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WO2023045486A1 - 仓储系统、用于仓储系统的穿梭车及其导航方法 - Google Patents

仓储系统、用于仓储系统的穿梭车及其导航方法 Download PDF

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Publication number
WO2023045486A1
WO2023045486A1 PCT/CN2022/103835 CN2022103835W WO2023045486A1 WO 2023045486 A1 WO2023045486 A1 WO 2023045486A1 CN 2022103835 W CN2022103835 W CN 2022103835W WO 2023045486 A1 WO2023045486 A1 WO 2023045486A1
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WIPO (PCT)
Prior art keywords
shuttle
information
parking space
distance
storage system
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Application number
PCT/CN2022/103835
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English (en)
French (fr)
Inventor
徐磊
Original Assignee
北京迈格威科技有限公司
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Application filed by 北京迈格威科技有限公司 filed Critical 北京迈格威科技有限公司
Priority to JP2023514704A priority Critical patent/JP7531053B2/ja
Publication of WO2023045486A1 publication Critical patent/WO2023045486A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles

Definitions

  • the present application relates to the field of intelligent storage, and more specifically relates to a storage system, a shuttle used in the storage system, and a navigation method for the shuttle used in the storage system.
  • shuttle vehicles With the rapid development of intelligent manufacturing, dense storage systems have attracted the attention of more and more industries. Using high-rise dense shelves to store goods can make full use of warehouse space and improve space utilization. As an important handling equipment in dense storage systems, shuttle vehicles have the advantages of flexibility, flexibility, and strong adaptability. Their navigation systems play a vital role in the vehicle's motion performance and system efficiency. Commonly used navigation methods for existing shuttle vehicles include: laser ranging and hole positioning.
  • the navigation method of laser ranging requires that all the shuttle cars in the storage system and the laser reflectors on each shelf must be installed in the same position, so the production and assembly accuracy of the shuttle cars and shelves are very high.
  • the travel motor odometer When using the navigation method of hole positioning, it is necessary to combine the travel motor odometer for data processing. If there is a misalignment of the rail connection, the travel wheels may slip. Because the starting acceleration of the motor is too high, etc., the friction force between the road wheel and the guide rail may change. All these may make the shuttle vehicle unable to reach the target location accurately. In addition, it is also possible that the shuttle has exceeded the target position or has not reached the target position but the traveling motor has stopped running. At this time, it is necessary to control the shuttle car to return to the target position at a low speed. This will cause the problem that the shuttle car travels and locates for a long time and has low efficiency.
  • a shuttle vehicle for a storage system is provided.
  • the shuttle is provided with a memory, a communication device, a positioning sensor, a camera and a controller, wherein the memory is used to store a topological map of the storage system, wherein each node of the topological map includes location identification information of a corresponding parking space in the storage system;
  • the communication device is used to receive the driving route instruction, and the driving route instruction includes the driving route information from the starting point to the destination;
  • the positioning sensor is used to obtain the current position information of the shuttle car during the driving process of the shuttle car;
  • the controller is used to control the shuttle car to drive from the starting point to the destination based on the topological map and driving route information, wherein, for each sub-section in the driving route, from the shuttle car to the end point of the current sub-section determined according to the current position information
  • the shuttle is controlled to drive to the end of the current sub
  • the controller is also used to: control the shuttle to traverse all the parking spaces in the storage system to collect and save the location information and location identification information of each parking space; according to the location information and location identification information of each parking space, A topological map of the warehousing system is constructed, wherein each node of the topological map includes the location identification information of the corresponding parking space in the warehousing system.
  • the controller is further configured to: for each sub-road section in the driving route, control the shuttle vehicle to lower Travel speed, where the second distance threshold is greater than the first distance threshold.
  • the camera device or the controller is also used to analyze the location marker in the image, specifically including performing the following operations: determining the shape or angle of the location marker in the image; determining the location of the shuttle vehicle according to the shape or angle of the location marker in the image The distance to the end point of the current sub-road segment; and decoding the location identifier in the image to obtain location identifier information.
  • analyzing the location identifier in the image by the imaging device or the controller further includes performing one or more of the following operations: performing distortion correction on the image; performing binarization processing on the image; and/or extracting interesting features in the image area, where the area of interest includes a location identifier.
  • the shuttle is a four-way shuttle, and each sub-segment is a straight-line segment.
  • the location identifier includes a quick response code or a data matrix code.
  • a storage system including the above-mentioned shuttle car and the rack, wherein each parking space on the rack is provided with a marker, and the marker is marked with a position mark.
  • the storage system includes multiple layers of racks
  • the topological map includes multiple sub-graphs
  • each sub-graph uniquely corresponds to a layer of racks
  • the parking spaces include lift positions.
  • the parking spaces include one or more of the following positions: shelf positions, track reversing positions, chain machine positions and charging positions.
  • a navigation method for a shuttle car in a storage system including: receiving a driving route instruction, the driving route instruction including driving route information from a starting point to a destination;
  • the positioning sensor of the shuttle car is used to obtain the current location information of the shuttle car and the image of the storage system is collected by the camera device of the shuttle car;
  • the shuttle car is controlled to drive from the starting point to the destination based on the topological map and the driving route information, wherein, for the driving route For each sub-segment in , since the distance from the shuttle car to the end point of the current sub-segment is determined to be equal to or less than the first distance threshold according to the current position information, the shuttle car is controlled according to the distance information obtained by analyzing the position mark in the image To the end of the current sub-segment, wherein the position mark in the image is located at the end of the current sub-segment, the distance information indicates the distance from the shuttle bus to the end of the current sub
  • the method further includes: controlling the shuttle to traverse all the parking spaces in the storage system to collect and save the location information and location identification information of each parking space; The topological map of the system, wherein each node of the topological map includes the location identification information of the corresponding parking space in the storage system.
  • the shuttle car is controlled to reduce the driving speed since it is determined according to the current position information that the distance from the shuttle car to the end point of the current sub-road section is equal to or less than a second distance threshold, wherein the second The distance threshold is greater than the first distance threshold.
  • a computer program product including a computer program, which executes the above navigation method when executed by a processor.
  • An embodiment of the present application provides a shuttle used in a storage system.
  • the positioning sensor is used for navigation and positioning; in the final driving stage, the location identification information is used for navigation and positioning.
  • the precise positioning of the shuttle car can be realized by combining the positioning sensor and the position identification information.
  • the above scheme avoids the situation that the shuttle car exceeds the end point of the current sub-section or does not repeatedly adjust the speed and direction of the shuttle car when it does not reach the end point. Therefore, the shuttle car has the advantages of smooth control, higher positioning efficiency and positioning accuracy, and is convenient for use in large-scale warehouses.
  • Fig. 1 shows a schematic block diagram of a shuttle vehicle according to an embodiment of the present application
  • Fig. 2 shows a schematic diagram of a controller controlling the travel speed of a shuttle vehicle according to an embodiment of the present application
  • Fig. 3 shows a schematic diagram of single-level scheduling of shuttle vehicles in a storage system according to an embodiment of the present application
  • FIG. 4 shows a schematic diagram of single-level scheduling of shuttle vehicles in a storage system according to another embodiment of the present application
  • Fig. 5 shows a schematic diagram of single-level scheduling of shuttle vehicles in a storage system according to yet another embodiment of the present application
  • Fig. 6 shows a schematic diagram of cross-floor scheduling of shuttle vehicles in a storage system according to an embodiment of the present application.
  • Fig. 7 shows a schematic flowchart of a navigation method for a shuttle vehicle in a warehouse system according to an embodiment of the present application.
  • Intelligent Logistics System Intelligent Logistics System
  • Smart logistics uses artificial intelligence, big data, various information sensors, radio frequency identification technology, global positioning system (GPS) and other Internet of Things devices and technologies, and is widely used in basic logistics such as material transportation, warehousing, distribution, packaging, loading and unloading, and information services.
  • GPS global positioning system
  • the activity link realizes the intelligent analysis and decision-making, automatic operation and high-efficiency optimized management of the material management process.
  • the Internet of Things technology includes sensing equipment, RFID technology, laser infrared scanning, infrared induction recognition, etc.
  • the Internet of Things can effectively connect the materials in the logistics with the network, monitor the materials in real time, and sense the humidity and temperature of the warehouse. Data, guarantee the storage environment of materials.
  • all the data in the logistics can be sensed and collected, uploaded to the data layer of the information platform, and the data can be filtered, mined, analyzed and other operations, and finally the business process (such as transportation, storage, access, picking, packaging, distribution Picking, delivery, inventory, distribution and other links) to provide accurate data support.
  • the application direction of artificial intelligence in logistics can be roughly divided into two types: 1) Unmanned trucks, AGVs, AMRs, forklifts, shuttles, stackers, unmanned delivery vehicles, unmanned aerial vehicles, Smart devices such as service robots, robotic arms, and smart terminals replace part of the labor force; 2) Software such as transportation equipment management systems, warehouse management, equipment scheduling systems, and order distribution systems driven by computer vision, machine learning, and operational optimization technologies or algorithms The system improves labor efficiency. With the research and progress of smart logistics, this technology has been applied in many fields, such as retail and e-commerce, electronic products, tobacco, medicine, industrial manufacturing, shoes and clothing, textiles, food and other fields.
  • a shuttle vehicle for a storage system is provided.
  • the shuttle car is a trolley that runs on a fixed track in a reciprocating or looping manner. Since the shuttle car has a fixed running track, it is a means of transportation with a relatively small degree of freedom of movement. It cannot rotate during driving, and can only drive forward or backward on the track.
  • the shuttle car can also realize the turning of the driving track by changing the track, but during the turning process, the attitude of the shuttle car itself remains unchanged. For example, a shuttle starts to travel south along its longitudinal direction, and if it travels to a track reversal position, it can change the transverse wheels to travel east. In the process of traveling eastward, although the traveling direction of the shuttle car has changed, it always keeps its front heading south, that is, its attitude remains unchanged. Based on this, the present application provides a shuttle vehicle for a storage system, which has efficient and accurate navigation capabilities.
  • Figure 1 shows a schematic block diagram of a shuttle.
  • the shuttle car can be divided into two-way and four-way according to different driving directions. It can also be divided into pallets and material boxes according to the load.
  • the shuttle may be a four-way shuttle. It can be understood that the shuttle can carry goods in four directions.
  • the four-way shuttle has high flexibility and can change the working lane at will, so it is more suitable for efficient cargo handling in dense storage systems.
  • all shuttles mentioned below are four-way shuttles.
  • the shuttle is provided with a memory 110 , a communication device 120 , a positioning sensor 130 , a camera 140 and a controller 150 .
  • the memory 110 is used for storing the topology map of the warehouse system.
  • the memory 110 may utilize one or more of read-only memory (ROM), erasable programmable read-only memory (EPROM), portable compact disk read-only memory (CD-ROM), USB memory, etc. The combination realizes its storage function.
  • the topology map may be pre-stored in the memory 110 , or obtained by the shuttle through a training and learning process and stored in the memory 110 . Each node of the topology map includes location identification information of the corresponding parking space in the storage system.
  • the location identification information is used to identify each parking space, which can be realized by using a two-dimensional code, a bar code, and the like.
  • the location identification information of each parking space is in one-to-one correspondence with the parking space.
  • the parking space can refer to any position in the storage system when the speed of the shuttle vehicle becomes 0 and stops running, such as the position used for storing goods in the storage system or the position used to stop the shuttle vehicle and change the driving direction.
  • the location identification can be realized by using a two-dimensional code, specifically, it can include a quick response code (Quick Response code) or a data matrix code (Data Matrix code).
  • the above two codes are two-dimensional codes, which have the advantages of large information capacity and strong fault tolerance.
  • the topological map may include location information of parking spaces, such as location coordinates in the topological map. For ease of description and understanding, the following description will be made by taking the location identifier as a two-dimensional code as an example.
  • the communication device 120 is used for receiving driving route instructions.
  • the communication device 120 may be any device capable of implementing a communication function, such as a Bluetooth communication device, a wireless high-fidelity communication device, or an infrared communication device.
  • the communication device 120 may receive driving route instructions from a server or a computer. It can be understood that the driving route instruction may be manually input by the user, or may be automatically generated by the server according to a preset transport task.
  • the driving route instruction may include route information from the starting point of the shuttle vehicle to the destination, which uniquely identifies a route in the storage system. In other words, the route information may include the location information of the starting point of the shuttle bus, the location information of the arriving destination, and the driving route between the two points.
  • a driving route can consist of one or more subsections.
  • a sub-road section refers to a road section in which the traveling speed of the shuttle vehicle is 0 only at its two endpoints, i.e. the starting point and the ending point.
  • the driving route instruction can be that the shuttle car travels from parking space A to parking space C through parking space B, that is, the driving route is A ⁇ B ⁇ C, where the shuttle car changes direction at parking space B, that is, the shuttle car travels from parking space A Drive and stop to parking space B, then start again from parking space B, drive and stop to parking space C.
  • each sub-section is a straight-line section.
  • the positioning sensor 130 is used to acquire the current position information of the shuttle vehicle during the running of the shuttle vehicle.
  • the current position information of the shuttle car may include information such as the position coordinates of the shuttle car in the topological map.
  • the positioning sensor 130 can use the counting dial installed on the wheel of the shuttle to detect the arc rotated by the wheel within a certain period of time so as to calculate the displacement of the shuttle.
  • the speed and acceleration of the shuttle during its running can be obtained by measuring the rotational speed of the motor driving the shuttle, and the displacement of the shuttle is calculated through time integration.
  • the current position information of the shuttle car can be obtained according to the position information of the starting point before the shuttle car travels and the displacement of the travel.
  • the positioning sensor 130 can be implemented by utilizing existing sensors such as motor odometers and photoelectric encoders.
  • the camera device 140 is used to collect images of the storage system during the running of the shuttle vehicle.
  • the captured image may include information on the two-dimensional code at the parking space.
  • the camera device 140 can be installed at any position on the shuttle car, for example: around the body of the shuttle car or installed at the bottom of the seat, as long as the two-dimensional It is sufficient that the code gradually appears within the field of view of the imaging device 140 .
  • the controller 150 is used for controlling the shuttle vehicle to travel from the starting point to the destination based on the topological map and the driving route information. For each sub-section in the driving route, since it is determined according to the current location information that the distance from the shuttle bus to the end point of the current sub-section is equal to or less than the first distance threshold, according to the location identifier obtained by analyzing the currently collected image The distance information controls the shuttle to travel to the end of the current sub-section.
  • the shuttle car can start to travel in a straight line with constant acceleration or variable acceleration after starting from the starting point of the sub-segment, until it accelerates to a certain speed threshold and can start to travel in a straight line at a constant speed.
  • This speed threshold can be reasonably set according to the weight of the goods carried by the shuttle, the friction between the driving track and the wheels of the shuttle, etc., and is not limited here.
  • the shuttle car travels in a straight line at a constant speed until it is determined according to the current position information from the positioning sensor that the distance to the end point of the current sub-section is equal to or less than the first distance threshold, it can indicate that the shuttle car is about to reach the end point of the sub-section, such as a certain
  • the parking space is provided with a location identification, such as a two-dimensional code, in the parking space.
  • the first distance threshold is less than or equal to the distance between the shuttle and the parking space when the two-dimensional code of the parking space enters the field of view of the camera device 140 .
  • the two-dimensional code of the parking space enters the field of view of the camera 140 .
  • the camera device 140 can capture a two-dimensional code image.
  • the controller 150 can accurately control the shuttle vehicle to drive to the end point of the current sub-section according to the distance information obtained by analyzing the two-dimensional code in the image.
  • the distance information indicates the distance from the shuttle bus to the end point of the current sub-section, that is, the distance from the shuttle bus to the center of the two-dimensional code.
  • An embodiment of the present application provides a shuttle used in a storage system.
  • the positioning sensor 130 is used for navigation and positioning; during the final driving stage, the location identification information is used for navigation and positioning.
  • the precise positioning of the shuttle car can be realized only by combining the positioning sensor 130 with the position identification information.
  • the above solution avoids the situation that the shuttle vehicle exceeds the end point of the current sub-section or fails to reach the end point and repeatedly adjusts the speed and driving direction of the shuttle vehicle. Therefore, the shuttle car has the advantages of smooth control, higher positioning efficiency and positioning accuracy, and is convenient for use in large-scale warehouses.
  • the controller 150 of the shuttle is also used to construct a topology map of the storage system.
  • the controller 150 can be used to control the shuttle to traverse all the parking spaces in the storage system to collect and save the location information and location identification information of each parking space; according to the location information and location identification information of each parking space, construct A topological map of the storage system, wherein each node of the topological map includes location identification information of a corresponding parking space in the storage system.
  • a shuttle car in the storage system its controller 150 can be used to control the shuttle car to traverse all the parking spaces of the multi-storey shelves in the storage system under the control of a computer or server, and record the position information of each parking space,
  • the camera device 140 can collect the location identification information of each parking space under the control of the controller 150 . Both location information and location identification information may be stored into memory 110 .
  • Each parking space in each shelf is represented by a node in the topological map, and then all adjacent nodes are connected with line segments to obtain multiple subgraphs. All subgraphs together form a topological map.
  • the topological map constructed by the previous shuttle can be copied to the memory of other shuttles for navigation.
  • the above-mentioned shuttle car can accurately and conveniently construct the topological map of the current storage system, providing a technical basis for precise navigation.
  • the controller 150 is further configured to, for each sub-road section in the driving route, control the shuttle car to lower the Driving speed.
  • the second distance threshold is greater than the first distance threshold.
  • Fig. 2 shows a schematic diagram of the controller 150 controlling the travel speed of the shuttle vehicle according to an embodiment of the present application.
  • the acceleration of the shuttle is constant no matter whether it is accelerating or decelerating.
  • the controller 150 first controls the shuttle car to travel in a straight line at a constant speed until the speed of the shuttle car increases to a speed threshold V max , and then the controller 150 controls the shuttle car to travel in a straight line at a constant speed at the speed V max .
  • the controller 150 controls the shuttle vehicle to decelerate.
  • the controller 150 analyzes the two-dimensional code in the image collected by the camera 140 to obtain the two-dimensional code information and according to The two-dimensional code information controls the shuttle car to approach and stop at the terminal parking space of the current sub-segment.
  • the second distance threshold can be reasonably set according to the speed threshold and acceleration of the shuttle car traveling in a straight line at a constant speed, and is not limited here.
  • S1 may represent the displacement that the controller 150 controls the shuttle vehicle to travel according to the position information acquired by the positioning sensor 130 , and t1 corresponds to the time required for the process.
  • S2 indicates that the controller 150 controls the displacement of the shuttle vehicle according to the two-dimensional code information, and t2 corresponds to the time required for the process.
  • the sum of S1 and S2 is the total length of the current sub-section, that is, the total displacement of the shuttle vehicle traveling on the current sub-section.
  • the camera device 140 or the controller 150 may also be used to analyze the location identifier in the image.
  • the parsing operation specifically includes performing the following operations: processing the image to determine the distance from the shuttle car to the location identifier in the image; and decoding the location identifier in the image to obtain location identifier information.
  • the imagery can be processed in a number of ways to determine the distance from the location markers in the imagery to the shuttle.
  • the shape or angle of the location marker in the image can be determined first; then the distance from the location marker to the shuttle is calculated based on the determined shape or angle of the location marker.
  • the position of the center point of the position marker can also be determined by detecting the locator on the position marker (the relative positional relationship between the locator on the position marker and the center point is known), and then calculate the distance between the position marker and the shuttle. car distance.
  • the camera device 140 has a certain field of view. As the two-dimensional code gradually enters its field of view until the two-dimensional code is located at the center of the field of view of the camera device 140 , the inclination angle of the two-dimensional code in the image captured by the camera device 140 becomes smaller and smaller. Specifically, the tilt angle can be detected by an angle detection module. Based on the detected angle of the QR code, the distance from the shuttle to the QR code can be determined. Or, further, as the inclination angle of the two-dimensional code becomes smaller and smaller, the shape of the two-dimensional code tends to be more and more rectangular. Similarly, the angle detection module can be used to detect the angle between the adjacent sides of the two-dimensional code.
  • each QR code uniquely corresponds to a parking space. Based on the information of the QR code and the distance between the shuttle car and the QR code, the distance information between the shuttle car and the terminal parking space of the current sub-section can be obtained.
  • the above solution is relatively simple and easy to implement, and can realize the preliminary estimation of the current location of the shuttle car, which provides a basis for the subsequent use of location identification information to control the shuttle car to accurately stop to the end of the current sub-section.
  • the camera device 140 or the controller 150 analyzing the location identifier in the image further includes performing one or more of the following operations: performing distortion correction on the image; performing binarization processing on the image; extracting the region of interest in the image , wherein the region of interest includes the aforementioned location identification information.
  • These operations may be performed prior to determining the shape or angle of the location markers in the image.
  • the above operations are performed in the sequence described above.
  • image distortion may occur when the image is captured by the camera device 140, which will lead to errors in subsequent determination of the distance between the shuttle and the two-dimensional code based on the shape of the two-dimensional code in the image, and even affect the decoding of the two-dimensional code when the distortion is serious accuracy.
  • distortion correction can be performed on the image.
  • Zhang Zhengyou's plane calibration method can be used for distortion correction.
  • the camera device 140 of the shuttle may be used to take multiple template images from different angles. Afterwards, the feature points in the template image are detected, and the internal parameters and external parameters of the imaging device 140 are obtained.
  • the distortion coefficient of the template image is solved by using algorithms such as maximum likelihood estimation, and the image is optimized.
  • the operation of distortion correction reduces the noise of the image, improves the accuracy of the two-dimensional code information in the image, and then ensures the accuracy of the shuttle car navigation.
  • the image Before determining the shape or angle of the two-dimensional code in the image, the image can also be binarized.
  • the image can be filtered first to remove the noise in the image. Then binarize the denoised image, that is, set all pixels in the image to 0 or 255 according to certain rules. For example, when the gray value of a pixel is greater than a specific gray threshold, the pixel is set to 255, otherwise it is set to 0. Afterwards, the binarized image is expanded or corroded using morphological features to obtain the boundaries and vertices of the two-dimensional code in the image.
  • the binarization process not only the noise that may exist in the two-dimensional code image is reduced, but also the amount of data involved in the subsequent shape analysis and decoding of the two-dimensional code in the image can be reduced, and the processing speed can be improved. Furthermore, the accuracy and smoothness of the shuttle car navigation can be improved.
  • the region of interest in the image can also be extracted.
  • the region of interest is extracted based on the boundaries and vertices of the two-dimensional code.
  • methods such as image segmentation are used to extract the region of interest.
  • the method for extracting the region of interest is not limited in this application, and any existing or future method for extracting the region of interest falls within the protection scope of the present application.
  • a storage system is also provided.
  • the warehousing system includes the shuttles and racks as described above.
  • each parking space on the shelf is provided with a marker.
  • the mark is marked with a position mark.
  • the marking part may be a sheet metal part.
  • the position mark can be marked on the label made of PVC material with self-adhesive glue pasted on the fixed position of the sheet metal part.
  • Each label can be printed with a digital code, which is used to represent the number of the corresponding parking space.
  • Fig. 3 shows a schematic diagram of a warehouse system performing single-level scheduling according to an embodiment of the present application.
  • parking space A and parking space B in the storage system are the starting point and destination of the shuttle car respectively.
  • the driving route of the shuttle bus is from A ⁇ B, and the driving route only includes one sub-section.
  • the shuttle car After the shuttle car departs from parking space A, it passes through two parking spaces in sequence, and its driving speed is not affected by the two-dimensional code information marked by the two parking spaces.
  • the shuttle starts to decelerate when the distance from the parking space B is equal to or less than the second distance threshold, until the distance to the parking space B is equal to or less than the first distance threshold.
  • the controller 150 of the shuttle car controls the traveling speed of the shuttle car based on the information fed back by the positioning sensor 130 .
  • the two-dimensional code at the parking space B completely enters the field of view of the camera device 140, and the controller 150 controls the shuttle to accurately arrive at the parking lot according to the distance information obtained by analyzing the two-dimensional code information in the image captured by the camera device 140. Bit B.
  • the storage system can use the combination of the positioning information of the positioning sensor 130 and the location identification information to realize precise positioning of the shuttle vehicle, and the shuttle vehicle can be controlled to drive smoothly in the storage system.
  • This scheme effectively reduces the positioning error, saves the positioning time, and improves the working efficiency of the storage system.
  • the parking spaces include one or more of the following positions: shelf positions, track reversing positions, chain machine positions and charging positions.
  • a shelf position indicates a location on a shelf for storing goods.
  • a track reversal position indicates a position at which a shuttle can change its direction of travel.
  • the position of the chain machine indicates the location of the chain machine used to convey goods.
  • a charging bay indicates a location where the shuttle can be charged.
  • Fig. 4 shows a schematic diagram of a warehouse system performing single-level scheduling according to another embodiment of the present application. As shown in Fig. 4, parking space A and parking space D represent the starting point and destination of the shuttle bus respectively. Parking stall B and parking stall C are track reversing spaces.
  • the driving route of the shuttle bus is A ⁇ B ⁇ C ⁇ D.
  • the shuttle car first travels from parking space A to parking space B, and stops and changes direction after arriving at parking space B. Then travel from parking space B to parking space C, stop and change direction after arriving at parking space C. Finally, continue driving from parking space C to parking space D, and the shuttle car completes the driving route instruction.
  • the driving route includes 3 sub road sections A ⁇ B, B ⁇ C and C ⁇ D.
  • the shuttle vehicle starts to decelerate until the shuttle The car travels to a place where the distance from the terminal parking space B of the current sub-segment is equal to or less than the first distance threshold.
  • the controller 150 of the shuttle car controls the travel speed of the shuttle car based on the information fed back by the positioning sensor 130 . Thereafter, the controller 150 of the shuttle car controls the shuttle car to accurately arrive at the terminal parking space B and stop according to the location identification information at the parking space B.
  • the shuttle car changes direction at the parking space B, that is, the driving direction is changed from left to right in Figure 4 to top to bottom. It can be understood that the detailed process of the shuttle car traveling from the parking space B to the parking space C is similar to the aforementioned process, and will not be repeated here for brevity. Finally, the shuttle car completes the journey from A to D.
  • Fig. 5 shows a schematic diagram of a warehouse system performing single-level scheduling according to yet another embodiment of the present application.
  • point F represents the charging position for charging the shuttle car.
  • Parking space A represents the current location where the shuttle car is driving.
  • Parking space B may represent a shelf space.
  • the shuttle car should be charged as soon as possible, that is, the shuttle car should be dispatched to the charging position. If there are goods on the shuttle at this time, in order not to affect the transportation of the goods, the goods can be stored in the shelf position first. For example, when the power of the shuttle car is lower than the charging threshold, it can start from the current parking space A and arrive at the parking space B.
  • the traveling route of the shuttle bus is A ⁇ B ⁇ C ⁇ E ⁇ F, which includes 4 sub-sections. If there is no cargo on the shuttle, its driving route can be A ⁇ C ⁇ E ⁇ F, including 3 sub-sections.
  • the storage system may include multi-layer shelves, that is, a high-rise dense storage system.
  • a topological map can include multiple subgraphs, each uniquely corresponding to a shelf layer. Parking spaces can also include lift bays.
  • the hoist position is provided with a hoist, which is used to transport the shuttle car in the shelf to the upper or lower floor of the shelf, that is, to change the floor on which the shuttle car travels.
  • Fig. 6 shows a schematic diagram of cross-layer scheduling performed by a warehouse system according to an embodiment of the present application.
  • L1 and L2 may respectively represent the topological maps of the first-layer shelf and the second-layer shelf in the multi-layer shelf.
  • Parking space A represents the starting point of the shuttle bus.
  • the two points B1 and B2 represent the hoisting positions of the first and second layers of the rack respectively.
  • the shuttle car departs from parking space A and first arrives at parking space B1. It is lifted to the parking space B2 on the second floor by the hoist at B1. Then the shuttle car travels from B2 to parking space C, stops and changes direction, and then continues to drive to parking space D. After arriving at parking space D, reverse direction again, and finally drive from parking space D to parking space E.
  • the travel route of the shuttle bus is A ⁇ B1, B2 ⁇ C ⁇ D ⁇ E.
  • the entire driving route includes 4 subsections.
  • the specific scheduling process is similar to the single-level scheduling described above, and will not be repeated here for brevity.
  • the storage system can realize the cross-layer operation of the shuttle vehicle, which increases the cargo capacity of the storage system and provides users with more choices.
  • the marker is arranged on the track of the parking space, such as the side of the track, or between two parallel tracks.
  • the marking element can also be arranged on the ground of the parking space.
  • the camera device 140 of the shuttle car may be arranged on the bottom surface of the shuttle car, and the field of view is directly below the shuttle car.
  • the marker can be arranged on the side of the track of the parking space.
  • the camera device 140 of the shuttle is correspondingly arranged on the side of the shuttle, and the field of view is the side of the shuttle.
  • the two-dimensional code is a rectangle.
  • markers are set at the same position at each parking space, and the two-dimensional code labels on them are guaranteed to be set in the same direction.
  • the location of the marker is convenient for the camera device 140 of the shuttle car to collect images, and the marker is easy to install, which can save a lot of human resources.
  • a navigation method for a shuttle vehicle of a storage system is also provided.
  • Fig. 7 shows a schematic flowchart of a navigation method 700 for a shuttle vehicle in a storage system according to an embodiment of the present application. As shown in FIG. 7, method 700 includes:
  • Step S710 receiving a driving route instruction, where the driving route instruction includes information about the driving route from the starting point to the destination.
  • Step S720 during the running of the shuttle car, acquire the location information and the collected images of the shuttle car.
  • Step S730 based on the topological map and route information, the shuttle is controlled to travel from the starting point to the destination.
  • the shuttle is controlled to travel from the starting point to the destination.
  • the first distance threshold is less than or equal to the distance between the shuttle vehicle and the parking space when the location marker of the parking space enters the field of view of the camera device.
  • the method 700 further includes: controlling the shuttle to traverse all the parking spaces in the storage system to collect and save the location information and location identification information of each parking space, and construct a Topological map of the warehouse system.
  • Each node of the topological map includes location identification information of a corresponding parking space in the storage system.
  • the shuttle car for each sub-road section in the driving route, the shuttle car is controlled to travel at a reduced speed since it is determined according to the current position information that the distance from the shuttle vehicle to the end point of the current sub-road section is equal to or less than the second distance threshold. speed. Wherein the second distance threshold is greater than the first distance threshold.
  • the method 700 further includes: determining the shape or angle of the position mark in the image; determining the distance from the shuttle bus to the end point of the current sub-road section according to the shape or angle of the position mark in the image; and determining the position mark in the image Decode to obtain location identification information.
  • analyzing the position marker in the image further includes one or more of the following operations: performing distortion correction on the image; performing binarization processing on the image; extracting the image The region of interest in , wherein the region of interest includes the aforementioned location identification information.
  • the present application also provides a computer program product, including a computer program, which executes the navigation method as described in the above method embodiments when the computer program is executed by a processor.
  • the disclosed devices and methods may be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components can be combined or May be integrated into another device, or some features may be omitted, or not implemented.
  • the various component embodiments of the present application may be realized in hardware, or in software modules running on one or more processors, or in a combination thereof.
  • a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all of the functions of the shuttle vehicle used in the storage system according to the embodiment of the present application.
  • DSP digital signal processor
  • the present application can also be implemented as an apparatus program (for example, a computer program and a computer program product) for performing a part or all of the methods described herein.
  • Such a program implementing the present application may be stored on a computer-readable medium, or may be in the form of one or more signals.
  • Such a signal may be downloaded from an Internet site, or provided on a carrier signal, or provided in any other form.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Navigation (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Traffic Control Systems (AREA)

Abstract

一种仓储系统、用于仓储系统的穿梭车及其导航方法。穿梭车设置有存储器（110）、通信装置（120）、定位传感器（130）、摄像装置（140）和控制器（150）。存储器（110）用于存储仓储系统的拓扑地图，其中拓扑地图的每个节点包括仓储系统内对应停车位的位置标识信息；通信装置（120）用于接收行驶路线指令，行驶路线指令包括从出发点到目的地的行驶路线信息；定位传感器（130）用于在穿梭车行驶过程中获取穿梭车的当前位置信息；摄像装置（140）用于在穿梭车行驶过程中采集仓储系统的图像；控制器（150）用于基于拓扑地图和行驶路线信息控制穿梭车从出发点行驶到目的地。

Description

仓储系统、用于仓储系统的穿梭车及其导航方法 技术领域
本申请涉及智能仓储领域，更具体地涉及一种仓储系统、一种用于仓储系统的穿梭车以及一种用于仓储系统的穿梭车的导航方法。
背景技术
随着智能制造的高速发展，密集仓储系统受到了越来越多行业的关注。使用高层密集货架存储货物能够充分利用仓库空间，提升空间利用率。穿梭车作为密集仓储系统的重要搬运设备，具有灵活、柔性、适应性强等优点，其导航系统对整车运动性能、系统效率等起着至关重要的作用。现有的穿梭车常用的导航方式有：激光测距和孔定位。
激光测距的导航方式要求仓储系统内所有穿梭车和每层货架上的激光反光板安装的位置必须一致，因此对于穿梭车和货架的制作和装配精度要求都很高。
采用孔定位的导航方式时，需要结合行走电机里程计进行数据处理。若出现导轨连接处错位的情况，行走轮可能打滑。因为电机启动加速度太大等原因，可能导致行走轮与导轨摩擦力发生变化。这都可能使得穿梭车无法准确到达目标位置。此外，还有可能出现穿梭车已经超过目标位置或未到达目标位置但行走电机已经停止运行的情况。此时需要控制穿梭车低速回找目标位置。这将产生穿梭车行走定位时间较长、效率较低的问题。
发明内容
考虑到上述问题而提出了本申请。根据本申请的一个方面，提供了一种用于仓储系统的穿梭车。该穿梭车设置有存储器、通信装置、定位传感器、摄像装置和控制器，其中，存储器用于存储仓储系统的拓扑地图，其中拓扑地图的 每个节点包括仓储系统内对应停车位的位置标识信息；通信装置用于接收行驶路线指令，行驶路线指令包括从出发点到目的地的行驶路线信息；定位传感器用于在穿梭车行驶过程中获取穿梭车的当前位置信息；摄像装置用于在穿梭车行驶过程中采集图像；控制器用于基于拓扑地图和行驶路线信息控制穿梭车从出发点行驶到目的地，其中，对于行驶路线中的每一子路段，自根据当前位置信息确定穿梭车到当前子路段的终点的距离等于或小于第一距离阈值时起，根据通过解析当前采集到的图像中的位置标识所获得的距离信息控制穿梭车行驶至当前子路段的终点，其中，当前采集到的图像中的位置标识位于当前子路段的终点，距离信息表示穿梭车到当前子路段的终点的距离，第一距离阈值小于或等于停车位的位置标识进入摄像装置的视场内时穿梭车与该停车位的距离。
示例性地，控制器还用于：控制穿梭车遍历仓储系统的所有停车位，以采集并保存每个停车位的位置信息和位置标识信息；根据每个停车位的位置信息和位置标识信息，构建仓储系统的拓扑地图，其中拓扑地图的每个节点包括仓储系统内对应停车位的位置标识信息。
示例性地，控制器还用于：对于行驶路线中的每一子路段，自根据当前位置信息确定穿梭车到当前子路段的终点的距离等于或小于第二距离阈值时起，控制穿梭车降低行驶速度，其中第二距离阈值大于第一距离阈值。
示例性地，摄像装置或控制器还用于解析图像中的位置标识，具体包括执行以下操作：确定图像中的位置标识的形状或角度；根据图像中的位置标识的形状或角度，确定穿梭车到当前子路段的终点的距离；以及对图像中的位置标识进行解码，以获得位置标识信息。
示例性地，摄像装置或控制器解析图像中的位置标识还包括执行以下操作中的一个或多个：对图像进行畸变校正；对图像进行二值化处理；和/或提取图像中的感兴趣区域，其中感兴趣区域包括位置标识。
示例性地，穿梭车是四向穿梭车，每个子路段都是直线段路段。
示例性地，位置标识包括快速响应码或数据矩阵码。
根据本申请的另一方面，还提供了一种仓储系统，包括如上所述的穿梭车和货架，其中，货架上每个停车位处设置有标记件，标记件上标识有位置标识。
示例性地，仓储系统包括多层货架，拓扑地图包括多个子图，每个子图唯一地对应于一层货架，停车位包括提升机位。
示例性地，停车位包括以下位置中的一个或多个：货架位、轨道换向位、链条机位和充电位。
根据本申请的又一方面，还提供了一种用于仓储系统的穿梭车的导航方法，包括：接收行驶路线指令，行驶路线指令包括从出发点到目的地的行驶路线信息；在穿梭车行驶过程中，利用穿梭车的定位传感器获取穿梭车的当前位置信息并且利用穿梭车的摄像装置采集仓储系统的图像；基于拓扑地图和行驶路线信息控制穿梭车从出发点行驶到目的地，其中，对于行驶路线中的每一子路段，自根据当前位置信息确定穿梭车到当前子路段的终点的距离等于或小于第一距离阈值时起，根据通过解析图像中的位置标识所获得的距离信息控制穿梭车行驶至当前子路段的终点，其中，图像中的位置标识位于当前子路段的终点，距离信息表示穿梭车到当前子路段的终点的距离，第一距离阈值小于或等于停车位的位置标识进入摄像装置的视场内时穿梭车与该停车位的距离。
示例性地，方法还包括：控制穿梭车遍历仓储系统的所有停车位，以采集并保存每个停车位的位置信息和位置标识信息；根据每个停车位的位置信息和位置标识信息，构建仓储系统的拓扑地图，其中拓扑地图的每个节点包括仓储系统内对应停车位的位置标识信息。
示例性地，对于行驶路线中的每一子路段，自根据当前位置信息确定穿梭车到当前子路段的终点的距离等于或小于第二距离阈值时起，控制穿梭车降低行驶速度，其中第二距离阈值大于第一距离阈值。
根据本申请的再一方面，还提供了一种计算机程序产品，包括计算机程序，该计算机程序在被处理器运行时执行上述导航方法。
在本申请的实施例提供了一种用于仓储系统的穿梭车。对于任意子路段，在穿梭车初始行驶阶段，利用定位传感器进行导航定位；在最后行驶阶段，利用位置标识信息进行导航定位。基于穿梭车仅在固定的轨道上行驶的特点，其无需其他定位装置的辅助，可以利用定位传感器与位置标识信息相结合的方式实现对穿梭车的精准定位。上述方案避免了出现穿梭车超过当前子路段的终点 或未达到终点反复调整穿梭车的速度和行驶方向的情况。由此，该穿梭车具有控制平滑、定位效率以及定位精度更高，便于大规模仓库使用等优点。
附图说明
通过结合附图对本申请实施例进行更详细的描述，本申请的上述以及其它目的、特征和优势将变得更加明显。附图用来提供对本申请实施例的进一步理解，并且构成说明书的一部分，与本申请实施例一起用于解释本申请，并不构成对本申请的限制。在附图中，相同的参考标号通常代表相同部件或步骤。
图1示出了根据本申请的一个实施例的穿梭车的示意性框图；
图2示出了根据本申请的一个实施例的控制器控制穿梭车行驶速度的示意图；
图3示出了根据本申请的一个实施例的仓储系统中穿梭车的单层调度的示意图；
图4示出了根据本申请的另一个实施例的仓储系统中穿梭车的单层调度的示意图；
图5示出了根据本申请的又一个实施例的仓储系统中穿梭车的单层调度的示意图；
图6示出了根据本申请的一个实施例的仓储系统中穿梭车的跨层调度的示意图；以及
图7示出了根据本申请一个实施例的用于仓储系统的穿梭车的导航方法的示意性流程图。
具体实施方式
随着物联网、人工智能、大数据等智能化技术的发展，利用这些智能化技术对传统物流业进行转型升级的需求愈加强劲，智慧物流(Intelligent Logistics System)成为物流领域的研究热点。智慧物流利用人工智能、大数据以及各种信息传感器、射频识别技术、全球定位系统(GPS)等物联网装置和技术，广泛应用于物料的运输、仓储、配送、包装、装卸和信息服务等基本活动环节， 实现物料管理过程的智能化分析决策、自动化运作和高效率优化管理。物联网技术包括传感设备、RFID技术、激光红外扫描、红外感应识别等，物联网能够将物流中的物料与网络实现有效连接，并可实时监控物料，还可感知仓库的湿度、温度等环境数据，保障物料的储存环境。通过大数据技术可感知、采集物流中所有数据，上传至信息平台数据层，对数据进行过滤、挖掘、分析等作业，最终对业务流程(如运输、入库、存取、拣选、包装、分拣、出库、盘点、配送等环节)提供精准的数据支持。人工智能在物流中的应用方向可以大致分为两种：1)以AI技术赋能的如无人卡车、AGV、AMR、叉车、穿梭车、堆垛机、无人配送车、无人机、服务机器人、机械臂、智能终端等智能设备代替部分人工；2)通过计算机视觉、机器学习、运筹优化等技术或算法驱动的如运输设备管理系统、仓储管理、设备调度系统、订单分配系统等软件系统提高人工效率。随着智慧物流的研究和进步，该项技术在众多领域展开了应用，例如零售及电商、电子产品、烟草、医药、工业制造、鞋服、纺织、食品等领域。
为了使得本申请的目的、技术方案和优点更为明显，下面将参照附图详细描述根据本申请的示例实施例。显然，所描述的实施例仅仅是本申请的一部分实施例，而不是本申请的全部实施例，应理解，本申请不受这里描述的示例实施例的限制。基于本申请中描述的实施例，本领域技术人员在没有付出创造性劳动的情况下所得到的所有其它实施例都应落入本申请的保护范围之内。
根据本申请的一个方面，提供一种用于仓储系统的穿梭车。穿梭车是以往复或者回环方式，在固定轨道上运行的台车。由于穿梭车具有固定的运行轨道，所以其是运动自由度相对较小的运输工具，其在行驶过程中不能够旋转、仅能够在轨道上向前或向后行驶。当然，在十字型轨道上，穿梭车也能够通过变换轨道来实现行驶轨迹的转弯，但是在转弯的过程中，穿梭车自身姿态保持不变。例如，穿梭车开始沿其纵向向南行驶，如果其行驶到轨道换向位，其可以更换横向车轮从而向东行驶。在向东行驶过程中，虽然穿梭车的行驶方向发生了改变，但是其始终保持其车头方向为向南，即姿态保持不变。基于此，本申请提供了一种用于仓储系统的穿梭车，其具有高效且精准的导航能力。
图1示出了穿梭车的示意性框图。示例性地，穿梭车可以根据行驶方向的 不同分为双向和四向等。还可以根据载重的不同分为托盘类和料箱类等。在一个具体实施例中，穿梭车可以是四向穿梭车。可以理解，该穿梭车可以在四个方向上进行货物的搬运。四向穿梭车的灵活度很高，可以随意变更作业巷道，由此更适用于高效率地在密集仓储系统中进行货物搬运。为了便于描述和理解，如无特殊说明，在下文中所提及的所有穿梭车均为四向穿梭车。
如图1所示，穿梭车设置有存储器110、通信装置120、定位传感器130、摄像装置140和控制器150。其中，存储器110用于存储仓储系统的拓扑地图。示例性地，存储器110可以利用只读存储器(ROM)、可擦除可编程只读存储器(EPROM)、便携式紧致盘只读存储器(CD-ROM)、USB存储器等中的一种或多种组合实现其存储功能。拓扑地图可以是预存在存储器110中的，或者由穿梭车通过训练学习过程获得并存储到存储器110中的。拓扑地图的每个节点包括仓储系统内对应停车位的位置标识信息。示例性地，位置标识信息用于标识每个停车位，其可以利用二维码、条形码等实现。每个停车位的位置标识信息与该停车位是一一对应的。停车位可以表示仓储系统中穿梭车速度变为0停止运行时所在的任意位置，例如用于仓储系统中用于存放货物的位置或者用于使穿梭车停止并转换行驶方向的位置等。如前所述位置标识可以利用二维码实现，具体地，可以包括快速响应码(Quick Response码)或数据矩阵码(Data Matrix码)。上述两种码均为二维码，其具有信息容量大、容错能力强等优点。拓扑地图中可以包括停车位的位置信息，例如在拓扑地图中的位置坐标等。为了便于描述和理解，下文中将以位置标识是二维码为例进行说明。
通信装置120用于接收行驶路线指令。示例性地，通信装置120可以是蓝牙通信装置、无线高保真通信装置或红外线通信装置等任意可以实现通信功能的装置。通信装置120可以自服务器或计算机接收行驶路线指令。可以理解，行驶路线指令可以是用户手动输入的，也可以是服务器根据预设搬运任务自动生成的。行驶路线指令可以包括从穿梭车行驶的出发点到目的地的路线信息，其唯一地标识仓储系统内的一条路线。换言之，路线信息中可以包括穿梭车的出发点的位置信息、到达的目的地的位置信息以及两点间的行驶路线。行驶路线可以由一段或多段子路段所构成。子路段是指仅在其两个端点，即起点和终 点，穿梭车的行驶速度为0的路段。例如，行驶路线指令可以是穿梭车从停车位A经停车位B行驶至停车位C，即行驶路线为A→B→C，其中在停车位B穿梭车换向，即穿梭车从停车位A行驶并停至停车位B，然后自停车位B再次出发，行驶并停至停车位C。可以理解，对于四向穿梭车，每个子路段都是直线段路段。
定位传感器130用于在穿梭车行驶过程中获取穿梭车的当前位置信息。其中，穿梭车的当前位置信息可以包括穿梭车在拓扑地图中的位置坐标等信息。示例性地，定位传感器130可以利用安装在穿梭车车轮上的计数码盘检测车轮在一定时间内转过的弧度以此计算出穿梭车行驶的位移。又或者通过测量驱动穿梭车行驶的电机的转速以获取穿梭车在行驶过程中的速度和加速度，通过时间积分来计算穿梭车的位移。之后根据穿梭车行驶前的起点的位置信息与行驶的位移可以获取穿梭车的当前位置信息。定位传感器130可以利用电机里程计、光电编码器等现有传感器实现。
摄像装置140用于在穿梭车行驶过程中采集仓储系统的图像。当停车位处的二维码位于摄像装置140的视场内时，其采集到的图像可以包括停车位处的二维码信息。根据停车位处的二维码的设置位置，摄像装置140可以安装在穿梭车上的任意位置，例如：穿梭车的车身的四周或者安装在车座的底部，只要随着穿梭车的行驶二维码能够逐渐出现在摄像装置140的视场内即可。
通信装置120接收到行驶路线指令后，可以将其传输至控制器150。控制器150用于基于拓扑地图和行驶路线信息控制穿梭车从出发点行驶到目的地。对于行驶路线中的每一子路段，自根据当前位置信息确定穿梭车到当前子路段的终点的距离等于或小于第一距离阈值时起，根据通过解析当前采集到的图像中的位置标识所获得的距离信息控制穿梭车行驶至当前子路段的终点。示例性地，对于每一子路段，穿梭车从该子路段的起点出发后可以开始匀加速或者变加速直线行驶，直至加速到一定的速度阈值可以开始匀速直线行驶。这一速度阈值可以根据穿梭车所载货物的重量、行驶轨道与穿梭车车轮间的摩擦力等数据进行合理设置，在此不做限定。穿梭车做匀速直线行驶直至根据来自定位传感器的当前位置信息确定行驶到距离当前子路段的终点的距离等于或小于第一 距离阈值时，可以表示穿梭车即将到达该子路段的终点，例如某一停车位，在该停车位设置有位置标识，例如二维码。第一距离阈值小于或等于停车位的二维码进入摄像装置140的视场内时穿梭车与该停车位的距离。由此，当穿梭车到当前子路段的终点的距离等于或小于第一距离阈值时，停车位的二维码进入摄像装置140的视场内。摄像装置140可以采集二维码图像。控制器150可以根据通过解析图像中的二维码获取的距离信息精准地控制穿梭车行驶至当前子路段的终点。该距离信息表示穿梭车到当前子路段的终点的距离，也即穿梭车到二维码的中心的距离。
在本申请的实施例提供了一种用于仓储系统的穿梭车。对于任意子路段，在穿梭车初始行驶阶段，利用定位传感器130进行导航定位；在最后行驶阶段，利用位置标识信息进行导航定位。基于穿梭车仅在固定的轨道上行驶的特点，其无需其他定位装置的辅助，可以仅利用定位传感器130与位置标识信息相结合的方式实现对穿梭车的精准定位。上述方案避免了出现穿梭车超过当前子路段的终点或未达到终点反复调整穿梭车的速度和行驶方向的情况。由此，该穿梭车具有控制平滑、定位效率以及定位精度更高，便于大规模仓库使用等优点。
示例性地，穿梭车的控制器150还用于构建仓储系统的拓扑地图。具体地，控制器150可以用于控制穿梭车遍历仓储系统的所有停车位，以采集并保存每个停车位的位置信息和位置标识信息；根据每个停车位的位置信息和位置标识信息，构建仓储系统的拓扑地图，其中所述拓扑地图的每个节点包括仓储系统内对应停车位的位置标识信息。例如，对于仓储系统的一个穿梭车，其控制器150可以用于在计算机或服务器的控制下控制穿梭车遍历仓储系统中的多层货架的所有停车位，记录下每个停车位的位置信息，摄像装置140可以在控制器150的控制下采集到每个停车位的位置标识信息。可以将位置信息和位置标识信息这二者存储至存储器110中。将每层货架中的每个停车位分别用拓扑地图中的一个节点表示，之后将所有相邻的节点用线段进行连接以获得多个子图。所有子图共同构成拓扑地图。对于仓储系统的其他穿梭车，可以将先前穿梭车所构建的拓扑地图拷贝到其他穿梭车的存储器中，以由其用于导航。
上述穿梭车能够准确且便利地构建当前仓储系统的拓扑地图，为精确导航 提供了技术基础。
示例性地，控制器150还用于对于行驶路线中的每一子路段，自根据当前位置信息确定穿梭车到当前子路段的终点的距离等于或小于第二距离阈值时起，控制穿梭车降低行驶速度。其中第二距离阈值大于第一距离阈值。图2示出了根据本申请的一个实施例的控制器150控制穿梭车行驶速度的示意图。在该实施例中，无论是加速行驶还是减速行驶，穿梭车的加速度是不变的。如图2所示，控制器150首先控制穿梭车进行匀加速直线行驶，直到穿梭车的速度增加至速度阈值V max时，控制器150控制穿梭车以速度V max进行匀速直线行驶。当穿梭车匀速行驶到距离当前子路段的终点的距离等于或小于第二距离阈值(图中未示出)时，控制器150控制穿梭车减速。当穿梭车继续行驶到距离当前子路段的终点的距离等于或小于第一距离阈值(S2)时，控制器150解析摄像装置140所采集的图像中的二维码以获取二维码信息并根据该二维码信息控制穿梭车靠近并停止在当前子路段的终点停车位。也就是说，在控制器150解析二维码以获取二维码信息并根据该二维码信息控制穿梭车靠近并停止在停车位之前，穿梭车已经在控制器150的控制下开始减速行驶。第二距离阈值可以根据穿梭车进行匀速直线行驶的速度阈值、加速度等进行合理设置，在此不做限定。在图2中，S1可以表示控制器150根据定位传感器130所获取的位置信息控制穿梭车行驶的位移，t1对应表示该过程所需的时间。S2表示控制器150根据二维码信息控制穿梭车行驶的位移，t2对应表示该过程所需的时间。S1和S2的总和则为当前子路段的总长度，即穿梭车在当前子路段上行驶的总位移。
由此可以保证穿梭车在控制器150根据位置标识信息对其进行控制之前的速度不会过快，使得控制器150可以更好地根据位置标识信息实现对穿梭车的减速控制，进一步保证了穿梭车控制的平滑性和准确性。
示例性地，摄像装置140或控制器150还可以用于解析图像中的位置标识。该解析操作具体包括执行以下操作：对该图像进行处理确定穿梭车到该图像中位置标识的距离；以及对图像中的位置标识进行解码，以获得位置标识信息。
可以采用多种方式对图像进行处理，以确定图像中的位置标识到穿梭车的距离。例如，可以先确定图像中的位置标识的形状或角度；然后根确定的位置 标识的形状或角度，计算出该位置标识到穿梭车的距离。又如，还可以通过检测位置标识上的定位符来确定位置标识的中心点的位置(位置标识上的定位符与中心点的相对位置关系是已知的)，进而计算出该位置标识到穿梭车的距离。
摄像装置140具有一定的视场范围。随着二维码逐渐进入其视场内直至二维码位于摄像装置140的视场的正中心，摄像装置140采集到的图像中的二维码的倾斜角度越来越小。具体地，可以利用角度检测模块对倾斜角度进行检测。基于检测到的二维码的角度，可以确定穿梭车到二维码的距离。又或者，更进一步地，随着二维码的倾斜角度越来越小，二维码的形状也越来越趋近于矩形。同样可以利用角度检测模块对二维码相邻边线的夹角进行检测。基于检测到的夹角的角度，可以确定二维码的形状。最终根据二维码的形状确定穿梭车到二维码的距离。可以还利用位置检测模块对二维码进行解码，从而获得二维码信息。如前所述，每个二维码唯一地对应于一个停车位，基于二维码信息和穿梭车与二维码的距离可以获得穿梭车与当前子路段的终点停车位之间的距离信息。
上述方案较为简单，容易实现，且可以实现对穿梭车的当前位置的初步估算，为后续利用位置标识信息控制穿梭车精准地停止到当前子路段的终点提供了基础。
示例性地，摄像装置140或控制器150解析图像中的位置标识还包括执行以下操作中的一个或多个：对图像进行畸变校正；对图像进行二值化处理；提取图像中的感兴趣区域，其中所述感兴趣区域包括前述位置标识信息。这些操作可以在确定图像中的位置标识的形状或角度之前执行。优选地，上述操作按照上面描述的顺序执行。
可以理解，摄像装置140采集图像时可能发生图像畸变，这将导致后续基于图像中的二维码的形状进行穿梭车与二维码的距离判定出现误差，当畸变严重时甚至影响二维码解码的准确性。为了获得更准确的二维码形状和二维码信息，可以对图像进行畸变校正。例如，可以采用张正友平面标定法进行畸变校正。具体地，可以利用穿梭车的摄像装置140从不同角度拍摄多张模板图像。之后检测模板图像中的特征点，求解出摄像装置140的内参数和外参数。最后基于内参数和外参数，利用最大似然估计等算法求解出模板图像的畸变系数， 并对图像进行优化。畸变校正的操作降低了图像的噪声，提高了图像中二维码信息的准确性，进而保证了穿梭车导航的准确性。
在确定图像中的二维码的形状或角度之前，还可以对图像进行二值化处理。可以首先对图像进行滤波，去除图像中的噪声。接着对去噪后的图像进行二值化处理，即根据一定的规则将图像中的所有像素点设置为0或255。例如，像素点的灰度值大于特定灰度阈值时，则将该像素点设置为255，否则设置为0。之后对二值化后的图像利用形态学特征对其进行膨胀或腐蚀等操作以获得图像中二维码的边界和顶点。通过二值化处理，不仅降低了二维码图像中可能存在的噪声，还可以减少后续对图像中二维码的形状分析和解码处理所涉及的数据量，提高处理速度。进而，能够提高穿梭车导航的准确度和顺滑性。
在确定图像中的二维码的形状或角度之前，还可以提取图像中的感兴趣区域。例如，基于二维码的边界和顶点提取该感兴趣区域。可选地，利用图像分割等方法对感兴趣区域进行提取。在本申请中对提取感兴趣区域的方法不做限定，任何现有的或未来的可以实现感兴趣区域提取的方法都在本申请的保护范围之内。通过提取图像中感兴趣区域，可以减少后续对图像中二维码的形状分析和解码处理所涉及的数据量，提高处理速度。进而实现了利用二维码信息对穿梭车进行快速准确定位。
根据本申请的另一方面，还提供了一种仓储系统。该仓储系统包括如上所述的穿梭车和货架。其中，货架上每个停车位处设置有标记件。标记件上标识有位置标识。示例性地，标记件可以是钣金件。位置标识可以标识在粘贴在钣金件的固定位置上的自带背胶的PVC材质制作的标签上。每个标签上可以均印刷有数字编码，用于表示对应停车位的编号。
图3示出了根据本申请的一个实施例的仓储系统进行单层调度的示意图。如图3所示，仓储系统内的停车位A和停车位B分别为穿梭车行驶的出发点和目的地。穿梭车的行驶路线是由A→B，该行驶路线只包括一个子路段。穿梭车在自停车位A出发之后依次经过两个停车位，其行驶速度不受这两个停车位标识的二维码信息的影响。最后穿梭车在距离停车位B的距离等于或小于第二距离阈值时开始减速，直至行驶到距离停车位B等于或小于第一距离阈值处。 在上述过程中穿梭车的控制器150是基于定位传感器130反馈的信息控制穿梭车的行驶速度。之后，停车位B处的二维码完全进入摄像装置140的视场内，控制器150根据通过解析摄像装置140所采集的图像中的二维码信息所获得的距离信息控制穿梭车精准到达停车位B。
由此，该仓储系统可以利用定位传感器130的定位信息与位置标识信息的结合来实现对穿梭车的精准定位，穿梭车能够控制平滑地行驶在该仓储系统内。该方案有效地减小了定位误差，节约了定位时间，提高了仓储系统的工作效率。
示例性地，停车位包括以下位置中的一个或多个：货架位、轨道换向位、链条机位和充电位。货架位表示货架上用于存放货物的位置。轨道换向位表示穿梭车可以在此更改行驶方向的位置。链条机位表示用于传送货物的链条机所在位置。充电位表示能够对穿梭车进行充电的位置。图4示出了根据本申请的另一个实施例的仓储系统进行单层调度的示意图。如图4所示，停车位A和停车位D分别表示穿梭车行驶的出发点和目的地。停车位B和停车位C为轨道换向位。穿梭车的行驶路线为A→B→C→D。穿梭车首先由停车位A行驶至停车位B，到达停车位B后停止并换向。接着由停车位B行驶至停车位C，到达停车位C后停止并换向。最后从停车位C继续行驶至停车位D，穿梭车完成此次行驶路线指令。在该实施例中，行驶路线包括3个子路段A→B、B→C和C→D。针对每一个子路段而言，以其中一个子路段A→B为例，在穿梭车到达距离当前子路段的终点停车位B的距离等于或小于第二距离阈值时，穿梭车开始减速，直至穿梭车行驶到距离当前子路段的终点停车位B等于或小于第一距离阈值处。在该过程中穿梭车的控制器150基于定位传感器130反馈的信息控制穿梭车的行驶速度。此后，穿梭车的控制器150根据停车位B处的位置标识信息控制穿梭车精准到达终点停车位B并停止。之后穿梭车在停车位B处进行换向，即将行驶方向由图4中的由左向右更改为由上至下。可以理解，穿梭车由停车位B行驶到停车位C的详细过程与前述过程类似，为了简洁在此不再赘述。最终穿梭车完成由A到D的行驶。
图5示出了根据本申请的又一个实施例的仓储系统进行单层调度的示意图。如图5所示，F点表示对穿梭车进行充电的充电位。停车位A表示穿梭车行驶 的当前位置。停车位B可以表示货架位。当穿梭车的电量低于充电阈值时，应尽快对穿梭车进行充电，即调度穿梭车行驶至充电位。若此时穿梭车上载有货物，为了不影响货物的运输，可以将货物先存放在货架位。例如，穿梭车电量低于充电阈值时，可以自当前停车位A出发，到达停车位B。到达停车位B后将货物卸载，之后再行驶回停车位C。接着穿梭车自停车位C行驶至停车位E，再从停车位E转向并行驶到停车位F。在该实施例中，穿梭车的行驶路线为A→B→C→E→F，其中包括4个子路段。若穿梭车上未载有货物，其行驶路线可以为A→C→E→F，包括3个子路段。
在上述两个实施例中，针对每一子路段而言，对穿梭车的行驶速度的控制均与前文所述相似，为了简洁在此不再赘述。
在上述技术方案中，不仅可以准确控制穿梭车按照期望行驶，还有效保障了穿梭车的电量充足，进而可以正常工作。此外，有效保证了穿梭车可以快速、准确地到达停车位，实现穿梭车的准确定位，减小了定位误差。
示例性地，仓储系统可以包括多层货架，即为高层密集仓储系统。拓扑地图可以包括多个子图，每个子图唯一地对应于一层货架。停车位还可以包括提升机位。其中，提升机位设置有提升机，用于将该层货架中的穿梭车运送至该层货架的上层或下层，即改变穿梭车所行驶的层。图6示出了根据本申请的一个实施例的仓储系统进行跨层调度的示意图。图6中L1和L2可以分别表示多层货架中的第一层货架和第二层货架的拓扑地图。停车位A表示穿梭车行驶的出发点位置。B1和B2两点分别表示货架中第一层和第二层的提升机位。具体地，穿梭车由停车位A出发，首先到达停车位B1。由B1处的提升机将其提升至第二层的停车位B2处。接着穿梭车由B2行驶至停车位C停止并换向，再继续行驶至停车位D。到达停车位D后再次进行换向，最后由停车位D行驶至停车位E。在该实施例中，穿梭车的行驶路线是A→B1、B2→C→D→E。整个行驶路线包括4个子路段。具体的调度过程与前文所述的单层调度类似，为了简洁在此不再赘述。
由此，该仓储系统可以实现穿梭车的跨层作业，增加了仓储系统的货物容量，为用户提供了更多选择。
示例性地，标记件设置在停车位的轨道上，如轨道的侧面，或两平行轨道之间。例如，标记件还可以设置在停车位的地面上。应理解，标记件的位置可以根据实际场景灵活设置，本申请不进行限定，只要该标记件所在位置能够准确定位该停车位即可。穿梭车的摄像装置140可以设置在穿梭车的底面上，并且视场为穿梭车的正下方。又例如，标记件可以设置在停车位的轨道的侧面。穿梭车的摄像装置140相应地设置在穿梭车的侧面上，并且视场为穿梭车的侧方。当穿梭车停止在停车位时，在摄像装置140所采集的图像中，二维码为矩形。为了便于管理与记录，在同一个仓储系统中，标记件设置在每个停车位处的相同位置，并且保证其上的二维码标签的设置方向一致。
标记件所设置的位置便于穿梭车的摄像装置140进行图像采集，且标记件安装简便，可以节省大量人力资源。
根据本申请的另一方面，还提供了一种用于仓储系统的穿梭车的导航方法。图7示出了根据本申请实施例的用于仓储系统的穿梭车的导航方法700的示意性流程图。如图7所示，方法700包括：
步骤S710，接收行驶路线指令，行驶路线指令包括从出发点到目的地的行驶路线信息。
步骤S720，在穿梭车行驶过程中，获取穿梭车的位置信息和采集到的图像。
步骤S730，基于拓扑地图和路线信息控制穿梭车从出发点行驶到目的地。其中，对于行驶路线中的每一子路段，自根据当前位置信息确定穿梭车到当前子路段的终点的距离等于或小于第一距离阈值时起，根据通过解析当前采集到的图像中的位置标识所获得的距离信息控制穿梭车行驶至当前子路段的终点。其中，当前采集到的图像中的位置标识位于当前子路段的终点。距离信息表示穿梭车到当前子路段的终点的距离。第一距离阈值小于或等于停车位的位置标识进入摄像装置的视场内时穿梭车与该停车位的距离。
示例性地，方法700还包括：控制穿梭车遍历仓储系统的所有停车位，以采集并保存每个停车位的位置信息和位置标识信息，根据每个停车位的位置信息和位置标识信息，构建仓储系统的拓扑地图。其中拓扑地图的每个节点包括所述仓储系统内对应停车位的位置标识信息。
示例性地，在方法700中，对于行驶路线中的每一子路段，自根据当前位置信息确定穿梭车到当前子路段的终点的距离等于或小于第二距离阈值时起，控制穿梭车降低行驶速度。其中第二距离阈值大于第一距离阈值。
示例性地，方法700还包括：确定图像中的位置标识的形状或角度；根据图像中的位置标识的形状或角度，确定穿梭车到当前子路段的终点的距离；以及对图像中的位置标识进行解码，以获得位置标识信息。
示例性地，在确定图像中的位置标识的形状或角度之前，解析图像中的位置标识还包括以下操作中的一个或多个：对图像进行畸变校正；对图像进行二值化处理；提取图像中的感兴趣区域，其中感兴趣区域包括前述位置标识信息。
本申请还提供了一种计算机程序产品，包括计算机程序，该计算机程序在被处理器运行时执行如以上方法实施例所述的导航方法。
本领域普通技术人员通过阅读上述有关仓储系统以及用于仓储系统的穿梭车的相关描述可以理解用于仓储系统的穿梭车的导航方法的详细步骤以及有益效果，为了简洁在此不再赘述。
尽管这里已经参考附图描述了示例实施例，应理解上述示例实施例仅仅是示例性的，并且不意图将本申请的范围限制于此。本领域普通技术人员可以在其中进行各种改变和修改，而不偏离本申请的范围和精神。所有这些改变和修改意在被包括在所附权利要求所要求的本申请的范围之内。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
在本申请所提供的几个实施例中，应该理解到，所揭露的设备和方法，可以通过其它的方式实现。例如，以上所描述的设备实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个设备，或一些特征可以忽略，或不执行。
在此处所提供的说明书中，说明了大量具体细节。然而，能够理解，本申请的实施例可以在没有这些具体细节的情况下实践。在一些实例中，并未详细示出公知的方法、结构和技术，以便不模糊对本说明书的理解。
类似地，应当理解，为了精简本申请并帮助理解各个申请方面中的一个或多个，在对本申请的示例性实施例的描述中，本申请的各个特征有时被一起分组到单个实施例、图、或者对其的描述中。然而，并不应将该本申请的方法解释成反映如下意图：即所要求保护的本申请要求比在每个权利要求中所明确记载的特征更多的特征。更确切地说，如相应的权利要求书所反映的那样，其申请点在于可以用少于某个公开的单个实施例的所有特征的特征来解决相应的技术问题。因此，遵循具体实施方式的权利要求书由此明确地并入该具体实施方式，其中每个权利要求本身都作为本申请的单独实施例。
本领域的技术人员可以理解，除了特征之间相互排斥之外，可以采用任何组合对本说明书(包括伴随的权利要求、摘要和附图)中公开的所有特征以及如此公开的任何方法或者设备的所有过程或单元进行组合。除非另外明确陈述，本说明书(包括伴随的权利要求、摘要和附图)中公开的每个特征可以由提供相同、等同或相似目的的替代特征来代替。
此外，本领域的技术人员能够理解，尽管在此所述的一些实施例包括其它实施例中所包括的某些特征而不是其它特征，但是不同实施例的特征的组合意味着处于本申请的范围之内并且形成不同的实施例。例如，在权利要求书中，所要求保护的实施例的任意之一都可以以任意的组合方式来使用。
本申请的各个部件实施例可以以硬件实现，或者以在一个或者多个处理器上运行的软件模块实现，或者以它们的组合实现。本领域的技术人员应当理解，可以在实践中使用微处理器或者数字信号处理器(DSP)来实现根据本申请实施例的用于仓储系统的穿梭车的一些或者全部功能。本申请还可以实现为用于执行这里所描述的方法的一部分或者全部的装置程序(例如，计算机程序和计算机程序产品)。这样的实现本申请的程序可以存储在计算机可读介质上，或者可以具有一个或者多个信号的形式。这样的信号可以从因特网网站上下载得到，或者在载体信号上提供，或者以任何其他形式提供。
应该注意的是上述实施例对本申请进行说明而不是对本申请进行限制，并且本领域技术人员在不脱离所附权利要求的范围的情况下可设计出替换实施例。在权利要求中，不应将位于括号之间的任何参考符号构造成对权利要求的限制。单词“包含”不排除存在未列在权利要求中的元件或步骤。位于元件之前的单词“一”或“一个”不排除存在多个这样的元件。本申请可以借助于包括有若干不同元件的硬件以及借助于适当编程的计算机来实现。在列举了若干装置的单元权利要求中，这些装置中的若干个可以是通过同一个硬件项来具体体现。单词第一、第二、以及第三等的使用不表示任何顺序。可将这些单词解释为名称。
以上所述，仅为本申请的具体实施方式或对具体实施方式的说明，本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。本申请的保护范围应以权利要求的保护范围为准。

Claims (14)

  1. 一种用于仓储系统的穿梭车，其特征在于，设置有存储器、通信装置、定位传感器、摄像装置和控制器，其中，
    所述存储器用于存储所述仓储系统的拓扑地图；
    所述通信装置用于接收行驶路线指令，所述行驶路线指令包括从出发点到目的地的行驶路线信息；
    所述定位传感器用于在所述穿梭车行驶过程中获取所述穿梭车的位置信息；
    所述摄像装置用于在所述穿梭车行驶过程中采集图像；
    所述控制器用于基于所述拓扑地图和所述行驶路线信息控制所述穿梭车从所述出发点行驶到所述目的地，其中，对于行驶路线中的每一子路段，自根据当前位置信息确定所述穿梭车到当前子路段的终点的距离等于或小于第一距离阈值时起，根据通过解析当前采集到的图像中的位置标识所获得的距离信息控制所述穿梭车行驶至所述当前子路段的终点，其中，所述当前采集到的图像中的位置标识位于所述当前子路段的终点，所述距离信息表示所述穿梭车到所述当前子路段的终点的距离，所述第一距离阈值小于或等于停车位的位置标识进入所述摄像装置的视场内时所述穿梭车与该停车位的距离。
  2. 如权利要求1所述的穿梭车，其中，所述控制器还用于：控制所述穿梭车遍历所述仓储系统的所有停车位，以采集并保存每个停车位的位置信息和位置标识信息；根据每个停车位的位置信息和位置标识信息，构建所述仓储系统的拓扑地图，其中所述拓扑地图的每个节点包括所述仓储系统内对应停车位的位置标识信息。
  3. 如权利要求1或2所述的穿梭车，其中，所述控制器还用于：对于行驶路线中的每一子路段，自根据所述当前位置信息确定所述穿梭车到当前子路段的终点的距离等于或小于第二距离阈值时起，控制所述穿梭车降低行驶速度，其中所述第二距离阈值大于所述第一距离阈值。
  4. 如权利要求1至3任一项所述的穿梭车，其中，所述摄像装置或所述 控制器还用于解析所述图像中的位置标识，具体包括执行以下操作：
    确定所述穿梭车到所述所述位置标识的距离；以及
    对所述图像中的位置标识进行解码，以获得所述位置标识信息。
  5. 如权利要求4所述的穿梭车，其中，所述摄像装置或所述控制器解析所述图像中的位置标识还包括执行以下操作中的一个或多个：
    对所述图像进行畸变校正；
    对所述图像进行二值化处理；和/或
    提取所述图像中的感兴趣区域，其中所述感兴趣区域包括所述位置标识。
  6. 如权利要求1至5任一项所述的穿梭车，其中，所述穿梭车是四向穿梭车，每个子路段都是直线段路段。
  7. 如权利要求1至5任一项所述的穿梭车，其中，所述位置标识包括快速响应码或数据矩阵码。
  8. 一种仓储系统，其特征在于，包括如权利要求1至7任一项所述的穿梭车和货架，其中，
    所述货架上每个停车位处设置有标记件，所述标记件上标识有位置标识。
  9. 如权利要求8所述的仓储系统，其中，所述仓储系统包括多层货架，所述拓扑地图包括多个子图，每个子图唯一地对应于一层货架，所述停车位包括提升机位。
  10. 如权利要求8或9所述的仓储系统，其中，所述停车位包括以下位置中的一个或多个：货架位、轨道换向位、链条机位和充电位。
  11. 一种用于仓储系统的穿梭车的导航方法，其特征在于，包括：
    接收行驶路线指令，所述行驶路线指令包括从出发点到目的地的行驶路线信息；
    在所述穿梭车行驶过程中，获取所述穿梭车的位置信息并采集图像；
    基于拓扑地图和所述行驶路线信息控制所述穿梭车从所述出发点行驶到所述目的地，其中，对于行驶路线中的每一子路段，自根据当前位置信息确定所述穿梭车到当前子路段的终点的距离等于或小于第一距离阈值时起，根据通过解析当前采集到的图像中的位置标识所获得的距离信息控制所述穿梭车行驶 至所述当前子路段的终点，其中，所述当前采集到的图像中的位置标识位于所述当前子路段的终点，所述距离信息表示所述穿梭车到所述当前子路段的终点的距离，所述第一距离阈值小于或等于停车位的位置标识进入所述摄像装置的视场内时所述穿梭车与该停车位的距离。
  12. 如权利要求11所述的导航方法，其中，所述方法还包括：
    控制所述穿梭车遍历所述仓储系统的所有停车位，以采集并保存每个停车位的位置信息和位置标识信息；
    根据每个停车位的位置信息和位置标识信息，构建所述仓储系统的拓扑地图，其中所述拓扑地图的每个节点包括所述仓储系统内对应停车位的位置标识信息。
  13. 如权利要求11或12所述的导航方法，其中，
    对于行驶路线中的每一子路段，自根据所述当前位置信息确定所述穿梭车到当前子路段的终点的距离等于或小于第二距离阈值时起，控制所述穿梭车降低行驶速度，其中所述第二距离阈值大于所述第一距离阈值。
  14. 一种计算机程序产品，包括计算机程序，该计算机程序在被处理器运行时执行如权利要求11-13任一项所述的导航方法。
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