Vehicle-carrying AGV walking and accurate positioning method

Abstract

The invention discloses a vehicle-carrying AGV walking and accurate positioning method. The vehicle-carrying AGV walking and accurate positioning method is characterized by comprising the steps that two laser radars are installed on the two sides of a vehicle-carrying AGV, four rolling wheels and four reflection photoelectric sensors are installed on the front side edge and the rear side edge of the vehicle-carrying AGV, a reflection pasting film is arranged on the inner side of the rear part of a parking platform, the length of the vehicle-carrying AGV is 4.5-5.6 m, and any side can enter a closed space to pick up a vehicle; parking tables are arranged on the two sides of each parking platform, each parking platform is provided with a guide bevel angle with the wide outer portion and the narrow inner portion within the range of 5-20 degrees at an entrance, a reflective film is pasted on the inner side of the parking table of each parking platform, and after the reflective photoelectric sensor detects that the film reflects light, the vehicle-carrying AGV stops at a fixed point and performs vehicle access operation; and secondly, the vehicle-carrying AGV adopts different navigation or control schemes in different driving stages, the vehicle-carrying AGV is in a stage of driving or rotating in the middle channel, the vehicle-carrying AGV is in a stage of preparing to enter or just entering the parking space, the vehicle-carrying AGV is in a stage in the parking space, and the vehicle-carrying AGV is in a stage of leaving the parking space.

Description

technical field [0001] The invention relates to the technical field of AGV access vehicles, in particular to a method for walking and accurate positioning of a vehicle-loaded AGV. Background technique [0002] At present, the three-dimensional garage can solve the problem of fewer parking spaces due to its compact structure, but the narrow space makes it difficult for the driver to park. Now, the car-carrying AGV is used to drive between the comfortable parking area and the vehicle storage area and accurately locate the access car to solve the driver's parking problem. Difficulties and few parking spaces, the car-loading AGV mainly adopts common navigation methods such as laser radar navigation, two-dimensional code vision or magnetic navigation. Due to the rough and uneven ground conditions of the parking lot, there are many traditional navigation methods The inability to adapt to ground factors leads to inaccurate navigation, and the high failure rate of AGV access to vehi...

AI Technical Summary

Problems solved by technology

[0002] At present, the three-dimensional garage can solve the problem of fewer parking spaces due to its compact structure, but the narrow space makes it difficult for the driver to park. Now, the car-carrying AGV is used to drive between the comfortable parking area and the vehicle storage area and accurately locate the access car to solve the driver's parking problem. Difficulties and few parking spaces, the car-loading AGV mainly adopts common navigation methods such as laser radar navigation, two-dimensional code vision or magnetic navigation. Due to the rough and uneven ground conditions of the parking lot, there are many traditional navigation methods The inability to adapt to ground factors leads to inaccurate navigation, and the high failure rate of AGV access to vehicles. In order to better use several commonly used navigation methods generally used in industrial occasions, it is necessary to level and harden the entire parking lot ground , high cost, and poor economic benefits, so the promotion of vehicle-mounted AGVs is severely restricted

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