AGV attitude adjusting method applied to tray identification/positioning

Abstract

The invention discloses an AGV attitude adjusting method applied to tray identification / positioning. The method comprises the following steps: S1, moving an AGV to a front point of a tray; S2, scanning the position and posture of the tray through a 3D visual sensor, and transmitting data to a controller; S3, enabling the controller to receive the data, control the AGV body to rotate in situ according to the angular deviation data of the tray and adjust the direction of the AGV body until the pallet fork is perpendicular to the fork entering direction of the tray; and S4, after the state of the AGV body is adjusted to make the fork entering direction completely perpendicular to the fork entering face of the tray with the center line of the AGV does not coinciding with the center line of the tray at the moment, enabling the 3D vision sensor to scan again and transmit data to the controller. According to the invention, the combined use of 3D visual data and a navigation algorithm is not needed any more, and the method only needs to rotate in situ and move the tray rack on the AGV, so that the requirement on the width of a roadway is low, and the method can be suitable for various working occasions.

Description

technical field [0001] The invention belongs to the technical field of automated logistics, in particular, the invention relates to a method for adjusting the posture of an AGV applied to pallet identification / positioning. Background technique [0002] Pallet is a medium that transforms static goods into dynamic goods. It is a loading platform, and it is a movable platform, or a movable ground. AGV refers to a transport vehicle equipped with automatic guidance devices such as electromagnetic or optical. , It can drive along the prescribed guiding path. With the advancement of information technology and the maturity of automation level, the application of AGV is becoming more and more common, and it is widely used in various fields of handling, stacking and logistics. [0003] There are two types of existing AGV fork pallets, one without pallet identification, AGV directly forks pallets after reaching the target point, this method requires extremely high precision for pallet ...

AI Technical Summary

Problems solved by technology

[0003] There are two types of existing AGV fork pallets, one without pallet identification, AGV directly forks pallets after reaching the target point, this method requires extremely high precision for pallet placement, which increases the difficulty for workers to place, and even some The location needs to be mechanically limited, which greatly limits the use scenarios of AGV and increases the difficulty of promotion

[0004] For the AGV with pallet recognition technology, there are two ways to pick up the pallet: one is that the AGV scans the pallet at a distance from the pallet, and then adjusts the path of the AGV to pick up the pallet. The method requires the integration of 3D visual data and navigation algorithms, which increases the difficulty of software development. At the same time, because the adjustment of the vehicle body posture requires a certain distance, a wider roadway is required. Attitude, the efficiency of fork picking is lost. The second is to start pallet recognition when turning, but the 3D vision sensor on the front of the pallet rack may not have enough viewing angle to fully scan the pallet. Multiple 3D vision sensors need to be combined to increase the recognition time. Cost and difficulty of software development

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