam.
  2. 根据权利要求1所述的用于激光SLAM导航AGV的货架，其中：所述挡板为矩形挡板，所述挡板在所述支腿高度方向上的长度为15cm～35cm。The shelf for laser SLAM navigation AGV according to claim 1, wherein: the baffle is a rectangular baffle, and the length of the baffle in the height direction of the legs is 15cm-35cm.
  3. 根据权利要求1所述的用于激光SLAM导航AGV的货架，其中：所述挡板的顶部与所述横梁的顶部齐平。The shelf for laser SLAM navigation AGV according to claim 1, wherein: the top of the baffle is flush with the top of the beam.
  4. 根据权利要求1所述的用于激光SLAM导航AGV的货架，其中：所述支腿的数量为四个；两个所述支腿分别设置于其中一个所述纵梁的首端和尾端，另外两个所述支腿分别设置于另一个所述纵梁的首端和尾端。The shelf for laser SLAM navigation AGV according to claim 1, wherein: the number of said outriggers is four; two said outriggers are respectively arranged at the head end and tail end of one of said longitudinal beams, The other two legs are respectively arranged at the head end and tail end of the other longitudinal beam.
  5. 根据权利要求4所述的用于激光SLAM导航AGV的货架，其中：其中两个所述支腿与其中一个所述纵梁连接处设置有第一加强板，另外两个所述支腿与另一个所述纵梁连接处设置有第二加强板。The shelf for laser SLAM navigation AGV according to claim 4, wherein: the connection between two of the legs and one of the longitudinal beams is provided with a first reinforcement plate, and the other two of the legs are connected to the other A second reinforcing plate is arranged at one of the longitudinal beam connections.
  6. 根据权利要求1所述的用于激光SLAM导航AGV的货架，其中：两根所述纵梁和所述横梁为一体成型结构；或者，两根所述纵梁和所述横梁为可拆卸连接结构。The shelf for laser SLAM navigation AGV according to claim 1, wherein: the two longitudinal beams and the cross beam are integrally formed; or, the two longitudinal beams and the cross beam are detachable connection structures .
  7. 根据权利要求1所述的用于激光SLAM导航AGV的货架，其中：所述挡板与所述横梁可拆卸固定连接或者所述挡板焊接于所述横梁上；或者，The shelf for laser SLAM navigation AGV according to claim 1, wherein: the baffle is detachably fixedly connected to the beam or the baffle is welded to the beam; or,
    所述挡板与所述支腿可拆卸固定连接或者所述挡板焊接于所述支腿上。The baffle is detachably fixedly connected to the leg or the baffle is welded to the leg.
  8. 根据权利要求1-7任一项所述的用于激光SLAM导航AGV的货架，其中：所述支腿的底部设置有缓冲垫。The shelf for laser SLAM navigation AGV according to any one of claims 1-7, wherein: the bottom of the legs is provided with a buffer pad.
  9. 根据权利要求8所述的用于激光SLAM导航AGV的货架，其中：所述支腿、所述纵梁和所述横梁均为金属件。The shelf for laser SLAM navigation AGV according to claim 8, wherein: the legs, the longitudinal beams and the cross beams are all metal parts.
  10. 一种智能仓储***，其中：所述智能仓储物流***包括多个货架和AGV，所述货架为权利要求1-9任一项所述的货架，所述货架用于固定于地面。An intelligent warehousing system, wherein: the intelligent warehousing logistics system includes a plurality of shelves and AGVs, the shelves are the shelves according to any one of claims 1-9, and the shelves are used to be fixed on the ground.
PCT/CN2022/098872 2021-09-30 2022-06-15 Goods shelf for laser slam navigation agv and intelligent warehousing system WO2023050891A1 (en)

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