Control system and method for accurate multi-layer stacking of ground-stacked goods

Abstract

The invention provides a control system and method for accurately stacking multiple layers of goods on the ground, including: an industrial camera, which is installed above the ground cargo space, to take pictures of the goods on the uppermost layer of the cargo space; a visual recognition controller, and the The industrial camera is connected, receives the image taken by the industrial camera, performs visual recognition and positioning calculation, recognizes the position and angle compensation amount of the goods on the top floor of the cargo space, and sends it to the AGV; the AGV is equipped with an AGV controller, Receive the position and angle compensation amount of the goods on the uppermost layer of the cargo space sent by the visual recognition controller, and use the position and angle compensation amount of the goods on the uppermost layer of the cargo space to perform compensation when stacking goods. In this way, when the AGV places a new layer of goods, it is based on the actual position and angle compensation of the previous layer of goods, that is, the goods on the top layer of the cargo space, which can ensure that the new layer of goods placed will not deviate too much. Large, so as to ensure the stable placement of multi-layered goods.

Description

technical field [0001] The invention relates to the technical field of AGVs, in particular to a control system and method for multi-layer and precise stacking of ground-stacked goods. Background technique [0002] AGV, the full name of Automated Guided Vehicle, is generally used in logistics systems or factories to automatically transport goods to destinations, such as cargo locations, and stack them according to user instructions. In actual use, when the AGV places the goods in the cargo space, it is often not 100% aligned in strict accordance with the set position, but there is always a slight deviation more or less left or right. In this way, when there are multiple layers of goods that need to be stacked and placed, sometimes the goods on the upper layer are difficult to be placed stably, or even cannot be placed; For example, in extreme cases, the first layer of goods deviates more to the left, and the second layer of goods deviates more to the right, so the third laye...

AI Technical Summary

Problems solved by technology

In this way, when there are multiple layers of goods that need to be stacked, sometimes the goods on the upper layer are difficult to place or even cannot be placed; and the more layers there are, the easier it is to place them upward

For example, in extreme cases, the deviation of the first layer of goods to the left is relatively large, and the deviation of the second layer of goods to the right is large, so the third layer of goods is likely to be unstable or cannot be placed

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