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Method, device and system for carrying racks by automatic guided transport vehicles

A technology of automatic guidance and transport vehicles, applied in the direction of lifting devices, control/regulation systems, lifting equipment safety devices, etc., can solve problems such as scratches and safety accidents, and achieve the effect of avoiding scratches

Active Publication Date: 2022-08-02
HANGZHOU HIKROBOT TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] However, during the handling process, there will be relative displacement between the shelf and the AGV, which will cause the shelf to scratch against the shelf next to it, causing a safety accident

Method used

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  • Method, device and system for carrying racks by automatic guided transport vehicles
  • Method, device and system for carrying racks by automatic guided transport vehicles
  • Method, device and system for carrying racks by automatic guided transport vehicles

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Embodiment Construction

[0052] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0053] In the process of moving the shelf, the AGV can scan the QR code at the bottom of the shelf to locate the position and angle of the shelf. However, when the relative displacement between the shelf and the AGV is too large, the AGV camera will not scan the bottom of the shelf. As a result, the AGV cannot obtain the shelf position information, so that the AGV cannot report the shelf position to the server, and finally the server cannot accurately schedule the shelf and its surrounding shelves, resulting in scraping between the surrounding shelves and the shelf.

[0054] In order to avoid the scraping between the shelf and the surrounding shelves when the shelf and the AGV are displaced relative to each other, the embodiment of the present invention provides the following solutions:

[0055] figure 1 The method flow chart of the AG...

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Abstract

The present invention provides a method, a device and a system for carrying a rack by an automatic guided transport vehicle. The method includes: detecting the position of the marker on the shelf carried by the AGV in the field of view of the camera of the AGV; if it is detected that the marker disappears from the field of view of the camera of the AGV, constructing an abnormal shelf protection space, the abnormal shelf protection The space takes the AGV as the center of the space, and the closest distance from any point in the space to the reference projection profile is not less than the set distance, so that the server schedules all AGVs according to the abnormal shelf protection space; the reference projection profile is: when the shelf is protected When the center of the bottom plane of the AGV coincides with the center of the AGV, the projected contour of the AGV and the shelf as a whole on the moving plane of the AGV. The present invention can avoid scraping between the shelf and the surrounding shelves when the shelf and the AGV are relatively displaced.

Description

technical field [0001] The present invention relates to the technical field of AGV (Automated Guided Vehicle, automatic guided vehicle), and in particular, to a method, a device and a system for the AGV to carry a rack. Background technique [0002] In recent years, the use of AGV-based warehouse automated sorting systems has become more and more common. The system mainly includes: workbenches, handling servers, AGVs and movable shelves. [0003] The working process of the system is as follows: the server assigns the shelf material sorting task to the workbench, and at the same time schedules the AGV to transport the shelf to the workbench, so that the workbench can sort the materials on the shelf, and the server dispatches the AGV after the workbench is sorted. Return the rack to the storage location. Here, the AGV can walk through the bottom of the shelf, and lift the shelf off the ground through its own lifting device for transportation. [0004] However, during the han...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B66F9/075B66F17/00G05D1/02
CPCB66F9/0755B66F17/003G05D1/0236G05D1/0246G05D1/0276
Inventor 全晓臣缪松华张明昊
Owner HANGZHOU HIKROBOT TECH CO LTD
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