Shelf alignment method based on latent transfer robot

Abstract

The invention discloses a shelf alignment method based on a latent transfer robot. The method comprises the following steps that (1), a camera on the robot is started, and the azimuth information on ashelf and the azimuth information of the camera relative to the center of a two-dimensional code are obtained when the camera scans the two-dimensional code; (2) the robot calculates the current moving direction and path of the camera relative to the center of the two-dimensional code matrix; (3) the robot starts to move until the robot stops moving after reaching the center of the two-dimensional code matrix; (4) the robot confirms whether a robot tray is aligned with the shelf or not at the moment according to the current relative position of the camera and the center of the two-dimensionalcode matrix; and (5) the screw rods on the shelf are directly inserted into corresponding screw holes of the robot tray, so that the shelf is assembled on the robot tray. According to the shelf alignment method, by means of the design of the two-dimensional code matrix, accurate alignment of the robot and the shelf is ingeniously achieved, rapid assembly of the shelf is convenient, the stabilityof the assembled shelf can be guaranteed, and safety accidents in the using process are avoided.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a shelf alignment method based on a latent handling robot. Background technique [0002] The alignment and handling of shelves plays an important role in latent handling robots, which determines the stability and reliability of goods handling. If the robot fails to align the shelves during the process of lifting the shelves, it will cause the shelves to tilt or slide, and cause safety accidents, which must never happen on the job site. [0003] The traditional shelf alignment method requires that the shelf position is placed accurately, and then the robot aligns through the QR code on the ground. If the shelf position is placed with a large deviation, it will cause the shelf to be out of alignment, requiring human assistance, and the operation is inconvenient. More time-consuming. Therefore, the market has proposed an improved solution for this situation, that is, place a QR cod...

AI Technical Summary

Problems solved by technology

However, this method has an obvious defect in practical application, that is, the position of the camera and the QR code of the shelf is relatively close, so the field of view is relatively narrow. If the position difference between the robot and the shelf is too large, the alignment operation cannot be performed. Human assistance

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