A kind of unmanned van AGV and its route correction method

Abstract

The invention relates to the field of automatic transportation, and discloses an AGV and a route correction method thereof. The method includes: obtaining the image captured by the image sensor of the transport vehicle AGV; if it is determined that the route guidance mark in the image is not at the preset position; according to the vertical distance value, the horizontal distance value required to reach the target state, The speed value that needs to be maintained for the center point operation of the transport vehicle AGV and the positional relationship between the driving groups of the transport vehicle AGV determine the control information required for the transport vehicle AGV to run from the current state to the target state; according to The control information operates the transport vehicle AGV until the transport vehicle AGV reaches the target state. In the present invention, operating the AGV under the control of control information can make the AGV run to the target state, thereby correcting the AGV's deviation, improving the AGV's handling efficiency, and allowing the AGV to smoothly return 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

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