Positioning device and positioning method for automatic guided vehicle

A technology of automatic guided vehicles and positioning devices, which is applied in the directions of measuring devices, electromagnetic wave re-radiation, and utilization of re-radiation, etc. It can solve the problem of parking position deviation and achieve the effect of preventing deviation

Active Publication Date: 2020-04-03
QINGDAO PORT INT +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide an automatic guided vehicle positioning device and positioning method to solve the problem of being affected by cycle charging when the automated terminal AGV interacts with the jacking bracket of the yard Technical issues leading to deviations in parking positions

Method used

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  • Positioning device and positioning method for automatic guided vehicle
  • Positioning device and positioning method for automatic guided vehicle
  • Positioning device and positioning method for automatic guided vehicle

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Embodiment Construction

[0021] The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0022] The present invention aims to provide an automatic guided vehicle positioning device, which can ensure the precise positioning of the automatic guided vehicle even if there is a large charging current interference when the AGV is cyclically charged.

[0023] Specifically, such as figure 1 As shown, the automatic guided vehicle positioning device proposed by the present invention includes a front reflector 3 and a side reflector 4. The front reflector 3 is installed at the front end (relative to the direction of travel of the AGV) below the jacking bracket 2, and the side reflector 4 is installed on the side end below the jacking bracket 2. The jacking bracket 2 is arranged at the end of the stockyard 1, that is, the sea side or the land side.

[0024] The front end of the AGV 5 is equipped with a front-end laser...

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Abstract

The invention discloses a positioning device and a positioning method for an automatic guided vehicle. The positioning device comprises a front-end reflecting plate, a side-end reflecting plate, a laser, a positioning module and a deviation rectifying module, wherein the front-end reflecting plate is arranged at the front end below a jacking bracket; the side-end reflecting plate is arranged at the side end; the laser comprises a front-end laser mounted at the front end of an AGV and a side-end laser mounted at the side end of the AGV; the front-end laser emits laser and receives a front-end reflection light spot reflected by the front-end reflector; the side-end laser emits laser and receives a side-end reflection light spot reflected by the side-end reflector; the positioning module judges whether the AGV moves to a parking position or not based on the front-end reflection light point; when the AGV does not move to the parking position, the deviation rectification module controls therotation angles of the front wheel and the rear wheel of the AGV based on the side end reflection light points, the position of the AGV and the course angle of the AGV. Positioning and deviation rectification of the AGV when the navigation antenna cannot read the magnetic nail due to the fact that large current exists in charging in the interaction process of the AGV and the jacking support are achieved.

Description

technical field [0001] The invention belongs to the field of technical automation docks, and in particular relates to a positioning device and a positioning method for an automatic guided vehicle. Background technique [0002] The unloading process of the container carried by the AGV (Automatic Guided Vehicle) from the AGV platform to the yard bridge, and the loading process of the container in the yard being transferred to the AGV platform through the yard bridge are called interactive processes. [0003] The stand-alone automatic navigation system is the most important part of the AGV system, and the positioning and automatic navigation operation of the AGV are realized through this system. Stand-alone automatic navigation control is the core of AGV automatic control. According to the navigation control algorithm and the layout of the magnetic nails on the AGV operating site, if N consecutive magnetic nails are not detected by the navigation positioning antenna, the AGV wi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/06G01S7/481
CPCG01S17/06G01S7/481
Inventor 王浩张丽王伟安柏杉
Owner QINGDAO PORT INT
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