AGV car docking positioning method based on coded image and AGV car
A technology for encoding images and cars, which is applied in two-dimensional position/channel control, vehicle position/route/height control, motor vehicles, etc., can solve problems such as AGV car misoperation, material falling off, etc., to improve docking accuracy, Reduce the effect of misuse
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Embodiment 1
[0073] see figure 1 , figure 1 It is a schematic flowchart of an AGV docking and positioning method based on coded images disclosed in an embodiment of the present invention. Such as figure 1 As shown, the AGV dolly docking positioning method based on the coded image may include the following steps:
[0074] 101. When the AGV car reaches the preset position, the AGV car starts the camera of the AGV car to perform a scanning operation, and judges whether the scanning operation scans a coded image, if yes, execute steps 102 to 103, if not, end this process.
[0075] In the embodiment of the present invention, a coded image may be set on the material or a pallet loaded with the material, wherein the coded image may be a two-dimensional code image. When the AGV car starts the scanning operation of the camera of the AGV car to scan the coded image, it means that there are materials on the current shelf, and perform steps 102 to 103; There is no material on the current shelf, at...
Embodiment 2
[0102] see figure 2 , figure 2 It is a schematic flowchart of another AGV car docking and positioning method based on coded images disclosed in the embodiment of the present invention. Such as figure 2 As shown, the AGV dolly docking positioning method based on the coded image may include the following steps:
[0103] 201. When the AGV car reaches the preset position, the AGV car obtains the real-time positioning parameters of the laser positioning components installed on the body of the AGV car.
[0104] As an optional implementation, the AGV trolley obtains the real-time positioning parameters of the laser positioning components installed on the AGV trolley body may include:
[0105] The AGV car uses the laser positioning components installed on the AGV car body to emit target laser light to at least one reflective plate preset in the current space, and record the first time point when the target laser light is emitted to the reflective plate;
[0106] The AGV trolley...
Embodiment 3
[0126] see image 3 , image 3 It is a schematic flowchart of another AGV car docking and positioning method based on coded images disclosed in the embodiment of the present invention. Such as image 3 As shown, the AGV dolly docking positioning method based on the coded image may include the following steps:
[0127] 301. When the AGV car reaches the preset position, the AGV car obtains the real-time positioning parameters of the laser positioning components installed on the AGV car body, and compares the real-time positioning parameters with the standard positioning parameters corresponding to the preset position to obtain the offset error .
[0128] 302. When the offset error is not within the allowable error range, the AGV car obtains the current data of the encoder in the steering gear drive assembly of the AGV car, and controls the steering gear drive assembly according to the offset error and the current data of the encoder. The data drives the steering wheel of the...
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