Docking and positioning calibration method based on AGV and AGV

A small car, real-time positioning technology, applied in motor vehicles, measuring devices, instruments, etc., can solve the problems of low accuracy and deviation in picking and placing goods or materials

Inactive Publication Date: 2018-11-09
YONEGY LOGISTICS AUTOMATION TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In practice, it is found that during the automatic driving of the AGV, the route of the automatic driving of the AGV often deviates from the predetermined route, which will lead t

Method used

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  • Docking and positioning calibration method based on AGV and AGV
  • Docking and positioning calibration method based on AGV and AGV
  • Docking and positioning calibration method based on AGV and AGV

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0070] see figure 1 , figure 1 It is a schematic flowchart of an AGV-based docking positioning calibration method disclosed in an embodiment of the present invention. Such as figure 1 As shown, the docking positioning calibration method based on the AGV car can include the following steps:

[0071] 101. When the AGV car reaches the preset position or the AGV car stops moving, the AGV car obtains the real-time positioning parameters of the laser positioning components installed on the AGV car body.

[0072] In the embodiment of the present invention, the preset position can be a preset shelf position, and when the AGV trolley reaches the shelf position, it can perform the operation of picking and placing goods; when the AGV trolley reaches the shelf position, the AGV trolley automatically stops moving.

[0073] As an optional implementation manner, before performing step 101, the following steps may also be performed:

[0074] The AGV car uses the RFID reader installed on t...

Embodiment 2

[0097] see figure 2 , figure 2 It is a schematic flowchart of another AGV-based docking positioning calibration method disclosed in the embodiment of the present invention. Such as figure 2 As shown, the docking positioning calibration method based on the AGV car can include the following steps:

[0098] 201. The AGV detects whether the AGV has received the control command sent by the control terminal that has previously established a connection with the AGV. If yes, execute steps 202 to 203. If not, end this process.

[0099] In the embodiment of the present invention, the control instruction at least includes a position identification of a preset position and a preset operation, and the preset operation includes a material fetching operation or a material putting operation.

[0100] In the embodiment of the present invention, the movement of the AGV car can be controlled through the control terminal that has established a connection with the AGV car in advance, wherein...

Embodiment 3

[0130] see image 3 , image 3 It is a schematic flowchart of another AGV-based docking positioning calibration method disclosed in the embodiment of the present invention. Such as image 3 As shown, the docking positioning calibration method based on the AGV car can include the following steps:

[0131] 301. The AGV detects whether the AGV has received the control command sent by the control terminal that has established a connection with the AGV in advance. If yes, execute steps 302 to 303. If not, end this process.

[0132] In the embodiment of the present invention, the control instruction at least includes a position identification of a preset position and a preset operation, and the preset operation includes a material fetching operation or a material putting operation.

[0133] 302. The AGV moves toward a preset position according to a pre-planned first movement path according to the position identifier included in the control instruction.

[0134] 303 . The AGV jud...

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Abstract

The invention provides a docking and positioning calibration method based on an AGV and an AGV. The docking and positioning calibration method based on the AGV comprises the steps of obtaining a real-time positioning parameter of a laser positioning part mounted on the an AGV body when the AGV reaches a preset position or the AGV stops moving; comparing the real-time positioning parameter with a standard positioning parameter corresponding to the preset position so as to obtain an offset error; when the offset error is not within an allowed error range, obtaining current data of an encoder ina steering engine driving assembly part of the AGV; and controlling the steering engine driving assembly part to drive a steering wheel of the steering engine driving assembly part to run and/or steeraccording to the offset error and the current data of the encoder till the offset error is within the allowed error range. According to the docking and positioning calibration method based on the AGVand the AGV provided by the embodiment of the invention, an automatic driving route of the AGV can be adjusted for calibration and positioning so that the positioning of the AG is more accurate to reduce an error between the AGV and a storage rack during docking; and therefore, the operation accuracy of the AGV during taking and putting goods or materials is improved.

Description

technical field [0001] The invention relates to the technical field of electronic equipment, in particular to an AGV trolley-based docking positioning calibration method and the AGV trolley. Background technique [0002] At present, AGV (Automated Guided Vehicles, self-driving vehicles) are widely used in the logistics and transportation industry due to their high degree of automation and high level of intelligence. The AGV trolley can automatically drive along the predetermined route without manual piloting, automatically transport the goods or materials to be transported from the starting point to the shelf, and arrive at the shelf to perform the operation of picking and placing the goods or materials. In practice, it is found that during the automatic driving of the AGV, the route of the automatic driving of the AGV often deviates from the predetermined route, which will lead to deviations when the AGV arrives at the shelf and docks with the shelf, which in turn causes th...

Claims

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Application Information

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IPC IPC(8): B62D63/02G01C3/00
CPCB62D63/02G01C3/00
Inventor 孙浩彭华明张绍华
Owner YONEGY LOGISTICS AUTOMATION TECH
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