A method, apparatus and electronic device for cargo placement based on AGV

Abstract

This application discloses a method, apparatus, and electronic device for placing goods using an AGV, to improve the accuracy of goods placement by the AGV. The method includes: determining, based on a captured image, the horizontal distance between the AGV and a first reference line, and a first angle between the AGV and the first reference line; wherein the captured image is an image captured by an image acquisition device; determining whether the horizontal distance is less than a first threshold and whether the first angle is less than a second threshold; if so, controlling the AGV to enter a correction area until the distance between the AGV and a stop indicator in the ground markings is less than a third threshold, and placing the goods in a target area within the correction area; wherein the correction area includes the ground markings.

Description

Technical Field

[0001] This application relates to the field of automated positioning technology, and in particular to a cargo placement method, apparatus and electronic device based on AGV. Background Technology

[0002] AGV (Automated Guided Vehicle) is a transport vehicle equipped with electromagnetic or optical automatic guidance devices, capable of moving along a predetermined guide path to transfer goods. AGVs are characterized by wheeled movement, offering advantages over walking or crawling robots in terms of speed and efficiency.

[0003] Currently, AGVs mainly determine the target location by using lidar and marking the target location on a preset map to determine the route from the current AGV location to the target location, thereby completing the task of automatically guiding goods to the target location. The positioning principle of lidar is to determine the target location by combining the preset map and the reflected signal received after emitting the detection signal (laser beam). However, the following situations are prone to occur when using lidar: (1) The laser is affected by other objects during the reflection, causing the lidar to receive the reflected laser after the influence, resulting in positioning errors. (2) When the environment changes, the preset map cannot be updated in time, resulting in route planning errors, which prevents the goods from being accurately transported to the target location. (3) The target location determined by lidar based on the preset map is an absolute location. When the preset map covers a large area, the accuracy of determining the target location and planning the route based on the absolute location is prone to low accuracy, that is, it can only determine the approximate area of ​​the target location. Therefore, in the existing technology, especially when facing multiple AGVs arranged in sequence to transport goods and place the goods to the target location, the AGV's placement of goods at the target location by using lidar has the problem of low placement accuracy. Summary of the Invention

[0004] This application provides a method, apparatus, and electronic device for placing goods based on AGVs, in order to improve the accuracy of the placement of goods by AGVs.

[0005] In a first aspect, this application provides a cargo placement method based on an AGV, wherein the AGV is equipped with an image acquisition device, and the method includes:

[0006] Based on the acquired images, the horizontal distance between the AGV and the first reference line, and the first angle between the AGV and the first reference line are determined; wherein, the acquired images are images acquired by the image acquisition device;

[0007] Determine whether the horizontal distance is less than a first threshold and whether the first angle is less than a second threshold;

[0008] If so, the AGV is controlled to enter the correction area until the distance between the AGV and the stop indicator in the ground indicator is less than a third threshold, and the goods are placed in the target area of ​​the correction area; wherein, the correction area includes the ground indicator.

[0009] The method in the above-described embodiments, by acquiring images, determines that the horizontal distance and first angle of the AGV meet the corresponding thresholds before the AGV enters the correction area, which includes the cargo placement position. Only then is the AGV controlled to enter the correction area, and a stop indicator is used to ensure that the AGV reaches the destination to place the cargo. In other words, in the above-described embodiments, after determining that the parameters (i.e., horizontal distance and first angle) meet the corresponding thresholds, the AGV is controlled to enter the correction area. After entering the correction area, the position of the AGV relative to the ground indicator, including the stop indicator, is continuously adjusted, thereby ensuring that the cargo is accurately placed in the target area. This avoids the problem of low cargo placement accuracy caused by the AGV directly placing cargo after reaching the destination in the prior art.

[0010] In one possible implementation, the ground indication marking includes a first boundary line, a second boundary line relative to the first boundary line, and the stop indication marking; the stop indication marking is adjacent to the end of the first boundary line and / or the second boundary line.

[0011] In one possible implementation, the AGV includes a first fork; the image acquisition device is positioned at a preset location below the first fork; then, before placing the goods, the method further includes:

[0012] Determine that the first fork tooth is parallel to the first boundary line;

[0013] The horizontal and vertical distances between the image acquisition device and the stop indicator mark are determined to be within a corresponding preset range, and the image acquisition device is determined to be directly above the stop indicator mark.

[0014] One possible implementation, after determining that the first fork tooth is parallel to the first boundary line, further includes:

[0015] The second distance between the first fork tooth and the first boundary line is determined to be equal to the third distance between the first fork tooth and the second boundary line.

[0016] One possible implementation, wherein determining the horizontal distance between the AGV and the first reference line, and the first angle between the AGV and the first reference line, based on the acquired image, includes:

[0017] The AGV is determined to have entered the adjustment area; wherein the adjustment area is adjacent to the correction area;

[0018] Based on the ground indicator marks in the acquired image, in the adjustment area, the extension line of the centerline of the ground indicator marks is determined as the first reference line; wherein, the centerline indicates a virtual reference line located at the midpoint between the first boundary line and the second boundary line;

[0019] In the acquired image, a position reference point and a position reference line on the AGV are determined. The distance between the position reference point and the first reference line is determined as the horizontal distance, and the angle between the position reference line and the first reference line, which is the smaller angle, is determined as the first angle.

[0020] In one possible implementation, the width of the correction area is not less than the width of the cargo-carrying device on the AGV, and not greater than the acquisition range of the image acquisition device.

[0021] Secondly, this application provides a cargo placement device based on an AGV, wherein the AGV is equipped with an image acquisition device, and the device includes:

[0022] Determining unit: used to determine the horizontal distance between the AGV and the first reference line, and the first angle between the AGV and the first reference line, based on the acquired image; wherein, the acquired image is an image acquired by the image acquisition device;

[0023] Judgment unit: used to determine whether the horizontal distance is less than a first threshold and whether the first angle is less than a second threshold;

[0024] Correction unit: If so, controls the AGV to enter the correction area until the distance between the AGV and the stop indicator in the ground indicator is less than a third threshold, and places the goods in the target area of ​​the correction area; wherein the correction area includes the ground indicator.

[0025] In one possible implementation, the ground indication marking includes a first boundary line, a second boundary line relative to the first boundary line, and the stop indication marking; the stop indication marking is adjacent to the end of the first boundary line and / or the second boundary line.

[0026] In one possible implementation, the AGV includes a first fork; the image acquisition device is positioned at a preset location below the first fork, and the device further includes a parallel unit, specifically used to determine that the first fork is parallel to the first boundary line; to determine that the horizontal and vertical distances between the image acquisition device and the stop indicator mark are within corresponding preset ranges; and to determine that the image acquisition device is located directly above the stop indicator mark.

[0027] In one possible implementation, the device further includes a distance unit, specifically configured to determine a second distance between the first fork tooth and the first boundary line, which is equal to a third distance between the first fork tooth and the second boundary line.

[0028] In one possible implementation, the determining unit is specifically used to determine that the AGV has entered an adjustment area; wherein the adjustment area is adjacent to the correction area; based on the ground indicator mark in the acquired image, in the adjustment area, the extension line of the centerline of the ground indicator mark is determined as a first reference line; wherein the centerline indicates a virtual reference line located at the midpoint between the first boundary line and the second boundary line; a position reference point and a position reference line on the AGV are determined in the acquired image, the distance between the position reference point and the first reference line is determined as the horizontal distance, and the smaller angle between the position reference line and the first reference line is determined as the first angle.

[0029] In one possible implementation, the width of the correction area is not less than the width of the cargo-carrying device on the AGV, and not greater than the acquisition range of the image acquisition device.

[0030] Thirdly, this application provides a readable storage medium, including,

[0031] memory,

[0032] The memory is used to store instructions that, when executed by a processor, cause an apparatus including the readable storage medium to perform the method as described in the first aspect and any possible implementation.

[0033] Fourthly, this application provides an electronic device, comprising:

[0034] Memory, used to store computer programs;

[0035] When a processor executes a computer program stored in the memory, it implements the method as described in the first aspect and any possible implementation. Attached Figure Description

[0036] Figure 1 A schematic flowchart illustrating an AGV-based cargo placement method provided in this application embodiment;

[0037] Figure 2 A schematic diagram of an AGV applicable to embodiments of this application;

[0038] Figure 3 A schematic diagram of the acquired image provided in the embodiments of this application, and the centerline and first reference line determined based on the acquired image;

[0039] Figure 4 A schematic diagram showing the horizontal distance and first angle of an AGV in one possible state before entering the correction area, as provided in an embodiment of this application.

[0040] Figure 5 A schematic diagram showing the horizontal distance and first angle of an AGV in one possible state before entering the correction area, as provided in an embodiment of this application.

[0041] Figure 6 A schematic diagram showing the horizontal distance and first angle of an AGV before entering the correction area in another possible state provided in the embodiments of this application;

[0042] Figure 7 This is a schematic diagram illustrating one possible state of an AGV after it stops in the calibration area, as provided in an embodiment of this application.

[0043] Figure 8 A schematic diagram of a cargo placement device based on AGV provided in this application embodiment;

[0044] Figure 9 This is a schematic diagram of a cargo placement electronic device based on AGV, provided as an embodiment of this application. Detailed Implementation

[0045] To address the issue of low positioning accuracy of AGVs in existing technologies, this application proposes an AGV-based cargo placement method: It determines whether the horizontal distance between the AGV and a first reference line is less than a first threshold, and whether the first angle between the AGV and the first reference line is less than a second threshold. If so, it is determined that accuracy pre-adjustment has been completed, and the AGV is controlled to enter a correction zone until the distance between the AGV and the stop indicator in the ground markings is less than a third threshold, at which point the cargo is placed in the target area of ​​the correction zone.

[0046] The method provided in the above embodiments, by adjusting the first angle and horizontal distance according to the first reference line before entering the calibration area, ensures that the AGV can accurately place the goods in the target area of ​​the calibration area after entering the calibration area by correcting the relative position between the AGV and the ground indicator, including the stop indicator. This effectively improves the accuracy of goods placement and avoids the final placement position of goods deviating from the target area after the AGV transports the goods. It also avoids the situation where it is difficult to adjust due to excessive deviation angle or distance after entering the calibration area without prior adjustment. Especially when multiple AGVs transport goods to the target area sequentially, the method in the above embodiments allows each AGV to accurately place the goods in the target area, thus avoiding the problem of inaccurate placement of goods by the previous AGV each time the goods are placed.

[0047] To better understand the above technical solutions, the technical solutions of this application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of this application and the specific features in the embodiments are detailed descriptions of the technical solutions of this application, rather than limitations on the technical solutions of this application. In the absence of conflict, the embodiments of this application and the technical features in the embodiments can be combined with each other.

[0048] Please refer to Figure 1 This application provides a cargo placement method based on AGV (Automated Guided Vehicle) to improve the accuracy of cargo placement by the AGV. The AGV is equipped with an image acquisition device. The specific implementation of the above-mentioned AGV-based cargo placement method is described below:

[0049] Step 101: Based on the acquired image, determine the horizontal distance between the AGV and the first reference line, and the first angle between the AGV and the first reference line.

[0050] Among them, the acquired image refers to the image acquired by the image acquisition device.

[0051] Specifically, the first reference line can be determined based on the image acquired by the image acquisition device. First, the relationship between the image acquisition device and the AGV will be described: Figure 2 This is a schematic diagram of an AGV provided for use in the embodiments of this application. Figure 2 Part (a) in the diagram is a side view of the AGV, and part (b) is a top view of the AGV. For example... Figure 2As shown in the figure, the AGV includes a first fork tooth and a second fork tooth, which are used to cooperate with each other to carry goods or a cargo-carrying device. Therefore, an image acquisition device can be arranged at a preset position below the first fork tooth of the AGV. Preferably, this preset position is the end of the first fork tooth, and the image acquisition device is installed obliquely to ensure that all AGVs can acquire the foregoing acquisition images from a unified perspective, thereby facilitating the acquisition of information on the acquisition images. At the same time, the oblique installation method can ensure a large viewing range of the image acquisition device and avoid the image acquisition device colliding with the ground and damaging the lens when the first fork tooth descends to place goods.

[0052] In the embodiment of the present application, the position where the goods are finally placed is used as the target area, and this target area can be consistent with the bottom surface of the goods or the device for carrying the goods. The foregoing device for carrying the goods can be a "川"-shaped pallet.

[0053] Further, this target area is located within a calibration area, and this calibration area can be used for the AGV to calibrate the placement position of the goods before determining that the goods are about to be placed.

[0054] The following provides two embodiments for combining the calibration area to determine the first reference line to obtain the above horizontal distance and the first angle.

[0055] Embodiment 1:

[0056] Identify the first reference line from the acquisition image. Specifically, the first reference line can be set as a reminder mark on the road that the AGV must pass through when carrying the goods to the target position. In fact, this first reference line does not need to be set on the entire road that must be passed through, but only needs to be set before the calibration area. When the first reference line appears in the acquisition image, the position reference point and the position reference line on the AGV can be determined, and then the horizontal distance between the AGV and the first reference line, as well as the first angle between the AGV and the first reference line, can be determined.

[0057] In the embodiment of the present application, the end of the first fork tooth of the AGV or the installation position of the image acquisition device is used as the position reference point, and the central axis of the first fork tooth is used as the position reference line.

[0058] Embodiment 2:

[0059] Determine the first reference line based on the ground indication mark on the acquisition image. In this embodiment, the first reference line is not a mark on the road that the AGV must pass through when carrying the goods to the target position, but a virtual reference line determined based on the acquisition image. Specifically, determine the entry adjustment area before entering the calibration area. Preferably, this adjustment area is adjacent to the calibration area, and the shape and area of the adjustment area can be determined according to the bottom surface of the pallet on the AGV. When it is determined that the AGV enters the adjustment area, the first reference line can be determined based on the ground indication mark. Specifically, Figure 3This is a schematic diagram of an image acquisition method applicable to an embodiment of this application, where the AGV is located in the adjustment area. For example... Figure 3 As shown, the ground markings include a first boundary line L1, a second boundary line R1 relative to the first boundary line, and stop markings (H1 and / or H2). The stop marking H1 is connected to the first boundary line L1, and / or the stop marking H2 is connected to the second boundary line R1. That is, in this embodiment, at least one such marking may be provided. Figure 3 The stop indicator marks (H1 and / or H2) are shown. Therefore, when the distance between the AGV front end and the starting point of the ground indicator mark is less than a preset threshold, the AGV can enter the adjustment area, and then the centerline located between the first boundary line L1 and the second boundary line R1 of the ground indicator mark can be determined. This centerline is a virtual reference line determined based on the ground indicator mark in the acquired image. Further, the extension line of the centerline can be used as the first reference line. The aforementioned preset distance is preferably the length of the first fork tooth. Figure 4 , Figure 5 and Figure 6 This diagram illustrates the horizontal distance and first angle of the AGV relative to the first reference line in three possible AGV states before the AGV enters the calibration area. At this point, all AGVs are within the adjustment area. (Combined with...) Figures 4-6 Taking the end of the first fork tooth as the position reference point and the axis of the first fork tooth as the position reference line; then the first distance can be the position reference point, that is, the distance D between the end of the first fork tooth and the first reference line; the first angle can be the position reference line, that is, the smaller angle (acute angle) α after the intersection of the straight line containing the axis and the straight line containing the first reference line. Specifically, it can be... Figure 6 In the ideal state after the AGV enters the adjustment area, the axis of the AGV in this state coincides with and is parallel to the first reference line. At this time, the first distance D is 0 and the first angle is also 0.

[0060] It should be noted that the dimensions of the aforementioned adjustment and correction areas need to be compatible with the acquisition range of the image acquisition device. In particular, the correction area should be roughly the same size as the width of the cargo-carrying device on the AGV, i.e., the pallet. That is, the width of the correction area should not be less than the width of the cargo-carrying device on the AGV, and should not be greater than the acquisition range of the image acquisition device.

[0061] Step 102: Determine whether the horizontal distance is less than the first threshold and whether the first angle is less than the second threshold.

[0062] Based on the horizontal distance and the first angle determined in step 101, it can be determined whether the horizontal distance is less than the first threshold and whether the first angle is less than the second threshold, that is, whether the state of the AGV before entering the correction area is close to that of the first threshold. Figure 6The state shown is such that the first distance and the first angle are less than the corresponding first threshold and second threshold, respectively.

[0063] If the horizontal distance is not less than the first threshold and / or the first angle is not less than the second threshold, then adjust the AGV direction and angle so that the horizontal distance is less than the first threshold and the first angle is less than the second threshold. If the horizontal distance is less than the first threshold and the first angle is less than the second threshold, then proceed to step 103.

[0064] Step 103: If yes, control the AGV to enter the calibration area until the distance between the AGV and the stop indicator in the ground indicator is less than the third threshold, and place the goods in the target area of ​​the calibration area.

[0065] The correction area includes the ground indicator markers.

[0066] Once the AGV enters the calibration area, the stop indicator is actually used to determine that the AGV has reached the target position. If it continues to move forward in the direction of entering the calibration area, the final placement of the goods will exceed the target area.

[0067] Furthermore, after determining that the distance between the stop indicator and the AGV is less than the third threshold, the angle and direction of the AGV can be further corrected within the correction area to ensure that the AGV places the goods in an ideal manner and angle. The correction method can be to ensure that the first fork is parallel to the first boundary line in the stop indicator. Moreover, when the image acquisition device is positioned below the end of the first fork, the horizontal and vertical distances between the image acquisition device and the stop indicator can be determined by acquiring images, ensuring that the image acquisition device is directly above the stop indicator, i.e., the end of the first fork is aligned with the stop indicator.

[0068] To further improve the accuracy of AGV cargo placement, after ensuring the first fork is parallel to the first boundary line and its end is aligned with the stop indicator mark, to avoid the problem of the first fork not being in the exact center of the ground indicator mark (i.e., the centerline between L1 and R1), causing the final cargo placement position to deviate from the target area, please refer to... Figure 7 At this point, the first fork of the AGV meets the aforementioned conditions, but the AGV is not located in the exact center of the ground indicator mark. Therefore, a second distance between the first fork and the first boundary line can be further determined, which is equal to a third distance between the first fork and the second boundary line. That is, by determining that the distance from the centerline of the first fork to the first boundary line and the second boundary line of the stop indicator mark are equal, it is ensured that the first fork is located in the exact center of the ground indicator mark, thereby further improving the accuracy of the goods placement position.

[0069] It is worth noting that the embodiments of this application do not limit the number of forks included in the AGV, but only use... Figure 2 The forklift-type AGV shown is used as an example. In fact, even if the AGV does not have forks, i.e., it is not a forklift-type AGV, as long as the image acquisition device is installed in a suitable position below the AGV, and the image acquisition device captures the corresponding ground indicator marks in the adjustment area or target area after the AGV enters the adjustment area or target area, the steps described in steps 101 to 103 above can be performed, thereby achieving the purpose of improving the accuracy of the goods placement position.

[0070] Based on the same inventive concept, this application provides an AGV-based cargo placement device, wherein the AGV is equipped with an image acquisition device, and this device is similar to the aforementioned... Figure 1 The illustrated AGV-based cargo placement method corresponds to the detailed implementation of this device, which can be found in the description of the aforementioned method embodiments section. Repeated descriptions will not be repeated here. Figure 8 The device includes:

[0071] Determining unit 801: used to determine the horizontal distance between the AGV and the first reference line, and the first angle between the AGV and the first reference line, based on the acquired image.

[0072] The acquired image is the image acquired by the image acquisition device.

[0073] Judgment unit 802: used to determine whether the horizontal distance is less than a first threshold and whether the first angle is less than a second threshold;

[0074] Correction unit 803: If so, controls the AGV to enter the correction area until the distance between the AGV and the stop indicator in the ground indicator is less than a third threshold, and places the goods in the target area of ​​the correction area; wherein the correction area includes the ground indicator.

[0075] The width of the aforementioned correction area is not less than the width of the cargo-carrying device on the AGV, and not greater than the acquisition range of the image acquisition device.

[0076] The aforementioned ground indication markings include a first boundary line, a second boundary line relative to the first boundary line, and the stop indication marking; the stop indication marking is attached to the end of the first boundary line and / or the second boundary line.

[0077] The AGV includes a first fork; the image acquisition device is set at a preset position below the first fork, and the device further includes a parallel unit, specifically used to determine that the first fork is parallel to the first boundary line; to determine that the horizontal and vertical distances between the image acquisition device and the stop indicator mark are within corresponding preset ranges; and to determine that the image acquisition device is located directly above the stop indicator mark.

[0078] The AGV-based cargo placement device also includes a distance unit, specifically used to determine a second distance between the first fork tooth and the first boundary line, which is equal to a third distance between the first fork tooth and the second boundary line.

[0079] The determining unit 801 is specifically used to determine that the AGV has entered the adjustment area; wherein the adjustment area is adjacent to the correction area; based on the ground indicator mark in the acquired image, in the adjustment area, the extension line of the center line of the ground indicator mark is determined as the first reference line; wherein the center line indicates a virtual reference line located at the midpoint between the first boundary line and the second boundary line; the position reference point and the position reference line on the AGV are determined in the acquired image, the distance between the position reference point and the first reference line is determined as the horizontal distance, and the smaller angle between the position reference line and the first reference line is determined as the first angle.

[0080] Based on the same inventive concept, embodiments of this application also provide a readable storage medium, including:

[0081] memory,

[0082] The memory is used to store instructions that, when executed by a processor, cause the apparatus including the readable storage medium to perform the AGV-based cargo placement method as described above.

[0083] Based on the same inventive concept as the aforementioned AGV-based cargo placement method, this application also provides an electronic device that can realize the functions of the aforementioned AGV-based cargo placement method. Please refer to... Figure 9 The electronic device includes:

[0084] At least one processor 901 and a memory 902 connected to at least one processor 901. In this embodiment, the specific connection medium between the processor 901 and the memory 902 is not limited. Figure 9 The example shown is the connection between processor 901 and memory 902 via bus 900. Bus 900 is... Figure 9The connections between other components are indicated by thick lines and are for illustrative purposes only, not as limiting information. The Bus 900 can be divided into address bus, data bus, control bus, etc., for ease of representation. Figure 9 The term is represented by a single thick line, but this does not imply that there is only one bus or one type of bus. Alternatively, the processor 901 can also be called a controller; there is no restriction on the name.

[0085] In this embodiment, the memory 902 stores instructions executable by at least one processor 901. By executing the instructions stored in the memory 902, the at least one processor 901 can execute the AGV-based cargo placement method described above. The processor 901 can implement... Figure 8 The functions of each module in the device shown.

[0086] The processor 901 is the control center of the device. It can connect to various parts of the control device through various interfaces and lines. By running or executing instructions stored in memory 902 and calling data stored in memory 902, the processor can perform various functions and process data, thereby monitoring the device as a whole.

[0087] In one possible design, processor 901 may include one or more processing units. Processor 901 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, and the modem processor mainly handles wireless communication. It is understood that the modem processor may also not be integrated into processor 901. In some embodiments, processor 901 and memory 902 may be implemented on the same chip; in some embodiments, they may also be implemented on separate chips.

[0088] The processor 901 can be a general-purpose processor, such as a central processing unit (CPU), digital signal processor, application-specific integrated circuit, field-programmable gate array or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the AGV-based goods placement method disclosed in the embodiments of this application can be directly manifested as being executed by a hardware processor, or executed by a combination of hardware and software modules within the processor.

[0089] Memory 902, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. Memory 902 may include at least one type of storage medium, such as flash memory, hard disk, multimedia card, card-type memory, random access memory (RAM), static random access memory (SRAM), programmable read-only memory (PROM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), magnetic storage, magnetic disk, optical disk, etc. Memory 902 can be any other medium capable of carrying or storing desired program code in the form of instructions or data structures that can be accessed by a computer, but is not limited thereto. In the embodiments of this application, memory 902 can also be a circuit or any other device capable of implementing storage functions for storing program instructions and / or data.

[0090] By designing and programming the processor 901, the code corresponding to the AGV-based cargo placement method described in the aforementioned embodiments can be embedded into the chip, enabling the chip to execute the code during operation. Figure 1 The steps of the AGV-based cargo placement method are shown. How to design and program the processor 901 is a technique well-known to those skilled in the art and will not be elaborated upon here.

[0091] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0092] In the several embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0093] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0094] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0095] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes: Universal Serial Bus flash disks, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media capable of storing program code.

[0096] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A cargo placement method based on AGV, characterized in that, The AGV is equipped with an image acquisition device, and the method includes: The AGV is determined to have entered an adjustment area; wherein the adjustment area is adjacent to the correction area; based on ground indicator marks in the acquired image, the extension line of the centerline of the ground indicator marks is determined as a first reference line in the adjustment area; wherein the centerline indicates a virtual reference line located between the first boundary line and the second boundary line; a position reference point and a position reference line on the AGV are determined in the acquired image, the horizontal distance between the position reference point and the first reference line is determined, and the smaller angle between the position reference line and the first reference line is determined as a first angle; wherein the acquired image is an image acquired by the image acquisition device; Determine whether the horizontal distance is less than a first threshold and whether the first angle is less than a second threshold; If so, the AGV is controlled to enter the calibration area until the distance between the AGV and the stop indicator in the ground indicator is less than a third threshold, and the goods are placed in the target area of ​​the calibration area; wherein, the calibration area includes the ground indicator; The ground indication markings include a first boundary line, a second boundary line relative to the first boundary line, and a stop indication marking; the stop indication marking is connected to the end of the first boundary line and / or the second boundary line, and the first boundary line and the second boundary line are represented in different ways; The AGV includes a first fork; the image acquisition device is obliquely mounted at a preset position below the first fork to characterize the end of the first fork; before placing the goods, the system further includes: Determine that the first fork tooth is parallel to the first boundary line; The horizontal and vertical distances between the image acquisition device and the stop indicator mark are determined to be within a corresponding preset range, and the image acquisition device is determined to be directly above the stop indicator mark; The end of the first fork tooth is used as the position reference point, and the axis of the first fork tooth is used as the position reference line.

2. The method as described in claim 1, characterized in that, After determining that the first fork tooth is parallel to the first boundary line, the method further includes: The second distance between the first fork tooth and the first boundary line is determined to be equal to the third distance between the first fork tooth and the second boundary line.

3. The method as described in claim 1, characterized in that, The width of the correction area is not less than the width of the cargo-carrying device on the AGV, and not greater than the acquisition range of the image acquisition device.

4. A cargo placement device based on AGV, characterized in that, The AGV is equipped with an image acquisition device, which includes: Determining unit: used to determine that the AGV has entered an adjustment area; wherein the adjustment area is adjacent to the correction area; based on ground indicator marks in the acquired image, in the adjustment area, the extension line of the centerline of the ground indicator mark is determined as a first reference line; wherein the centerline indicates a virtual reference line located between the first boundary line and the second boundary line; determining a position reference point and a position reference line on the AGV in the acquired image, determining the horizontal distance between the position reference point and the first reference line, and determining the smaller angle between the position reference line and the first reference line as a first angle; wherein the acquired image is an image acquired by the image acquisition device; Judgment unit: used to determine whether the horizontal distance is less than a first threshold and whether the first angle is less than a second threshold; Correction unit: If so, controls the AGV to enter the correction area until the distance between the AGV and the stop indicator in the ground marking is less than a third threshold, and places the goods in the target area of ​​the correction area; wherein, the correction area includes the ground marking; wherein, the ground marking includes a first boundary line, a second boundary line relative to the first boundary line, and the stop indicator; the stop indicator is connected to the end of the first boundary line and / or the second boundary line, and the first boundary line and the second boundary line are represented by different lines; The AGV includes a first fork; the image acquisition device is obliquely mounted at a preset position below the first fork to characterize the end of the first fork. The device further includes a parallel unit, specifically used to determine that the first fork is parallel to the first boundary line; to determine that the horizontal and vertical distances between the image acquisition device and the stop indicator mark are within corresponding preset ranges; and to determine that the image acquisition device is located directly above the stop indicator mark. The end of the first fork is used as the position reference point, and the axis of the first fork is used as the position reference line.

5. A readable storage medium, characterized in that, include, memory, The memory is used to store instructions that, when executed by a processor, cause the apparatus including the readable storage medium to perform the method as described in any one of claims 1 to 3.

6. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor, when executing a computer program stored in the memory, implements the method as described in any one of claims 1 to 3.

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