Shelf alignment method based on latent transfer robot
A technology for handling robots and robots, applied in the field of robots, can solve problems such as inability to perform alignment operations, narrow field of view, etc., and achieve the effects of improving assembly flexibility, large alignment range, and fast alignment speed
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[0023] The present invention provides a solution that can realize the precise alignment of the handling robot and the shelf. Firstly, a two-dimensional code matrix for realizing alignment with the robot tray is set on the shelf. The size of the two-dimensional code matrix is a×b, Both a and b are natural numbers, and both are greater than 1, such as 5×5, 6×6 or 7×7, such as figure 1 As shown, the intervals between adjacent two-dimensional codes on the two-dimensional code matrix are the same. After setting the two-dimensional code matrix, the following describes the implementation process of the present invention, such as figure 2 As shown, it includes the following steps:
[0024] (1) Turn on the camera on the robot. When the camera scans any position of any QR code on the shelf, obtain the position information of the QR code on the center of the QR code matrix and the current camera relative to the center of the QR code In this step, a metal sensor for sensin...
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