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Latent AGV shelf automatic identification and adjustment system and method

An adjustment system and automatic identification technology, applied in the field of identification and adjustment, can solve problems such as unbalanced load, failure to realize automatic identification and adjustment, logistics interruption, etc.

Active Publication Date: 2021-07-13
华晟智能自动化装备有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, whether it is in production logistics or warehousing logistics, if the shelf transportation in the previous link is abnormal, causing the shelf position and angle to deviate from the preset value, the traditional AGV anti-collision method has the following shortcomings: ①. Determine the current shelf position AGV When the AGV cannot enter normally, the AGV will alarm and manual processing is required, resulting in interruption of logistics, and automatic identification and adjustment cannot be realized; It will cause unbalanced load, cause the risk of dumping during the transportation, or bring the position deviation of the shelf to the next transportation link, and cannot realize automatic identification and adjustment

Method used

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  • Latent AGV shelf automatic identification and adjustment system and method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0088] Such as figure 1 As shown, the present invention discloses a latent AGV shelf automatic identification and adjustment system, and the system includes:

[0089] The laser navigator 1 is used to detect the center position coordinate A of the AGV trolley.

[0090] The first obstacle avoidance radar 2 is arranged on the left front of the AGV trolley.

[0091] The second anti-collision radar 3 is arranged at the right rear of the AGV trolley; both the first obstacle avoidance radar and the second anti-collision radar are used to detect whether there are obstacles in each safety radar scanning area.

[0092] The controller 4 is respectively connected with the laser navigator, the first obstacle avoidance radar and the second anti-collision mine; the controller includes: a working mode determination module and an adjustment control module,

[0093] The working mode determining module is used to determine the working mode of the AGV car according to the center position coordi...

Embodiment 2

[0118] In this embodiment, the first obstacle avoidance radar is arranged on the right front of the AGV car, and the second collision avoidance radar is arranged on the left rear of the AGV car.

[0119] The adjustment control module specifically includes:

[0120] The first safety radar scanning area determination unit is used to set the area from the front of the AGV car to the inner side of the right leg of the shelf as the first safety radar scanning area when the AGV car works in the first working mode.

[0121] The second safe radar scan area determination unit is used to set the area from the front of the AGV car to the inner side of the left leg of the shelf as the second safe radar scan area when the AGV car is working in the first working mode.

[0122] The third safety radar scanning area determination unit is used to set the area at the front end of the AGV car's traveling direction as the third safety radar scanning area when the AGV car is working in the first wo...

Embodiment 3

[0141] Such as Figure 6 As shown, the present invention also provides a latent AGV shelf automatic identification and adjustment method, the method comprising:

[0142] Step S1: Obtain the center position coordinate A of the AGV trolley;

[0143] Step S2: Determine the working mode of the AGV car according to the coordinates of the center position;

[0144]Step S3: Determine the safe radar scanning area in each working mode;

[0145] Step S4: Determine whether there are obstacles in each safety radar scanning area, and then adjust and control the AGV trolley.

[0146] In this embodiment, the determination of the working mode of the AGV car according to the coordinates of the center position is the same as that in Embodiment 1, and will not be repeated here.

[0147] Step S3: Determine the safe radar scanning area in each working mode, specifically including:

[0148] When the AGV trolley works in the first working mode, set the area from the front of the AGV trolley to th...

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Abstract

The invention provides a latent AGV shelf automatic identification and adjustment system and method. A laser navigator is used for detecting the center position coordinate A of an AGV; first obstacle avoidance radar arranged on the left front portion of the AGV and second anti-collision radar arranged on the right rear portion of the AGV are used for detecting whether obstacles exist in the scanning areas of safety radar or not; a controller determines the working mode of the AGV according to a center position coordinate, and then according to the working mode, automatic identification is achieved by utilizing whether obstacles exist in scanning areas of the safety radar detected by the first obstacle avoidance radar and / or the second obstacle avoidance radar, and the AGV shelf is adjusted to take goods according to an original set route. By the adoption of the technical scheme, the left-right position deviation of a goods shelf can be within 15 cm, the front-back position deviation does not have the upper limit theoretically, the angle deviation is within 3 degrees, and correction is achieved.

Description

technical field [0001] The invention relates to the technical field of identification and adjustment, in particular to a latent AGV shelf automatic identification and adjustment system and method. Background technique [0002] The latent automatic guided vehicle (Automated Guided Vehicle, referred to as AGV) drills into the bottom of the shelf for lifting and conveying is the most widely used application of the automatic guided vehicle. However, whether it is in production logistics or warehousing logistics, if the shelf transportation in the previous link is abnormal, causing the shelf position and angle to deviate from the preset value, the traditional AGV anti-collision method has the following shortcomings: ①. Determine the current shelf position AGV When the AGV cannot enter normally, the AGV will alarm and manual processing is required, resulting in interruption of logistics, and automatic identification and adjustment cannot be realized; It will lead to unbalanced lo...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/024G05D1/0257G05D1/0214
Inventor 陈子瑜娄兵兵王俊石詹鹏飞王琼
Owner 华晟智能自动化装备有限公司