Shelf alignment method based on latent handling 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 the shelves plays an important role in the latent handling robot, which determines the stability and reliability of the handling of the goods. If the robot does not align the shelf during the process of lifting the shelf, it will cause the shelf to tilt or slide, and it will also cause a safety accident, which must not happen on the job site. [0003] The traditional shelf alignment method requires the shelf position to be placed accurately, and then the robot aligns through the QR code on the ground. If the shelf position deviation is large, the shelf will not be aligned, requiring human assistance, and the operation is relatively inconvenient. more time consuming. Therefore, an improved solution for this situation is given in the market, that is, a two-dimensi...

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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