Method, system and device for leveling inclination angle of automatic transport trolley and computer equipment

Abstract

The invention relates to an inclination angle leveling method, system and device for an automatic transport trolley, computer equipment, a computer readable storage medium and a computer program product. The method comprises the steps that a first inclination angle and a second inclination angle of the automatic transport trolley relative to the horizontal plane are obtained, the first inclination angle is the inclination angle of the automatic transport trolley around a first coordinate axis, the second inclination angle is the inclination angle of the automatic transport trolley around a second coordinate axis, and the first coordinate axis is perpendicular to the second coordinate axis; and the elongation of each adjusting supporting rod is determined according to the first inclination angle and the second inclination angle, and the levelness of the automatic conveying trolley is adjusted according to the elongation of each adjusting supporting rod. By means of the method, the leveling accuracy of the automatic transport trolley can be improved, and the problem that the gravity center of the automatic transport trolley inclines due to uneven road surfaces or uneven loads is effectively solved.

Description

Technical Field

[0001] The present application relates to the technical field of numerical control machining, and in particular to a method, device, computer equipment, computer-readable storage medium and computer program product for leveling the inclination of an automatic transport trolley. Background Art

[0002] With the development of intelligent manufacturing and automation technology, automatic transport vehicles have been widely used in the fields of industrial automation and logistics. In the PCB (Printed Circuit Board) CNC processing scenario, taking AGV (Automated Guided Vehicle) as an example, AGV can realize the automatic transportation of PCB boards. However, due to the uneven ground and changes in load, the AGV body is prone to tilt, which affects its driving stability and positioning accuracy.

[0003] In traditional technology, the solution usually adopted is to use a fixed support structure to reinforce the AGV body so that it is not easy to vibrate during driving, or to add a simple mechanical adjustment device to the AGV body to alleviate the tilt problem caused by uneven ground.

[0004] However, in the above traditional solutions, the fixed support structure is difficult to cope with the dynamic changes of the ground, especially in complex industrial environments, and cannot be adjusted for different road conditions, making it difficult to maintain the stability of the vehicle body; simple mechanical adjustment devices usually have limited adjustment capabilities and low adjustment accuracy. That is, in the traditional solution, the leveling accuracy of the AGV body is low. Summary of the invention

[0005] Based on this, it is necessary to provide an automatic transport trolley inclination leveling method, system, device, computer equipment, computer readable storage medium and computer program product that can improve the leveling accuracy of the automatic transport trolley in order to solve the above-mentioned technical problems.

[0006] In a first aspect, the present application provides a method for leveling the inclination angle of an automatic transport trolley, wherein a chassis of the automatic transport trolley is equipped with a plurality of adjustment support rods, and the method comprises:

[0007] Obtain a first inclination angle and a second inclination angle of the automatic transport vehicle relative to a horizontal plane, wherein the first inclination angle is the inclination angle of the automatic transport vehicle around a first coordinate axis, and the second inclination angle is the inclination angle of the automatic transport vehicle around a second coordinate axis, and the first coordinate axis is perpendicular to the second coordinate axis;

[0008] determining the elongation of each of the adjustment support rods according to the first inclination angle and the second inclination angle;

[0009] The horizontality of the automatic transport trolley is adjusted according to the extension amounts of the respective adjustment support rods.

[0010] In one embodiment, determining the elongation of each adjustment support rod according to the first inclination angle and the second inclination angle includes:

[0011] Determining a reference adjustment rod among a plurality of adjustment support rods according to the first inclination angle and the second inclination angle;

[0012] The extension amount of each of the other adjustment support rods among the plurality of adjustment support rods is determined according to the contact position between the reference adjustment rod and the chassis.

[0013] In one embodiment, determining a reference adjustment rod among a plurality of adjustment support rods according to the first inclination angle and the second inclination angle includes:

[0014] According to the first inclination angle and the second inclination angle, the contact points between each adjusting support rod and the chassis are determined, and the adjusting support rod corresponding to the highest point among the contact points is used as the reference adjusting rod.

[0015] In one embodiment, determining the elongation of each of the other adjustment support rods among the plurality of adjustment support rods according to the contact position between the reference adjustment rod and the chassis includes:

[0016] Determine the distance between each of the adjustment support rods according to the contact position between the reference adjustment rod and the chassis and the contact position between each of the other adjustment support rods in the plurality of adjustment support rods and the chassis;

[0017] The elongation of each of the other adjustment support rods among the plurality of adjustment support rods is determined according to the first inclination angle, the second inclination angle and the distance between each of the adjustment support rods.

[0018] In one embodiment, after adjusting the level of the automatic transport vehicle according to the elongation of each adjustment support rod, the method further comprises:

[0019] Controlling the mechanical arm connected to the automatic transport trolley to perform loading and unloading tasks, and determining the loading and unloading positions of the mechanical arm;

[0020] Based on the loading and unloading position and the preset target loading and unloading position, determining the position accuracy of the robot arm in performing the loading and unloading task;

[0021] Based on the position accuracy and a preset position accuracy range, verify whether the automatic transport vehicle is leveled.

[0022] In one embodiment, after adjusting the level of the automatic transport vehicle according to the elongation of each adjustment support rod, the method further comprises:

[0023] Acquiring image data collected by a camera at the end of a robotic arm, wherein the robotic arm is connected to the automatic transport vehicle;

[0024] Determining the actual focal length of the terminal camera according to the image data;

[0025] Based on the actual focal length and the preset focal length of the terminal camera, verify whether the automatic transport vehicle is leveled.

[0026] In a second aspect, the present application further provides an automatic transport trolley tilt leveling system, the system comprising: an automatic transport trolley, a tilt sensor, a controller and a drive device, the chassis of the automatic transport trolley is equipped with a plurality of adjustment support rods, the drive device is connected to the plurality of adjustment support rods, the tilt sensor is connected to the automatic transport trolley, and the controller is respectively connected to the automatic transport trolley, the drive device and the tilt sensor;

[0027] The inclination sensor is used to obtain a first inclination angle and a second inclination angle of the automatic transport trolley relative to a horizontal plane, wherein the first inclination angle is the inclination angle of the automatic transport trolley around a first coordinate axis, and the second inclination angle is the inclination angle of the automatic transport trolley around a second coordinate axis, wherein the first coordinate axis is perpendicular to the second coordinate axis, and the first inclination angle and the second inclination angle are sent to the controller;

[0028] The controller is used to determine the elongation of each of the adjustment support rods according to the first inclination angle and the second inclination angle, and send a control instruction carrying the elongation of each of the adjustment support rods to the driving device;

[0029] The driving device is used to adjust the horizontality of the automatic transport vehicle according to the control instruction.

[0030] In a third aspect, the present application further provides an automatic transport trolley tilt leveling device, wherein a plurality of adjustment support rods are installed on the chassis of the automatic transport trolley, and the device comprises:

[0031] An angle measurement module, used to obtain a first inclination angle and a second inclination angle of the automatic transport trolley relative to a horizontal plane, wherein the first inclination angle is the inclination angle of the automatic transport trolley around a first coordinate axis, and the second inclination angle is the inclination angle of the automatic transport trolley around a second coordinate axis, and the first coordinate axis is perpendicular to the second coordinate axis;

[0032] an adjustment amount determination module, configured to determine the elongation of each adjustment support rod according to the first inclination angle and the second inclination angle;

[0033] The length adjustment module is used to adjust the horizontality of the automatic transport trolley according to the extension of each adjustment support rod.

[0034] In a fourth aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps in the above-mentioned embodiments of the automatic transport trolley inclination leveling method when executing the computer program.

[0035] In a fifth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps in the above-mentioned embodiments of the automatic transport trolley inclination leveling method are implemented.

[0036] In a sixth aspect, the present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps in the above-mentioned embodiments of the automatic transport trolley inclination leveling method.

[0037] The above-mentioned automatic transport trolley inclination leveling method, system, device, computer equipment, computer-readable storage medium and computer program product obtain the first inclination angle and the second inclination angle of the automatic transport trolley relative to the horizontal plane, and then determine the elongation of each adjustment support rod according to the first inclination angle and the second inclination angle, and adjust the horizontality of the automatic transport trolley according to the elongation of each adjustment support rod. Different from the traditional scheme, the above scheme is based on the first inclination angle and the second inclination angle of the automatic transport trolley relative to the horizontal plane, wherein the first inclination angle is the inclination angle of the automatic transport trolley around the first coordinate axis, and the second inclination angle is the inclination angle of the automatic transport trolley around the second coordinate axis, and the first coordinate axis is perpendicular to the second coordinate axis. It can accurately determine whether the automatic transport trolley needs to be leveled in three-dimensional space, as well as the elongation of the adjustment support rod, and then accurately level the automatic transport trolley by adjusting the elongation of each adjustment support rod, so that the contact points of each adjustment support rod on the chassis of the automatic transport trolley are at the same height, and the center of the automatic transport trolley is located in the plane formed by the support points of the adjustment support rods. Compared with the traditional leveling method through simple mechanical devices, the above scheme has higher leveling accuracy and can effectively solve the problem of the center of gravity tilt of the automatic transport trolley caused by uneven road surface or uneven load. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 A diagram showing an application environment of a method for adjusting the inclination angle of an automatic transport vehicle in an embodiment;

[0040] Figure 2 A schematic diagram of a process of an automatic transport trolley tilt leveling method in one embodiment;

[0041] Figure 3 A schematic diagram of a process for controlling and adjusting the extension of a support rod in one embodiment;

[0042] Figure 4 A schematic diagram of a process for verifying whether the inclination angle of the automatic transport trolley is leveled in one embodiment;

[0043] Figure 5 It is a schematic diagram of a flow chart of a method for adjusting the inclination angle of an automatic transport trolley in a detailed embodiment;

[0044] Figure 6 It is a structural block diagram of an automatic transport trolley tilt leveling system in one embodiment;

[0045] Figure 7 It is a structural block diagram of an automatic transport trolley tilt leveling device in one embodiment;

[0046] Figure 8 It is a structural block diagram of an automatic transport trolley tilt leveling device in a detailed embodiment;

[0047] FIG. 9 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0049] The automatic transport vehicle tilt leveling method provided in the embodiment of the present application can be applied to Figure 1In the application environment shown. Among them, the automatic transport trolley 102 communicates with the controller 104 through the network. Specifically, the chassis of the automatic transport trolley 102 is equipped with multiple adjustment support rods. When the automatic transport trolley 102 moves, the inclination angle of the automatic transport trolley 102 relative to the horizontal plane can be collected in real time by the inclination sensor connected to the automatic transport trolley 102, including the first inclination angle of the automatic transport trolley around the first coordinate axis and the second inclination angle of the automatic transport trolley around the second coordinate axis, and the first inclination angle and the second inclination angle are uploaded to the controller 104 in real time. The controller 104 determines the elongation of each adjustment support rod according to the first inclination angle and the second inclination angle, and sends a control instruction carrying the elongation of each adjustment support rod to the drive device connected to each adjustment support rod, so that the drive device adjusts the length of the adjustment support rod until the automatic transport trolley is in a leveling state.

[0050] In an exemplary embodiment, Figure 2 As shown, a method for adjusting the tilt angle of an automatic transport trolley is provided. Figure 1 The controller 104 in the embodiment is taken as an example to illustrate, and the following steps are included:

[0051] S100, obtaining a first inclination angle and a second inclination angle of the automatic transport vehicle relative to a horizontal plane.

[0052] Among them, in addition to being applied to automatic transport carts, this solution can also be applied to AGV bodies, cargo carts or other moving objects. In this embodiment, the automatic transport cart (hereinafter referred to as the "car body") is taken as the AGV body of a composite robot as an example. The composite robot includes a car body and a mechanical arm. During the movement of the car body, if the ground is uneven or the load of the composite robot itself is uneven, the center of gravity of the car body may be tilted, thereby causing the position of the mechanical arm to pick up and put materials to change, affecting the accuracy of picking up materials. Therefore, it is necessary to level the car body in real time during its movement. Adjusting the first inclination angle of the support rod is to adjust the inclination angle of the support rod automatic transport cart around the first coordinate axis, and adjusting the second inclination angle of the support rod is to adjust the inclination angle of the support rod automatic transport cart around the second coordinate axis. The first coordinate axis of the adjustment support rod is perpendicular to the second coordinate axis of the adjustment support rod, which can characterize the degree of inclination of the car body relative to the horizontal plane in three-dimensional space. The horizontal plane refers to a plane perpendicular to the direction of gravity.

[0053] Specifically, a sensor for measuring the tilt angle, such as a dynamic tilt sensor, can be installed on the vehicle body. Other devices for determining whether the vehicle body is tilted can also be installed, such as a gyroscope, an inertial measurement unit sensor, and a high-precision level ruler. The dynamic tilt sensor can be used to perform high-frequency sampling during the movement of the vehicle body, thereby collecting the tilt angle of the vehicle body relative to the horizontal plane in real time.

[0054] S200: Determine the extension amount of each adjustment support rod according to the first inclination angle and the second inclination angle.

[0055] Among them, there can be multiple adjustable support rods. Taking the number of adjustable support rods as three as an example, the adjustable support rods form a three-point support structure on the chassis of the vehicle body, which can help the vehicle body maintain balance. The length of the adjustable support rod can be adjusted, so as to correct and level the inclination angle of the vehicle body relative to the horizontal plane. Specifically, according to the principles of geometry and trigonometric functions, based on the inclination angle collected by the dynamic tilt sensor, the controller can calculate the length adjustment amount of each adjustable support rod. It should be noted that considering that three points determine a plane, even if the ground is uneven, the use of a three-point support structure can also help the vehicle body to be in a relatively stable position, providing a basis for subsequent leveling. It should be noted that the three-point support structure can also be composed of three main support rods and several auxiliary support rods. By adjusting the length of the three main support rods, the vehicle body can be in a leveling state, and several auxiliary support rods can share the pressure on the main support rods.

[0056] S300, adjusts the levelness of the automatic transport trolley according to the extension of each adjustment support rod.

[0057] Continuing with the above steps, taking the case where the number of adjustable support rods is three as an example, the controller receives the first inclination angle and the second inclination angle sent by the inclination sensor, and combines the principles of geometry and trigonometric functions to determine the elongation of the three adjustable support rods. Furthermore, through a driving device connected to the adjustable support rod, such as a stepper motor or a servo motor, the length of each adjustable support rod can be adjusted according to the calculated elongation until the first inclination angle and the second inclination angle are 0 or the first inclination angle and the second inclination angle meet the preset error range, thereby achieving leveling of the vehicle body.

[0058] The above-mentioned automatic transport trolley tilt leveling method obtains the first tilt angle and the second tilt angle of the automatic transport trolley relative to the horizontal plane, wherein the first tilt angle is the tilt angle of the automatic transport trolley around the first coordinate axis, and the second tilt angle is the tilt angle of the automatic transport trolley around the second coordinate axis, and the first coordinate axis is perpendicular to the second coordinate axis, and then determines the elongation of each adjustment support rod according to the first tilt angle and the second tilt angle, and adjusts the horizontality of the automatic transport trolley according to the elongation of each adjustment support rod. Different from the traditional scheme, the above-mentioned scheme is based on the first tilt angle and the second tilt angle of the automatic transport trolley relative to the horizontal plane, which can directly and accurately reflect whether the automatic transport trolley needs to be leveled and the degree of adjustment in three-dimensional space, and then by adjusting the elongation of each adjustment support rod, the contact points of each adjustment support rod on the chassis of the automatic transport trolley can be at the same height, and the center of the automatic transport trolley after final adjustment is located in the plane formed by the support points of the adjustment support rods, which can effectively solve the problem of the center of gravity tilt of the automatic transport trolley caused by uneven road surface or uneven load, thereby improving the leveling accuracy of the automatic transport trolley.

[0059] In an exemplary embodiment, Figure 3 As shown, S200 includes:

[0060] S210: Determine a reference adjustment rod among a plurality of adjustment support rods according to the first inclination angle and the second inclination angle.

[0061] S220: Determine the elongation of each of the other adjustment support rods among the plurality of adjustment support rods according to the contact position between the reference adjustment rod and the chassis.

[0062] S230, controlling each of the plurality of adjusting support rods to extend according to the extension amount of each of the other adjusting support rods.

[0063] The reference adjustment rod refers to an adjustment support rod that does not need to be adjusted in length, which is selected from all the adjustment support rods. The other adjustment support rods are based on the reference adjustment rod and are adaptively adjusted in length, so as to balance the vehicle body. In one embodiment, the specific method for determining the reference adjustment rod among the multiple adjustment support rods according to the first inclination angle of the chassis and the second inclination angle of the chassis can be: according to the first inclination angle of the chassis and the second inclination angle of the chassis, the contact points between each adjustment support rod and the chassis are determined, and the adjustment support rod corresponding to the highest point among the contact points is used as the reference adjustment rod. In other words, the adjustment support rod corresponding to the highest point among the contact points between each adjustment support rod and the chassis is used as the reference adjustment rod, so that the other adjustment support rods only need to be adaptively extended.

[0064] Exemplarily, the first coordinate axis is the X-axis, and the first inclination angle is the inclination angle around the X-axis when the vehicle body is in a tilted state; the second coordinate axis is the Y-axis, and the second inclination angle is the inclination angle around the Y-axis when the vehicle body is in a tilted state. Taking the driving device as a servo motor as an example, when the vehicle body is in a tilted state, the controller can adjust the adjustment support rod twice through the servo motor according to the contact position between the reference adjustment rod and the second inclination chassis. The first adjustment can be to extend the length of the adjustment support rod through the servo motor, so that the first inclination angle of the vehicle body around the X-axis is 0, or the adjusted first inclination angle is within a preset error range; similarly, the second adjustment can be to control the servo motor to extend the length of the adjustment support rod, so that the second inclination angle of the vehicle body around the Y-axis is 0 or the adjusted second inclination angle is within a preset error range.

[0065] In addition, in the process of adjusting the length of the adjustable support rod, the inclination sensor can continuously collect the inclination angle of the vehicle body and feed it back to the controller in real time. The controller continuously adjusts the extension of the adjustable support rod through the servo motor until the first inclination angle and the second inclination angle meet the preset requirements. The adjustment process can be a dynamic adjustment process until the vehicle body meets the leveling requirements. For example, the adjustable support rod can be initially adjusted by the servo motor, and then further fine-tuned, and during the fine-tuning process, the inclination sensor can detect very small angle changes of the vehicle body. After fine-tuning, when the inclination angles fed back by the inclination sensor are close to 0, or only change within a preset small range, it indicates that the vehicle body is already in a leveling state, and the adjustment process is over.

[0066] In this embodiment, by first determining the reference adjustment rod and adjusting the adjustment support rod twice based on the contact position between the reference adjustment rod and the chassis, the vehicle body tilt caused by the tilt angle of the vehicle body around two mutually perpendicular coordinate axes can be offset, and during the adjustment process, coarse adjustment can be performed first and then fine adjustment can be performed, so as to more accurately adjust the length of the adjustment support rod, so that the vehicle body can always remain in a leveled state during the movement, thereby improving the stability and accuracy of related operations.

[0067] In an exemplary embodiment, S220 includes: determining the distance between each adjustment support rod according to the contact position between the reference adjustment rod and the chassis and the contact position between each other adjustment support rod in the plurality of adjustment support rods and the chassis. Determining the elongation of each other adjustment support rod in the plurality of adjustment support rods according to the first inclination angle, the second inclination angle and the distance between each adjustment support rod.

[0068] Specifically, based on the contact position between the reference adjustment rod and the chassis and the contact position between each of the multiple adjustment support rods and the chassis, the distance between the contact points of each adjustment support rod can be determined. Combined with the first inclination angle and the second inclination angle of the vehicle body relative to the horizontal plane, it is equivalent to knowing a hypotenuse and an acute angle of a right triangle, so that the elongation that needs to be adjusted for each adjustment support rod in the vertical direction can be calculated.

[0069] In addition, the elongation of the adjustable support rod can be determined according to the geometrical dimension parameters of the automatic transport vehicle, the geometrical dimension parameters, the first inclination angle and the second inclination angle. The geometrical dimension parameters refer to the parameters such as the appearance size and the appearance length of the automatic transport vehicle. For example, if the vehicle body is approximated as a rectangular parallelepiped, the geometrical dimension parameters refer to the length and width of the vehicle body. The geometrical dimension parameters can be obtained when the vehicle body is manufactured, or can be directly measured using a measuring tool. Based on the geometrical dimension parameters of the vehicle body and the first inclination angle and the second inclination angle measured in real time, the elongation of the adjustable support rod can be accurately calculated.

[0070] In this embodiment, the distance between the contact points of each adjusting support rod can be determined based on the contact position between the reference adjusting rod and the chassis and the contact position between each of the multiple adjusting support rods and the chassis. Combined with the first inclination angle and the second inclination angle of the vehicle body relative to the horizontal plane collected in real time, the elongation of each adjusting support rod can be accurately calculated, so that the servo motor can accurately adjust the length of each adjusting support rod, thereby allowing the vehicle body to be automatically leveled in real time in an uneven environment, thereby improving the stability of the vehicle body when performing tasks and the efficiency of task execution.

[0071] In an exemplary embodiment, Figure 4 As shown, the method also includes:

[0072] S410, controlling the robotic arm connected to the automatic transport trolley to perform loading and unloading tasks, and determining the loading and unloading positions of the robotic arm.

[0073] S420, based on the loading and unloading positions and the preset target loading and unloading positions, determine the position accuracy of the robot arm in performing the loading and unloading tasks.

[0074] S430, verifying whether the automatic transport vehicle is leveled according to the position accuracy and a preset position accuracy range.

[0075] Following the above embodiment, the mechanical arm is connected to the vehicle body to form a composite robot. The mechanical arm can control the movement of its joints by a servo motor or a stepper motor, so that the mechanical arm moves to a preset loading and unloading position. For the mechanical arm, the position and posture of the vehicle body serve as a reference coordinate system. Therefore, when the vehicle body tilts, the operating accuracy of the mechanical arm will also be affected. Therefore, the position accuracy of the mechanical arm when performing the task can be detected by controlling the mechanical arm to perform the loading and unloading task, and the position accuracy can be used as a basis for measuring whether the vehicle body is leveled.

[0076] For example, the controller may send a control instruction to the composite robot, and the servo motor connected to the mechanical arm controls the mechanical arm to perform the loading and unloading task, and the actual loading and unloading position of the mechanical arm may be measured by a related sensor, such as a laser ranging sensor or a visual sensor. Further, the loading and unloading position actually measured is compared with the preset target loading and unloading position to determine the position error, which may be the coordinate error of the coordinates of the loading and unloading position and the coordinates of the target loading and unloading position in three directions in the preset three-dimensional coordinate system, and the position accuracy of the mechanical arm in performing the loading and unloading task is determined. By testing the stability of the vehicle body in advance, it can be known that the mechanical arm will cause the vehicle body to shake during high-speed movement, deviating from the leveling position by 0.01mm to 0.13mm. When the mechanical arm is in a static state, the error caused by shaking is 0.01mm to 0.05mm, and the above errors are all within the controllable design range. Therefore, if the calculated position accuracy is within the preset position accuracy range, it can be determined that the vehicle body is in a leveling state. If the position accuracy exceeds the preset position accuracy range, the controller further calculates the length adjustment amount of the adjusting support rod on this basis, and sends corresponding control instructions to the servo motor connected to the adjusting support rod, thereby adjusting the length of the adjusting support rod again until the position accuracy is within the preset position accuracy range.

[0077] In this embodiment, by controlling the robotic arm to perform loading and unloading tasks and verifying whether the position accuracy of the loading and unloading positions is within a preset position accuracy range, it is possible to simply and efficiently verify whether the vehicle body is leveled. If it is determined that the vehicle body is not leveled, the length of the support rod can be adjusted again through the feedback mechanism, thereby improving the working efficiency and reliability of the composite robot composed of a vehicle body and a robotic arm.

[0078] In an exemplary embodiment, Figure 4 As shown, the method also includes:

[0079] S510, acquiring image data collected by a terminal camera of the robotic arm, the robotic arm is connected to the automatic transport trolley, and determining the actual focal length of the terminal camera based on the image data.

[0080] S520, based on the actual focal length and the preset focal length of the terminal camera, verify whether the automatic transport trolley is leveled.

[0081] Following the above embodiment, the mechanical arm is connected to the vehicle body to form a composite robot, and the controller can take pictures of the camera (i.e., the end camera) installed at the end of the mechanical arm to collect image data. Since when the vehicle body tilts, the vertical normal of the end camera may tilt, and the focal length of the camera may change position, thereby affecting the imaging effect of the camera, the imaging effect and focal length of the end camera can reflect whether the vehicle body is leveled.

[0082] For example, the controller may send an image acquisition instruction to the terminal camera, and the terminal camera acquires and uploads image data to the controller. The controller analyzes the preset calibration points in the image data, such as lines, marks or reference objects, through an image processing algorithm, and determines the actual focal length of the terminal camera based on the relative position and relative size of the preset calibration points. Further, the actual focal length of the terminal camera is compared with the preset focal length. If the error between the two is within the preset error range, it can be considered that the vehicle body is in a leveling state. Otherwise, the length of the support rod will be further adjusted until the error is within the preset error range.

[0083] In this embodiment, the actual focal length of the terminal camera can be calculated through the image data collected by the terminal camera, and the leveling of the vehicle body can be verified by comparing it with the preset focal length. The above scheme provides a vision-based automated leveling verification method, which is suitable for application scenarios that require high-precision leveling and real-time detection. Through real-time detection and automatic adjustment of the vehicle body, the vehicle body can always be in a leveled state.

[0084] In order to make a clearer description of the automatic transport trolley inclination leveling method provided by the present application, the following is a specific embodiment and the attached Figure 5 To illustrate, this specific embodiment includes the following steps:

[0085] S501, obtaining a first inclination angle and a second inclination angle of the automatic transport trolley relative to a horizontal plane, determining contact points between each adjustment support rod and the chassis according to the first inclination angle and the second inclination angle, and taking the adjustment support rod corresponding to the highest point among the contact points as a reference adjustment rod.

[0086] S502: Determine the distance between each adjusting support rod according to the contact position between the reference adjusting rod and the chassis and the contact position between each other adjusting support rod among the plurality of adjusting support rods and the chassis.

[0087] S503, determining the elongation of each other adjustment support rod among the multiple adjustment support rods according to the first inclination angle, the second inclination angle and the distance between each adjustment support rod, and controlling each other of the multiple adjustment support rods to extend according to the elongation of each other adjustment support rod.

[0088] S504, controls the robotic arm connected to the automatic transport trolley to perform loading and unloading tasks, determines the loading and unloading position of the robotic arm, determines the position accuracy of the robotic arm in performing the loading and unloading tasks based on the loading and unloading position and the preset target loading and unloading position, and verifies whether the automatic transport trolley is leveled according to the position accuracy and the preset position accuracy range.

[0089] S505, obtaining image data collected by the end camera of the robotic arm, the robotic arm is connected to the automatic transport trolley, and determining the actual focal length of the end camera based on the image data. Based on the actual focal length and the preset focal length of the end camera, verifying whether the automatic transport trolley is leveled.

[0090] In an exemplary embodiment, Figure 6 As shown, an automatic transport trolley tilt leveling system 600 is provided, the system comprising: an automatic transport trolley 610, a tilt sensor 620, a controller 630, and a driving device 640, a chassis of the automatic transport trolley 610 is installed with a plurality of adjustment support rods, the driving device 640 is connected to the plurality of adjustment support rods, the tilt sensor 620 is connected to the automatic transport trolley 610, and the controller 630 is connected to the automatic transport trolley 610, the driving device 640 and the tilt sensor 620;

[0091] The inclination sensor 620 is used to obtain a first inclination angle and a second inclination angle of the automatic transport vehicle 610 relative to a horizontal plane, wherein the first inclination angle is the inclination angle of the automatic transport vehicle 610 around a first coordinate axis, and the second inclination angle is the inclination angle of the automatic transport vehicle 610 around a second coordinate axis, wherein the first coordinate axis is perpendicular to the second coordinate axis, and send the first inclination angle and the second inclination angle to the controller 640;

[0092] The controller 630 is used to determine the elongation of each adjusting support rod according to the first inclination angle and the second inclination angle, and send a control instruction carrying the elongation of each adjusting support rod to the driving device 640;

[0093] The driving device 640 is used to adjust the horizontality of the automatic transport vehicle 610 according to the extension of each adjustment support rod.

[0094] For example, three adjustment support rods are installed on the chassis of the automatic transport trolley 610, and the three adjustment support rods are distributed in an isosceles triangle on the chassis. The inclination sensor 620 is installed in the central area of ​​the isosceles triangle. The end of the adjustment support rod in contact with the ground is also equipped with a universal foot cup, so that it can rotate freely in all directions when subjected to force, so as to better adapt to uneven or inclined ground environments and increase the support stability of the horizontal support base. The driving device 640 may include but is not limited to a stepper motor and a servo motor. The automatic transport trolley tilt leveling system 600 may also include a limit switch, a screw and a reducer, wherein the limit switch may be installed at both ends of the adjustment support rod or other key positions. For example, when the adjustment support rod is adjusted to the extreme position, the limit switch is triggered to prevent the adjustment support rod from being excessively extended or shortened; the screw can rotate precisely when adjusting the length of the adjustment support rod, thereby achieving precise adjustment of the length of the adjustment support rod. Taking the driving device 640 as a servo motor as an example, after the servo motor receives the control instruction sent by the controller 640, it drives the screw and the screw is engaged with the nut to convert the rotation output of the servo motor into the linear motion of the adjustment support rod, thereby achieving the adjustment of the length of the adjustment support rod. In addition, the reducer in the automatic transport trolley tilt leveling system 600 can convert the high-speed rotating servo motor output into a low-speed and high-torque output when the servo motor drives the screw, thereby enabling the servo motor to have more precise control capabilities.

[0095] Exemplarily, the inclination sensor 620 can be a dynamic inclination sensor, which collects in real time the first inclination angle and the second inclination angle of the automatic transport trolley 610 relative to the horizontal plane when the automatic transport trolley 610 is moving, and sends the first inclination angle and the second inclination angle to the controller 630. The controller 630 can determine the length adjustment amount of the adjustment support rod based on the first inclination angle and the second inclination angle, and then send a control instruction carrying the length adjustment amount to the drive device 640 to instruct the drive device 640 to adjust the length of the adjustment support rod according to the control instruction. In addition, the drive device 640 is also provided with a feedback mechanism, which feeds back the length of the adjustment support rod to the controller 630 after the adjustment is completed.

[0096] In the present embodiment, the automatic transport trolley inclination and leveling system 600 works together with various components. The inclination sensor 620 monitors the inclination angle of the automatic transport trolley 610 in real time. The controller 630 can accurately calculate the length adjustment amount of the adjustment support rod and perform corresponding adjustments to the adjustment support rod through the drive device 640, so that the automatic transport trolley 610 is always in a leveling state, thereby realizing accurate and automated automatic transport trolley leveling operation.

[0097] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0098] Based on the same inventive concept, the embodiment of the present application also provides an automatic transport trolley tilt leveling device for implementing the automatic transport trolley tilt leveling method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more embodiments of the automatic transport trolley tilt leveling device provided below can refer to the limitations of the automatic transport trolley tilt leveling method above, and will not be repeated here.

[0099] In an exemplary embodiment, Figure 7 As shown, an automatic transport trolley tilt leveling device 700 is provided, comprising: an angle measurement module 710, an adjustment amount determination module 720 and a length adjustment module 730, wherein:

[0100] Angle measurement module 710 is used to obtain the first inclination angle and the second inclination angle of the automatic transport vehicle relative to the horizontal plane. The first inclination angle is the inclination angle of the automatic transport vehicle around the first coordinate axis, and the second inclination angle is the inclination angle of the automatic transport vehicle around the second coordinate axis. The first coordinate axis is perpendicular to the second coordinate axis.

[0101] The adjustment amount determination module 720 is used to determine the extension amount of each adjustment support rod according to the first inclination angle and the second inclination angle.

[0102] The length adjustment module 730 is used to adjust the horizontality of the automatic transport vehicle according to the extension of each adjustment support rod.

[0103] In an exemplary embodiment, the adjustment amount determination module 720 is also used to determine a reference adjustment rod among multiple adjustment support rods based on the first inclination angle and the second inclination angle, determine the elongation of each other adjustment support rod among the multiple adjustment support rods based on the contact position of the reference adjustment rod with the chassis, and control each other adjustment support rod among the multiple adjustment support rods to extend based on the elongation of each other adjustment support rod.

[0104] In an exemplary embodiment, the adjustment amount determination module 720 is further used to determine the contact points between each adjustment support rod and the chassis according to the first inclination angle and the second inclination angle, and to use the adjustment support rod corresponding to the highest point among the contact points as the reference adjustment rod.

[0105] In an exemplary embodiment, the adjustment amount determination module 720 is also used to determine the distance between each adjustment support rod based on the contact position between the reference adjustment rod and the chassis and the contact position between each other adjustment support rod among the multiple adjustment support rods and the chassis, and to determine the elongation of each other adjustment support rod among the multiple adjustment support rods based on the first inclination angle, the second inclination angle and the distance between each adjustment support rod.

[0106] In an exemplary embodiment, Figure 8 As shown, the automatic transport trolley inclination leveling device 700 also includes a first leveling verification module 740, which is used to control the robotic arm connected to the automatic transport trolley to perform loading and unloading tasks, determine the loading and unloading position of the robotic arm, and determine the position accuracy of the robotic arm in performing the loading and unloading tasks based on the loading and unloading position and the preset target loading and unloading position, and verify whether the automatic transport trolley is leveled according to the position accuracy and the preset position accuracy range.

[0107] In an exemplary embodiment, Figure 8 As shown, the automatic transport trolley inclination leveling device 700 also includes a second leveling verification module 750, which is used to obtain image data collected by the end camera of the robotic arm. The robotic arm is connected to the automatic transport trolley, and the actual focal length of the end camera is determined according to the image data. Based on the actual focal length and the preset focal length of the end camera, it is verified whether the automatic transport trolley is leveled.

[0108] Each module in the above-mentioned automatic transport trolley tilt leveling device can be implemented in whole or in part by software, hardware and their combination. Each of the above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the corresponding operations of each of the above modules.

[0109] In an exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be shown in FIG9. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface is connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data such as tilt angles. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, an automatic transport trolley tilt leveling method is implemented.

[0110] Those skilled in the art will understand that the structure shown in FIG. 9 is merely a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0111] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the steps in the above-mentioned embodiments of the automatic transport trolley tilt leveling method are implemented.

[0112] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned embodiments of the automatic transport trolley inclination leveling method are implemented.

[0113] In one embodiment, a computer program product is provided, including a computer program, which, when executed by a processor, implements the steps in the above-mentioned embodiments of the automatic transport trolley tilt leveling method.

[0114] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0115] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0116] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0117] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for leveling the inclination angle of an automatic transport vehicle, characterized in that: The chassis of the automatic transport trolley is equipped with a plurality of adjustment support rods, and the method comprises: Obtain a first inclination angle and a second inclination angle of the automatic transport vehicle relative to a horizontal plane, wherein the first inclination angle is the inclination angle of the automatic transport vehicle around a first coordinate axis, and the second inclination angle is the inclination angle of the automatic transport vehicle around a second coordinate axis, and the first coordinate axis is perpendicular to the second coordinate axis; determining the elongation of each of the adjustment support rods according to the first inclination angle and the second inclination angle; The horizontality of the automatic transport trolley is adjusted according to the extension amounts of the respective adjustment support rods.

2. The method for leveling the inclination angle of the automatic transport vehicle according to claim 1, characterized in that: The step of determining the elongation of each adjusting support rod according to the first inclination angle and the second inclination angle comprises: Determining a reference adjustment rod among a plurality of adjustment support rods according to the first inclination angle and the second inclination angle; The extension amount of each of the other adjustment support rods among the plurality of adjustment support rods is determined according to the contact position between the reference adjustment rod and the chassis.

3. The method for leveling the inclination angle of the automatic transport vehicle according to claim 2, characterized in that: The step of determining a reference adjustment rod among a plurality of adjustment support rods according to the first inclination angle and the second inclination angle comprises: According to the first inclination angle and the second inclination angle, the contact points between each adjusting support rod and the chassis are determined, and the adjusting support rod corresponding to the highest point among the contact points is used as the reference adjusting rod.

4. The method for leveling the inclination angle of the automatic transport vehicle according to claim 2, characterized in that: Determining the elongation of each of the other adjustment support rods among the plurality of adjustment support rods according to the contact position between the reference adjustment rod and the chassis comprises: Determine the distance between each of the adjustment support rods according to the contact position between the reference adjustment rod and the chassis and the contact position between each of the other adjustment support rods in the plurality of adjustment support rods and the chassis; The elongation of each of the other adjustment support rods among the plurality of adjustment support rods is determined according to the first inclination angle, the second inclination angle and the distance between each of the adjustment support rods.

5. The method according to any one of claims 1 to 4, characterized in that: After adjusting the level of the automatic transport vehicle according to the elongation of each adjustment support rod, the method further includes: Controlling the mechanical arm connected to the automatic transport trolley to perform loading and unloading tasks, and determining the loading and unloading positions of the mechanical arm; Based on the loading and unloading position and the preset target loading and unloading position, determining the position accuracy of the robot arm in performing the loading and unloading task; Based on the position accuracy and a preset position accuracy range, verify whether the automatic transport vehicle is leveled.

6. The method according to any one of claims 1 to 4, characterized in that: After adjusting the level of the automatic transport vehicle according to the elongation of each adjustment support rod, the method further includes: Acquiring image data collected by a camera at the end of a robotic arm, wherein the robotic arm is connected to the automatic transport vehicle; Determining the actual focal length of the terminal camera according to the image data; Based on the actual focal length and the preset focal length of the terminal camera, verify whether the automatic transport vehicle is leveled.

7. An automatic transport trolley tilt leveling system, characterized in that: The system comprises: an automatic transport trolley, an inclination sensor, a controller and a driving device, wherein a plurality of adjustment support rods are installed on the chassis of the automatic transport trolley, the driving device is connected to the plurality of adjustment support rods, the inclination sensor is connected to the automatic transport trolley, and the controller is respectively connected to the automatic transport trolley, the driving device and the inclination sensor; The inclination sensor is used to obtain a first inclination angle and a second inclination angle of the automatic transport trolley relative to a horizontal plane, wherein the first inclination angle is the inclination angle of the automatic transport trolley around a first coordinate axis, and the second inclination angle is the inclination angle of the automatic transport trolley around a second coordinate axis, wherein the first coordinate axis is perpendicular to the second coordinate axis, and the first inclination angle and the second inclination angle are sent to the controller; The controller is used to determine the elongation of each of the adjustment support rods according to the first inclination angle and the second inclination angle, and send a control instruction carrying the elongation of each of the adjustment support rods to the driving device; The driving device is used to adjust the horizontality of the automatic transport vehicle according to the control instruction.

8. An automatic transport trolley tilt leveling device, characterized in that: The chassis of the automatic transport trolley is equipped with a plurality of adjustment support rods, and the device comprises: An angle measurement module, used to obtain a first inclination angle and a second inclination angle of the automatic transport trolley relative to a horizontal plane, wherein the first inclination angle is the inclination angle of the automatic transport trolley around a first coordinate axis, and the second inclination angle is the inclination angle of the automatic transport trolley around a second coordinate axis, and the first coordinate axis is perpendicular to the second coordinate axis; an adjustment amount determination module, configured to determine the elongation of each adjustment support rod according to the first inclination angle and the second inclination angle; The length adjustment module is used to adjust the horizontality of the automatic transport trolley according to the extension of each adjustment support rod.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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