AGV (Automatic Guided Vehicle) and route correcting method therefor

Abstract

The invention relates to the field of automatic carrying, and discloses an AGV (Automatic Guided Vehicle) and a route correcting method therefor. The method comprises the steps: obtaining an image obtained by an image sensor of the AGV; determining the control information needed by the switching of the AGV from a current state to a target state according to a vertical distance value, a horizontal distance value needed for the target state, a speed value that an AGV central point needs to maintain and the position relation among drive modules of the AGV if a route guide mark in the image is determined not to be at a preset position; operating the AGV according to the control information till the AGV reaches the target state. According to the invention, the AGV operates under the control of the control information, and can be enabled to operate in the target state, thereby achieving the correction of the AGV, improving the conveying efficiency of the AGV, and enabling the AGV to be smoothly switched to the target state.

Description

technical field [0001] The invention relates to the field of automatic handling, in particular to an unmanned transport vehicle (AGV) and a method for correcting its route. Background technique [0002] In the current field of fully automatic parking garage and fully automatic logistics handling, unmanned guided vehicle (Automated Guided Vehicle, AGV) is commonly used. etc.) run below. The existing AGV guidance methods mainly include: electromagnetic induction guidance, laser guidance and visual guidance. [0003] Electromagnetic induction guidance is generally to bury the antenna on the ground along the preset driving route. When the high-frequency current flows through the antenna, an electromagnetic field is generated around the wire. The AGV car is equipped with an electromagnetic sensor and can drive on the buried antenna according to the predetermined route. [0004] Laser guidance is a laser positioning mark with a highly reflective reflective plate installed on the...

AI Technical Summary

Problems solved by technology

[0006] In the process of realizing the present invention, the inventor found that in the current very popular fully automatic parking garage, express goods sorting before delivery, automobile production line and some fields that often need to change the navigation path, AGV needs to be placed on the carrier (shelf, pallet, etc.) ), the AGV guided by electromagnetic induction is easily interfered by the metal substances around the loop, and the construction is difficult, and it is not easy to maintain; the laser beam emitted by the laser-guided AGV laser scanning head is easily blocked, and the surrounding positioning reflection cannot be well recognized board, and the laser ranging needs to illuminate the surrounding reflectors, which cannot be achieved in many environments; when the visual navigation AGV car has a route deviation during the operation of this environment, it is aimed at the deviation Type to adjust the posture of the body, adjust to the state of the original position without deviation, which increases the transportation time

Images