Research And Implementation Of Multi-mode Hybrid Navigation For Warehouse Robots

With the continuous development of the warehousing industry,some of the newly built multi-carrier multi-layer shuttle auto-stereo warehouses have been used to improve the automation of warehouses.However,most of the existing warehouses in China are traditional flat-level warehouses.Flat-level warehouses usually use pure manual or forklift-assisted semi-manual operation.Most of the goods are placed directly on the ground without using shelf storage.Such extensive management of flat-level warehouses is called flat library.Since the flat library usually does not have a fixed location,when the type and quantity of the goods change rapidly,the location,the library area and the channel change greatly,and the layout of the warehouse changes accordingly,which makes the warehouse unable to adopt magnetic navigation and laser.Navigation,visual navigation and other robots with global navigation capabilities,which restrict the operation efficiency,turnover efficiency and warehouse utilization of the warehouse,make warehousing one of the bottlenecks in the development of modern manufacturing and logistics industries.In this paper,analyzes the current situation of flat warehouses and finds out the problems that restrict the use of automatic working robots in flat warehouses.Then,through the analysis of the business scenario that caused the problem,the navigation requirements and corresponding navigation modes in different scenarios are proposed,which is to realize the global navigation mode of the robot moving in the fixed reference system for a long distance,and realize the robot without the fixed reference system.The local navigation mode of short-distance movement,and the limited navigation mode that realizes the movement of the robot in a special environment.After the navigation mode is correctly divided,the corresponding navigation technology is selected and designed for each navigation mode.At the same time,the navigation technology transition between different modes is designed to form a navigation technology scheme with multi-mode hybrid.Finally,through a real project case,the multi-mode hybrid navigation technology is implemented,and the feasibility and applicability of the navigation technology to the traditional flat warehouse is verified and evaluated in the real environment.