WO2023050891A1 - Étagère de marchandises pour vga à navigation slam par laser et système d'entreposage intelligent - Google Patents

Étagère de marchandises pour vga à navigation slam par laser et système d'entreposage intelligent 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
Prior art date
Application number
PCT/CN2022/098872
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English (en)
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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Filing date
Publication date
Application filed by 中兴通讯股份有限公司 filed Critical 中兴通讯股份有限公司
Publication of WO2023050891A1 publication Critical patent/WO2023050891A1/fr

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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

L'invention concerne une étagère de marchandises pour un VGA à navigation SLAM par laser et un système d'entreposage intelligent. L'étagère de marchandises comprend un cadre porteur (1) et une patte de support (2), la patte de support (2) étant fixée au cadre porteur (1) et utilisée pour supporter le cadre porteur (1), le cadre porteur (1) comprenant une traverse (11) et deux poutres longitudinales parallèles (12) qui sont disposées à un intervalle donné, la traverse (11) étant fixée aux extrémités de queue des deux poutres longitudinales (12), les extrémités de tête des deux poutres longitudinales (12) formant une extrémité ouverte permettant au VGA d'entrer et de sortir, un déflecteur (3) permettant au VGA d'être positionné est disposé sur le côté opposé à l'extrémité ouverte, et le déflecteur (3) étant fixé à la patte de support (2) ou à la traverse (11). L'extrémité ouverte de l'étagère de marchandises permet au VGA d'entrer et de sortir, des marchandises peuvent être transférées au moyen d'un plateau en plaçant le plateau sur le cadre porteur (1) et, pendant la navigation SLAM par laser, le déflecteur (3) agit comme une substance de référence et un point de marquage de navigation participe à la cartographie de scène, de sorte que le VGA à navigation SLAM par laser peut réaliser une conduite automatique.
PCT/CN2022/098872 2021-09-30 2022-06-15 Étagère de marchandises pour vga à navigation slam par laser et système d'entreposage intelligent WO2023050891A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202111155812.XA CN115892803A (zh) 2021-09-30 2021-09-30 用于激光slam导航agv的货架及智能仓储***
CN202111155812.X 2021-09-30

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WO2023050891A1 true WO2023050891A1 (fr) 2023-04-06

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103171850A (zh) * 2011-12-23 2013-06-26 克朗斯股份公司 转运排列在装卸设备上的货物的***
US20160176638A1 (en) * 2014-12-18 2016-06-23 Harvest Automation, Inc. Method and system for automated transport of items
CN107472787A (zh) * 2017-08-14 2017-12-15 北京物资学院 智能物流拣选存储***及方法
CN110291546A (zh) * 2017-01-16 2019-09-27 轨迹机器人公司 用于提高机器人辅助的订单履行操作的效率的显示器
CN110703745A (zh) * 2019-09-10 2020-01-17 上海快仓智能科技有限公司 自动引导车的导航
CN113093719A (zh) * 2019-12-19 2021-07-09 财团法人工业技术研究院 自动导引车定位***及其操作方法
CN113955372A (zh) * 2021-11-22 2022-01-21 株洲时代新材料科技股份有限公司 一种空气弹簧转运定位方法及转运装置

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103171850A (zh) * 2011-12-23 2013-06-26 克朗斯股份公司 转运排列在装卸设备上的货物的***
US20160176638A1 (en) * 2014-12-18 2016-06-23 Harvest Automation, Inc. Method and system for automated transport of items
CN110291546A (zh) * 2017-01-16 2019-09-27 轨迹机器人公司 用于提高机器人辅助的订单履行操作的效率的显示器
CN107472787A (zh) * 2017-08-14 2017-12-15 北京物资学院 智能物流拣选存储***及方法
CN110703745A (zh) * 2019-09-10 2020-01-17 上海快仓智能科技有限公司 自动引导车的导航
CN113093719A (zh) * 2019-12-19 2021-07-09 财团法人工业技术研究院 自动导引车定位***及其操作方法
CN113955372A (zh) * 2021-11-22 2022-01-21 株洲时代新材料科技股份有限公司 一种空气弹簧转运定位方法及转运装置

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